Add 111 trajectories (phase 2, remaining runs; batch S29)

phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--gyqmbkw.json

@@ -0,0 +1,371 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-books-up-for-storage-i00-privileged--gyqmbkw",
+ "taskKey": "behavior-1k/boxing_books_up_for_storage",
+ "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.8333333333333334,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 5710,
+   "sim_steps": 5710,
+   "fallen": 0,
+   "final_reward": 0.8333333333333334,
+   "q_score": 0.8333333333333334,
+   "replay_wall_s": 1403.5,
+   "replay_timeout_s": 4055.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 15,
+   "agent_resets": 4,
+   "agent_sim_steps": 5710,
+   "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-boxing-books-up-for-storage-i00-privileged--gyqmbkw/replay.mp4",
+  "duration_s": 190.333,
+  "fps": 30.0,
+  "frames": 5710,
+  "sha256": "90d22fec61bcadddb4177abed6bfe94d6f536e1be5ea5965a9aa054fb2fe81a2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "books_in_box_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      35.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30.5–35.5 s，右夹爪将浅蓝封面的书降到空箱内，张开并撤开；视频 35.5 s 书留在箱底，未随右手离开。按实际入箱数量计第1本，时间约有0.5秒误差。"
+     },
+     {
+      "t": 187.5,
+      "log_step": null,
+      "text_zh": "观察：视频 98–104 s 的箱内画面仍可见浅蓝书，视频 183.5–188 s 后续书继续放在原有书堆上；未见机器人再取出已入箱书。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 20–32 s，左夹爪夹住黄棕封面书，右夹爪夹住浅蓝书，两臂各持一本共同搬运；右手先放入浅蓝书，左手继续持书。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在书柜与地面储物箱之间驾驶轮式底盘，底盘支承机身及所携书本。第一趟双手持书行驶可见于视频 20–30 s。"
+     }
+    ]
+   },
+   "books_in_box_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      41.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "推断：视频 38–40.0 s 左腕视角仍见黄棕书被夹住，视频 40.25 s 夹爪张开后书离开腕部视野；视频 98–103 s 再次俯视箱内，黄棕书与浅蓝书都在箱中。结合前后位置，第二本约在视频 41 s 入箱静止，时间误差约1秒；释放时头部未正对箱内。"
+     },
+     {
+      "t": 98.0,
+      "log_step": null,
+      "text_zh": "观察：视频 98–103 s，机器人带新书返回时，箱内可见先前的浅蓝书和黄棕书，均未被夹爪夹持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 20–35 s 左夹爪持黄棕书、右夹爪持浅蓝书共同搬运，右手先放；视频 38–40.25 s 左手将黄棕书释放，随后空爪退开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在书柜与地面储物箱之间驾驶轮式底盘，底盘支承机身及所携书本。该书在第一趟由左手随底盘搬运。"
+     }
+    ]
+   },
+   "books_in_box_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      102.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 98–102 s 左夹爪仍持紫色圆形图案书，右夹爪把深色封面书降入已有两本书的箱内；视频 101.5–103 s 右爪张开、退开，深色书留在箱内，合计至少3本。"
+     },
+     {
+      "t": 104.0,
+      "log_step": null,
+      "text_zh": "观察：视频 103.5–104.5 s 箱内可见黄棕书、浅蓝书及新放下的深色书，右手已离开书堆。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 80–98 s 左夹爪��紫色圆形图案书，右夹爪持深色书，两手各夹一本搬往箱边；视频约 102 s 右手先松开深色书。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在书柜与地面储物箱之间驾驶轮式底盘，底盘支承机身及所携书本。第二趟双手持书行驶可见于视频 84–98 s。"
+     }
+    ]
+   },
+   "books_in_box_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      108.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 108.5,
+      "log_step": null,
+      "text_zh": "观察：视频 104–107.5 s 左腕画面中紫色圆形图案书仍在夹爪间，视频 108–108.5 s 左爪张开，书落在箱内既有书堆上；视频 108.5–110 s 左腕可见紫色封面停在箱中，夹爪撤走。"
+     },
+     {
+      "t": 184.0,
+      "log_step": null,
+      "text_zh": "观察：视频 183.5–186.5 s 第三趟返回箱边时，紫色圆形图案书仍位于箱中原书堆顶部。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 80–102 s 左夹爪持紫色图案书、右夹爪持深色书共同搬运，右手先放；视频 108–108.5 s 左手松开紫色图案书。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在书柜与地面储物箱之间驾驶轮式底盘，底盘支承机身及所携书本。该书在第二趟由左手随底盘搬运。"
+     }
+    ]
+   },
+   "books_in_box_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      188.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 188.0,
+      "log_step": null,
+      "text_zh": "观察：视频 132–166 s 右腕持续可见白底黑红印刷封面书被右夹爪夹住；视频 183.5–187.5 s 右手将它放到箱内紫色图案书旁并张开，视频 188 s 手离开后书留在箱中。"
+     },
+     {
+      "t": 190.3,
+      "log_step": null,
+      "text_zh": "推断：已检查视频 189.3–190.3 s，机器人空爪退开，没有再次取书；评分器 q_score=0.8333333333333334，即六个入箱目标中满足5个，与视频五次成功释放相符，因此本计数节点终值为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 132–166 s 右二指夹爪夹住白底黑红封面书，左爪同时尝试另一蓝绿书；视频 187.5–188 s 右爪松开放书。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在书柜与地面储物箱之间驾驶轮式底盘，底盘支承机身及所携书本。第三趟仅右手持有该书，视频 168–183.5 s 随底盘运往箱边。"
+     }
+    ]
+   },
+   "books_in_box_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 145.5,
+      "log_step": null,
+      "text_zh": "观察：视频 140.5–166.5 s 左腕可见蓝绿封面书仍留在书柜格内，左指尖反复靠近书缘、闭合、张开并退回，书没有随手取出；右夹爪一直持着另一白底书。"
+     },
+     {
+      "t": 187.5,
+      "log_step": null,
+      "text_zh": "观察：视频 166.5–168 s 左手退开后仍能看见蓝绿书留在书柜，第三趟只带回右手白底书；视频 187.5–190.3 s 只完成该白底书的放入，未出现第六本入箱。"
+     },
+     {
+      "t": 190.3,
+      "log_step": null,
+      "text_zh": "推断：评分器终态 q_score=5/6，初态书均在书柜，故最终合格入箱数量最多为5，第6本计数节点为假；这也与蓝绿书始终未取出的画面一致。"
+     },
+     {
+      "t": null,
+      "log_step": 147,
+      "text_zh": "观察：log step 147 记录最终 F7 运行 FETCH book.n.02_5 left: None、INSIDE [True, True, True, True, False, True]、5710 行及 success=False；log step 149 将这一文件复制为正式交付。该日志仅用于核实交付来源及书名，进度时间取自视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 144–145 s、148–149 s、157–159 s 左夹爪指尖抵到蓝绿书的暴露封面及前缘后闭合退回；实际为指尖抵压，未见两指夹住书并带离书柜，不记抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 136–140.5 s 机器人驾驶底盘接近蓝绿书所在书柜，视频 160–164 s 又调整机身位置以继续左手尝试，底盘承重支撑。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.8333333333333334,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_box_6",
+   "t": 145.5,
+   "log_step": 146,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 145.5 s 左夹爪第一次明显闭合后张开退回，蓝绿封面书仍在书柜；视频 148–166.5 s 重试均未取出，之后机器人仅把右手白底书放入箱内。推断：这本未能抓起的书对应最终缺少的第6本计数节点；此前的取书重试最终均已补成，唯此步未修复。log step 146–147 的 F7 抓取输出为 None，log step 149 交付该5710行部分轨迹，与评分器5/6一致。"
+  },
+  "unmet": {
+   "books_in_box_1": true,
+   "books_in_box_2": true,
+   "books_in_box_3": true,
+   "books_in_box_4": true,
+   "books_in_box_5": true,
+   "books_in_box_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 145.5,
+    "log_step": 146,
+    "evidence_zh": "观察：视频 144–145.5 s、148–149.5 s、152.5–154.5 s、157–159.5 s 及 164–166.5 s，左夹爪在蓝绿书边缘反复合拢后退开，书一直留在书柜；视频 166.5–168 s 左手空手退出。所需的有效抓持从未建立，并非搬运后滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 140.5–166.5 s 机器人已将左夹爪送到目标书边缘并反复闭合，但不能形成可取出的抓持，属于取书阶段的控制失败。log step 138 修改 F7 的接近底盘位置，log step 146 的不同倾角与开度尝试仍返回 in hand=None，log step 147 确认这一最终运行未抓到该书；没有错误目标或误以为完成的证据。未提供本轮接触对和末端跟踪记录，不能进一步区分接触几何与轨迹跟踪问题，故仅标控制大类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范视频，无法直接核实包围盒中心、0.05米/秒阈值及辅助抓取附着字段；以连续画面、后续箱内画面和评分器5/6总分综合判断。视频约 40.25 s 与 108 s 松手时头部朝向偏离箱内，腕部可见书离爪及后续书留在箱内，第二本时间约有1秒误差，其余达到时间约有0.5秒误差。蓝绿书的指腹背面接触与本轮末端跟踪没有记录，根因无法可靠细分。"
+ },
+ "summary_zh": "机器人分三趟将五本书放入储物箱，达到前5个计数节点，评分器 q_score=5/6。第6本入箱步骤在视频约 145.5 s 的左手取书时失败：夹爪多次抵近蓝绿书并合拢，始终未建立可取出的抓持，之后仅放下右手已有的书。无状态日志，释放静止阈值及个别入箱时刻依赖腕部画面、后续箱内画面与总分推断，根因仅确定到控制大类。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点1-5达到、第6本未达，q_score=5/6 与日志 INSIDE [T,T,T,T,F,T] 一致；断点在第6本取书（左手反复闭合未取出），现象“没建立接触”与根因停在“控制”大类均有证据支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:10:35Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--gyqmbkw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--gyqmbkw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c4fcb9d238dd207fc4a8577de62bbed0dbb0883b52d1a15a4e8231a9f067e5bb",
+   "video_sha256": "90d22fec61bcadddb4177abed6bfe94d6f536e1be5ea5965a9aa054fb2fe81a2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--hutfum2.json

@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-books-up-for-storage-i00-privileged--hutfum2",
+ "taskKey": "behavior-1k/boxing_books_up_for_storage",
+ "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 20,
+   "sim_steps": 20,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 486.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 20,
+   "agent_resets": 0,
+   "agent_sim_steps": 15244,
+   "agent_records": 4,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-boxing-books-up-for-storage-i00-privileged--hutfum2/replay.mp4",
+  "duration_s": 0.667,
+  "fps": 30.0,
+  "frames": 20,
+  "sha256": "e94f5933ed0f5717c2aad27b094375c268714a8e275c6d01269face150a563e0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "books_in_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 197,
+      "text_zh": "观察：视频0.000–0.633 s的全部20帧中，相机视野基本不变，未见机器人取书、持书搬运或向箱内放书；log step 197的最终录制脚本仅在record_start与record_stop之间执行hold(20)，log step 199保存该20步录制，log step 200将其选为交付文件。"
+     },
+     {
+      "t": 0.633,
+      "log_step": 201,
+      "text_zh": "推断：任务文本指定初始箱为空；交付轨迹仅保持初始姿态，评分器reward.q_score=0.0，且log step 201对该交付文件的回放同样返回20个动作、q_score=0.0、success=false。因此终态合格入箱书为0本，“至少1本书入箱”不成立；结合全片无装箱动作，本节点无成立区间。箱内未直接入镜，终值由初始条件、交付内容及评分总量共同确定。"
+     }
+    ]
+   },
+   "books_in_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 197,
+      "text_zh": "观察：视频0.000–0.633 s的全部20帧中，相机视野基本不变，未见机器人取书、持书搬运或向箱内放书；log step 197的最终录制脚本仅在record_start与record_stop之间执行hold(20)，log step 199保存该20步录制，log step 200将其选为交付文件。"
+     },
+     {
+      "t": 0.633,
+      "log_step": 201,
+      "text_zh": "推断：任务文本指定初始箱为空；交付轨迹仅保持初始姿态，评分器reward.q_score=0.0，且log step 201对该交付文件的回放同样返回20个动作、q_score=0.0、success=false。因此终态合格入箱书为0本，“至少2本书入箱”不成立；结合全片无装箱动作，本节点无成立区间。箱内未直接入镜，终值由初始条件、交付内容及评分总量共同确定。"
+     }
+    ]
+   },
+   "books_in_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 197,
+      "text_zh": "观察：视频0.000–0.633 s的全部20帧中，相机视野基本不变，未见机器人取书、持书搬运或向箱内放书；log step 197的最终录制脚本仅在record_start与record_stop之间执行hold(20)，log step 199保存该20步录制，log step 200将其选为交付文件。"
+     },
+     {
+      "t": 0.633,
+      "log_step": 201,
+      "text_zh": "推断：任务文本指定初始箱为空；交付轨迹仅保持初始姿态，评分器reward.q_score=0.0，且log step 201对该交付文件的回放同样返回20个动作、q_score=0.0、success=false。因此终态合格入箱书为0本，“至少3本书入箱”不成立；结合全片无装箱动作，本节点无成立区间。箱内未直接入镜，终值由初始条件、交付内容及评分总量共同确定。"
+     }
+    ]
+   },
+   "books_in_box_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 197,
+      "text_zh": "观察：视频0.000–0.633 s的全部20帧中，相机视野基本不变，未见机器人取书、持书搬运或向箱内放书；log step 197的最终录制脚本仅在record_start与record_stop之间执行hold(20)，log step 199保存该20步录制，log step 200将其选为交付文件。"
+     },
+     {
+      "t": 0.633,
+      "log_step": 201,
+      "text_zh": "推断：任务文本指定初始箱为空；交付轨迹仅保持初始姿态，评分器reward.q_score=0.0，且log step 201对该交付文件的回放同样返回20个动作、q_score=0.0、success=false���因此终态合格入箱书为0本，“至少4本书入箱”不成立；结合全片无装箱动作，本节点无成立区间。箱内未直接入镜，终值由初始条件、交付内容及评分总量共同确定。"
+     }
+    ]
+   },
+   "books_in_box_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 197,
+      "text_zh": "观察：视频0.000–0.633 s的全部20帧中，相机视野基本不变，未见机器人取书、持书搬运或向箱内放书；log step 197的最终录制脚本仅在record_start与record_stop之间执行hold(20)，log step 199保存该20步录制，log step 200将其选为交付文件。"
+     },
+     {
+      "t": 0.633,
+      "log_step": 201,
+      "text_zh": "推断：任务文本指定初始箱为空；交付轨迹仅保持初始姿态，评分器reward.q_score=0.0，且log step 201对该交付文件的回放同样返回20个动作、q_score=0.0、success=false。因此终态合格入箱书为0本，“至少5本书入箱”不成立；结合全片无装箱动作，本节点无成立区间。箱内未直接入镜，终值由初始条件、交付内容及评分总量共同确定。"
+     }
+    ]
+   },
+   "books_in_box_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 197,
+      "text_zh": "观察：视频0.000–0.633 s的全部20帧中，相机视野基本不变，未见机器人取书、持书搬运或向箱内放书；log step 197的最终录制脚本仅在record_start与record_stop之间执行hold(20)，log step 199保存该20步录制，log step 200将其选为交付文件。"
+     },
+     {
+      "t": 0.633,
+      "log_step": 201,
+      "text_zh": "推断：任务文本指定初始箱为空；交付轨迹仅保持初始姿态，评分器reward.q_score=0.0，且log step 201对该交付文件的回放同样返回20个动作、q_score=0.0、success=false。因此终态合格入箱书为0本，“至少6本书入箱”不成立；结合全片无装箱动作，本节点无成立区间。箱内未直接入镜，终值由初始条件、交付内容及评分总量共同确定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_box_1",
+   "t": 0.0,
+   "log_step": 197,
+   "where": "首步前",
+   "evidence_zh": "观察：视频0.000–0.633 s全部20帧未显示取书或装箱动作；log step 197的最终录制脚本只执行hold(20)，log step 199显示recorded 20及SAVED FULL，log step 200将该录制选作交付，log step 201回放确认仅20步且q_score=0.0。第1本书入箱的工作在评分轨迹中未启动。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 197,
+    "evidence_zh": "观察：评分视频0.000–0.633 s画面基本静止，没有机器人向书柜移动、伸手取书或装箱；log step 197、199–201确认最终交付为初始姿态下hold(20)的基线轨迹。会话试验中的抓取动作未进入此评分轨迹。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话试验输出在log step 168记录六种抓取动作的末端误差0.213–0.588米且inhand均为None，log step 177的五种抓取同样无附着，log step 181的闭环修正仍未抓住书；log step 193的生成脚本对六本书均返回grasp_failed。agent随后在log step 194改用最小录制，并在log step 197、199–200实际交付仅hold(20)的轨迹。上述独立的试验记录支持未能实现有效抓取控制促成基线交付；不足以区分接触设计、逆解或反馈控制的具体责任。"
+   }
+  ],
+  "gap_zh": "视频只有0.667 s，已逐帧检查视频0.000–0.633 s的全部20帧；书柜内的书和储物箱内部未进入可判读视野，无状态日志或成功示范。六节点的空区间及终态false由初始空箱、交付仅hold(20)、全片无装箱动作及评分q_score=0.0共同推断。根因只用会话试验作支持，无法定位抓取控制的具体子类；agent在log step 202声称书不可达及仿真逆解不可靠，尚不足以排除其他合法方案。log step 199的进程崩溃发生在SAVED FULL之后，log step 201已成功回放该文件，故不按外因中断处理。",
+  "unmet": {
+   "books_in_box_1": false,
+   "books_in_box_2": false,
+   "books_in_box_3": false,
+   "books_in_box_4": false,
+   "books_in_box_5": false,
+   "books_in_box_6": false
+  }
+ },
+ "summary_zh": "评分轨迹只有20步保持姿态，视频0.000–0.633 s无取书或装箱动作；结合初始空箱与评分q_score=0.0，六个入箱节点均未达成，终态0/6。断点为第1本书入箱、首步前，现象是没尝试；会话中多种抓取均未建立附着，随后agent交��基线轨迹，支持保守归因为控制。书和箱内未直接入镜且无状态日志，不能确定抓取控制的具体故障或认定任务不可解。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分轨迹仅20步hold，视频首尾帧完全静止，六个入箱节点均未达成，断点首步前/没尝试，根因控制（依据会话中多次抓取无附着，符合CASES FAIL-22）均有证据支持；未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:09:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--hutfum2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--hutfum2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cd711654de15e4b53eee4f3a6fbace0a3de05157640b3253afe7d6cf89abbdcc",
+   "video_sha256": "e94f5933ed0f5717c2aad27b094375c268714a8e275c6d01269face150a563e0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--qo7preu.json

@@ -0,0 +1,281 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-books-up-for-storage-i00-privileged--qo7preu",
+ "taskKey": "behavior-1k/boxing_books_up_for_storage",
+ "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 1014,
+   "sim_steps": 1014,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 683.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 20,
+   "agent_resets": 0,
+   "agent_sim_steps": 13503,
+   "agent_records": 3,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-boxing-books-up-for-storage-i00-privileged--qo7preu/replay.mp4",
+  "duration_s": 33.8,
+  "fps": 30.0,
+  "frames": 1014,
+  "sha256": "897b76a0bc727d83e9f583aa113b928146c6e6c0e6040f32207552cf0f069a8a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "books_in_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 3,
+      "text_zh": "观察：log step 3 的固定实例文本说明六本书起初在书柜中、储物箱为空；视频 0.0–4.0 s 机器人驶到白色书柜前，柜格中可见书。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.5–8.0 s 左侧腕部视图的夹爪闭合、随后移动，但指间没有书；头部视图下缘的彩色书仍在柜格中。视频 10.0–13.5 s 右侧夹爪也闭合后空手离开，未见书随夹爪移出。"
+     },
+     {
+      "t": 33.77,
+      "log_step": null,
+      "text_zh": "推断：视频 13.5–25.5 s 机器人空手离开书柜并移到楼梯旁，视频 25.5–33.77 s 未见搬书或入箱；结合固定实例的空箱初态与评分器 q_score=0.0，首本书入箱未达成，终态为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–5.5 s 底盘支承机器人驶近书柜，视频 8.0–10.0 s 调整书柜前位置，视频 13.5–25.5 s 空手驶离、转向楼梯旁；未见携书行驶。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 5.5–8.0 s 左夹爪及视频 10.0–13.5 s 右夹爪在书柜前闭合，未夹住书；手指与书的细小接触区域被柜板或机械臂遮挡，无法确认是否短暂碰书，故不记抓握。"
+     }
+    ]
+   },
+   "books_in_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.5–13.5 s 两侧夹爪在书柜前先后尝试后均为空；视频 13.5–25.5 s 机器人空手离开，视频 25.5–33.77 s 无新的取书或送书入箱动作。"
+     },
+     {
+      "t": 33.77,
+      "log_step": 3,
+      "text_zh": "推断：固定实例初始箱为空（log step 3），全片未见书被带走入箱，评分器 q_score=0.0 对六本书的入箱目标给出终态零满足；至少2本合格书在箱内不成立。书柜前的两次空夹均未完成首本书，不另计为第2本入箱的独立尝试。"
+     }
+    ]
+   },
+   "books_in_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.5–13.5 s 两侧夹爪在书柜前先后尝试后均为空；视频 13.5–25.5 s 机器人空手离开，视频 25.5–33.77 s 无新的取书或送书入箱动作。"
+     },
+     {
+      "t": 33.77,
+      "log_step": 3,
+      "text_zh": "推断：固定实例初始箱为空（log step 3），全片未见书被带走入箱，评分器 q_score=0.0 对六本书的入箱目标给出终态零满足；至少3本合格书在箱内不成立。书柜前的两次空夹均未完成首本书，不另计为第3本入箱的独立尝试。"
+     }
+    ]
+   },
+   "books_in_box_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.5–13.5 s 两侧夹爪在书柜前先后尝试后均为空；视频 13.5–25.5 s 机器人空手离开，视频 25.5–33.77 s 无新的取书或送书入箱动作。"
+     },
+     {
+      "t": 33.77,
+      "log_step": 3,
+      "text_zh": "推断：固定实例初始箱为空（log step 3），全片未见书被带走入箱，评分器 q_score=0.0 对六本书的入箱目标给出终态零满足；至少4本合格书在箱内不成立。书柜前的两次空夹均未完成首本书，不另计为第4本入箱的独立尝试。"
+     }
+    ]
+   },
+   "books_in_box_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.5–13.5 s 两侧夹爪在书柜前先后尝试后均为空；视频 13.5–25.5 s 机器人空手离开，视频 25.5–33.77 s 无新的取书或送书入箱动作。"
+     },
+     {
+      "t": 33.77,
+      "log_step": 3,
+      "text_zh": "推断：固定实例初始箱为空（log step 3），全片未见书被带走入箱，评分器 q_score=0.0 对六本书的入箱目标给出终态零满足；至少5本合格书在箱内不成立。书柜前的两次空夹均未完成首本书，不另计为第5本入箱的独立尝试。"
+     }
+    ]
+   },
+   "books_in_box_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.5–13.5 s 两侧夹爪在书柜前先后尝试后均为空；视频 13.5–25.5 s 机器人空手离开，视频 25.5–33.77 s 无新的取书或送书入箱动作。"
+     },
+     {
+      "t": 33.77,
+      "log_step": 3,
+      "text_zh": "推断：固定实例初始箱为空（log step 3），全片未见书被带走入箱，评分器 q_score=0.0 对六本书的入箱目标给出终态零满足；至少6本合格书在箱内不成立。书柜前的两次空夹均未完成首本书，不另计为第6本入箱的独立尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_box_1",
+   "t": 6.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.5–8.0 s 机器人左夹爪在书柜前闭合并移开时仍为空，柜格中的书未随之取出；视频 10.0–13.5 s 换右夹爪尝试仍空手，随后机器人离开书柜，直至视频 33.77 s 未修复首本书的取放失败。"
+  },
+  "unmet": {
+   "books_in_box_1": false,
+   "books_in_box_2": false,
+   "books_in_box_3": false,
+   "books_in_box_4": false,
+   "books_in_box_5": false,
+   "books_in_box_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 6.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 5.5–8.0 s 左夹爪闭合后没有书夹在两指之间，头部视图中书仍在柜格内；视频 10.0–13.5 s 右夹爪再次闭合、退出也未带出书。这里缺失的是搬运所需的抓持接触，未见先夹住再脱落的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人已到书柜前，但视频 5.5–13.5 s 的两次抓取执行均未把书夹出。会话调试日志 log step 217 的多组水平抓取高度、深度尝试以及 log step 237 的多组俯抓尝试也反复返回 in_hand=None，支持抓取执行能力存在问题；这些调试只用作根因证据，不算评分视频中的动作。现有材料不能区分接触几何、逆解或运动跟踪，故仅归入控制。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；头部视图在书柜前大多被柜板遮住，腕部视图也未完整暴露指尖与书的接触面，因此无法确定短暂碰触及具体控制子类。箱内未得到可用视图，终态零入箱由空箱初态、全片无携书动作和评分器 q_score=0.0 联合判断；不以零分单独断言未尝试。log step 310、321 的生成脚本和 log step 329 的末报只作会话证据，末报所称末端进入箱子的动作没有可见入书证据。"
+ },
+ "summary_zh": "评分轨迹中机器人先后在书柜前用左右夹爪空夹，随后空手离开并停在楼梯旁，六个入箱节点均未达成，终态为0/6。断点是首本书入箱过程中的抓取失败，现象为没建立所需抓持接触，根因仅能归为控制；缺少状态日志且箱内不可见，终态判断结合空箱初态、可见动作和 q_score=0.0。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个入箱节点均为 false，与 q_score=0.0、空手离开书柜的画面一致；断点、现象（没建立接触）与根因（控制，已声明不能细分）有证���且表述克制，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:08:26Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--qo7preu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--qo7preu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bac5105fccfd59baef1a15b110565779ced179d51cf6a285aec699f7e610fdf9",
+   "video_sha256": "897b76a0bc727d83e9f583aa113b928146c6e6c0e6040f32207552cf0f069a8a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--wdu5yoe.json

@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-books-up-for-storage-i00-privileged--wdu5yoe",
+ "taskKey": "behavior-1k/boxing_books_up_for_storage",
+ "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 90,
+   "sim_steps": 90,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 371.7,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 36,
+   "agent_resets": 0,
+   "agent_sim_steps": 30227,
+   "agent_records": 0,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-boxing-books-up-for-storage-i00-privileged--wdu5yoe/replay.mp4",
+  "duration_s": 3.0,
+  "fps": 30.0,
+  "frames": 90,
+  "sha256": "630ef4da5c1cbe9368ef855ef22aaa9bd7b154861252c05d632554e5e6d1193f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "books_in_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 368,
+      "text_zh": "观察：视频 0.00–2.97 s 的90帧中，头部与双腕视角基本维持初始朝向，仅有轻微晃动，未见机器人取书、持书搬运或向箱内放书；log step 368 的交付生成脚本将90行均设为底盘不动、躯干与双臂保持初始关节位置、双夹爪张开，log step 412 再次生成同一90步文件。"
+     },
+     {
+      "t": 2.97,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个目标均为原先不在箱内的书入箱，故终态合格书数为0，至少1本书入箱为假；结合视频 0.00–2.97 s 未发生取放和交付脚本仅保持初始姿态，整个评分轨迹也没有达到本节点。箱内未直接入镜，此处未把会话实验计作评分进度。"
+     }
+    ]
+   },
+   "books_in_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 368,
+      "text_zh": "观察：视频 0.00–2.97 s 的90帧中，头部与双腕视角基本维持初始朝向，仅有轻微晃动，未见机器人取书、持书搬运或向箱内放书；log step 368 的交付生成脚本将90行均设为底盘不动、躯干与双臂保持初始关节位置、双夹爪张开，log step 412 再次生成同一90步文件。"
+     },
+     {
+      "t": 2.97,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个目标均为原先不在箱内的书入箱，故终态合格书数为0，至少2本书入箱为假；结合视频 0.00–2.97 s 未发生取放和交付脚本仅保持初始姿态，整个评分轨迹也没有达到本节点。箱内未直接入镜，此处未把会话实验计作评分进度。"
+     }
+    ]
+   },
+   "books_in_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 368,
+      "text_zh": "观察：视频 0.00–2.97 s 的90帧中，头部与双腕视角基本维持初始朝向，仅有轻微晃动，未见机器人取书、持书搬运或向箱内放书；log step 368 的交付生成脚本将90行均设为底盘不动、躯干与双臂保持初始关节位置、双夹爪张开，log step 412 再次生成同一90步文件。"
+     },
+     {
+      "t": 2.97,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个目标均为原先不在箱内的书入箱，故终态合格书数为0，至少3本书入箱为假；结合视频 0.00–2.97 s 未发生取放和交付脚本仅保持初始姿态，整个评分轨迹也没有达到本节点。箱内未直接入镜，此处未把会话实验计作评分进度。"
+     }
+    ]
+   },
+   "books_in_box_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 368,
+      "text_zh": "观察：视频 0.00–2.97 s 的90帧中，头部与双腕视角基本维持初始朝向，仅有轻微晃动，未见机器人取书、持书搬运或向箱内放书；log step 368 的交付生成脚本将90行均设为底盘不动、躯干与双臂保持初始关节位置、双夹爪张开，log step 412 再次生成同一90步文件。"
+     },
+     {
+      "t": 2.97,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个目标均为原先不在箱内的书入箱，故终态合格书数为0，至少4本书入箱为假；结合视频 0.00–2.97 s 未发生取放和交付脚本仅保持初始姿态，整个评分轨迹也没有达到本节点。箱内未直接入镜，此处未把会话实验计作评分进度。"
+     }
+    ]
+   },
+   "books_in_box_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 368,
+      "text_zh": "观察：视频 0.00–2.97 s 的90帧中，头部与双腕视角基本维持初始朝向，仅有轻微晃动，未见机器人取书、持书搬运或向箱内放书；log step 368 的交付生成脚本将90行均设为底盘不动、躯干与双臂保持初始关节位置、双夹爪张开，log step 412 再次生成同一90步文件。"
+     },
+     {
+      "t": 2.97,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个目标均为原先不在箱内的书入箱，故终态合格书数为0，至少5本书入箱为假；结合视频 0.00–2.97 s 未发生取放和交付脚本仅保持初始姿态，整个评分轨迹也没有达到本节点。箱内未直接入镜，此处未把会话实验计作评分进度。"
+     }
+    ]
+   },
+   "books_in_box_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 368,
+      "text_zh": "观察：视频 0.00–2.97 s 的90帧中，头部与双腕视角基本维持初始朝向，仅有轻微晃动，未见机器人取书、持书搬运或向箱内放书；log step 368 的交付生成脚本将90行均设为底盘不动、躯干与双臂保持初始关节位置、双夹爪张开，log step 412 再次生成同一90步文件。"
+     },
+     {
+      "t": 2.97,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个目标均为原先不在箱内的书入箱，故终态合格书数为0，至少6本书入箱为假；结合视频 0.00–2.97 s 未发生取放和交付脚本仅保持初始姿态，整个评分轨迹也没有达到本节点。箱内未直接入镜，此处未把会话实验计作评分进度。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_box_1",
+   "t": 0.0,
+   "log_step": 368,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.00–2.97 s 始终没有机器人接近书柜取书或装箱的动作，最后一秒及视频 2.97 s 末帧仍为初始视角；log step 368 写出的交付脚本仅保持初始姿态，log step 376 对该90步文件的会话回放返回 success=False、q_score=0.0，log step 412 再生成该文件。首本书入箱步骤在评分轨迹中未启动。"
+  },
+  "unmet": {
+   "books_in_box_1": false,
+   "books_in_box_2": false,
+   "books_in_box_3": false,
+   "books_in_box_4": false,
+   "books_in_box_5": false,
+   "books_in_box_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 368,
+    "evidence_zh": "观察：视频 0.00–2.97 s 的全90帧没有取书、搬书或放书动作，机器人留在初始位置；log step 368 的90行交付动作固定关节并张开双夹爪，log step 412 重新生成这一保持姿态文件。因此评分轨迹没有开始第1本书入箱，日志中的抓书实验不属于该轨迹。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：会话中的取书控制未形成可搬运的抓取，解释了最终仅交付保持姿态轨迹。log step 353 的压书后拖动实验记录夹爪接触消失而书中心不变；log step 382 的底盘后退实验中书中心仍约为[-4.657,-0.681,0.730]，没有随手搬走；log step 399 的倾斜侧夹实验多次返回 in_hand=None，并记录夹爪碰到书柜。agent 在 log step 368、415 明确把未能取书与保留初始姿态交付关联起来。这些仅是会话层根因证据，未作为评分轨迹中的接触或进度。",
+    "source_zh": "日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "评分视频的头部和双腕视角未展示书柜内各本书及储物箱内部，且没有状态日志或成功示范；六个节点终态依据评分器q_score=0及初始空箱条件推断，未从遮挡画面声称直接看到空箱。取书控制根因来自会话实验，具体是接触几何、轨迹跟踪还是其他控制细节无法独立核实；agent 自述所有合法抓法都不可行、GPU缺失及相关尺寸的结论未由本评分视频验证，不能据此认定任务无解或评分器故障。"
+ },
+ "summary_zh": "评分轨迹仅保持初始姿态，视频 0.00–2.97 s 没有取书或装箱动作，结合评��器q_score=0.0，六个入箱节点均未达成。断点为第1本书入箱的首步前，现象为没尝试；会话中多种取书控制均未形成可搬运抓取，agent 随后保留了90步静止交付。书和箱内未直接入镜，且无状态日志；控制根因仅由会话实验支持，不能据此断言任务无解。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "评分轨迹为90步静止保持姿态，视频0–2.97 s无任何取书/放书，六个入箱节点false、q_score=0、断点首步前/没尝试均成立；控制根因按FAIL-22仅由会话证据支持并在gap_zh中如实限定，未把agent停止当原因。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:08:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--wdu5yoe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--wdu5yoe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ee4e92473d7e9e9f8a8480ff3370c219ae2bed5946d7d2d7f60fc4954de496db",
+   "video_sha256": "630ef4da5c1cbe9368ef855ef22aaa9bd7b154861252c05d632554e5e6d1193f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--dkupvnh.json

@@ -0,0 +1,324 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-books-up-for-storage-i00-standard--dkupvnh",
+ "taskKey": "behavior-1k/boxing_books_up_for_storage",
+ "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 6255,
+   "sim_steps": 6255,
+   "physics_steps": 25020,
+   "steps": 1647,
+   "elapsed_s": 6931.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.5,
+   "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-boxing-books-up-for-storage-i00-standard--dkupvnh/replay.mp4",
+  "duration_s": 208.5,
+  "fps": 30.0,
+  "frames": 6255,
+  "sha256": "bc3da026905cb293e4a5f370e52444985197a463b099197bdf9cbcb8f9553d54"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "books_in_box_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      132.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 130.0,
+      "log_step": null,
+      "text_zh": "观察：视频 129–130 s，右腕视图中浅蓝封面的书仍在右夹爪中，箱底尚未放入书。"
+     },
+     {
+      "t": 132.0,
+      "log_step": 183,
+      "text_zh": "观察：视频 131.0–131.5 s，机器人右夹爪张开，浅蓝封面的书落入白色储物箱；视频 131.75–132.25 s，夹爪已撤离，书停在箱底。首个合格计数取视频约 132.0 s；视频 134.5 s、197–208.47 s 的箱内视图未见它被取出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 112–130 s，左夹爪夹金色书、右夹爪夹浅蓝书，双臂各持一本共同搬运；视频 131–132 s，右夹爪先释放浅蓝书，形成第1本入箱计数。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 114–130 s，轮式底盘支承机器人并携带左右夹爪中的两本书，从书柜驶向储物箱。"
+     }
+    ]
+   },
+   "books_in_box_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      134.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 134.5,
+      "log_step": 183,
+      "text_zh": "观察：视频 133.5–134.0 s，机器人左夹爪在箱上方释放金色封面的书；视频 134.25–135.5 s，金色书与浅蓝书均留在箱底、夹爪离开。第二个合格计数取视频约 134.5 s，后续返回箱边及视频 208.47 s 仍可见这两本书。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 112–130 s，两夹爪各夹一本书随底盘共同搬运；右手先释放浅蓝书后，左手在视频 133.5–134.5 s 释放金色书，形成第2本入箱计数。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 114–130 s，轮式底盘支承机器人并携带左右夹爪中的两本书，从书柜驶向储物箱。"
+     }
+    ]
+   },
+   "books_in_box_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      197.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 197.0,
+      "log_step": 240,
+      "text_zh": "观察：视频 196.0 s，深色封面的书仍被左夹爪夹持；视频 196.5–197.0 s，机器人松开左夹爪，该书落入箱内并停止明显运动，箱内已有金色、浅蓝及深色三本书。视频 198–208.47 s 未见这三本书离箱；静止时刻按画面估计，精度约半秒。"
+     },
+     {
+      "t": 208.47,
+      "log_step": null,
+      "text_zh": "推断：run.json 的评分器 q_score=0.5、live_matches_replay=1；六个目标为六本书入箱，视频显示前三本入箱、白书落在箱外，故终态恰有三本合格，与评分总数一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 175–193 s，左夹爪夹深色书、右夹爪夹白色紫图案书，双臂各持一本搬运；视频 196–197 s，左夹爪释放深色书入箱，形成第3本入箱计数。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 176–193 s，轮式底盘支承机器人并携带左右夹爪中的两本书驶向储物箱；视频 201–204 s，底盘又移向箱外白书以尝试拾取。"
+     }
+    ]
+   },
+   "books_in_box_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 175.0,
+      "log_step": 229,
+      "text_zh": "观察：视频 170–176 s，右夹爪夹住白色紫图案封面的书并将其从书柜取出，左夹爪同时持另一本深色书；视频 180–193 s，两本书随机器人底盘一起运到箱边。这里的第4本是入箱计数，不是 agent 的书实例编号。"
+     },
+     {
+      "t": 199.3,
+      "log_step": 240,
+      "text_zh": "观察：视频 199.0–199.2 s，白色书仍在机器人右夹爪内，书的主体位于箱口右侧外方；视频 199.3–199.6 s，夹爪张开，白书下落并平躺在箱外地板上，箱内仍只有三本书。"
+     },
+     {
+      "t": 208.47,
+      "log_step": 268,
+      "text_zh": "观察：视频 201–208.47 s，机器人向箱外白书移动并用右夹爪尝试重抓；最后一秒右腕视图可见白书与夹爪，未发生送回箱内的动作。推断：结合 q_score=0.5，第4本入箱终态为假，整个视频未达到四本离手静置于箱内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 175–193 s，右夹爪夹白色紫图案书、左夹爪夹深色书并同步搬运；左手放书后，白书下放及视频 201–208.47 s 的地面重抓仅由右夹爪进行。白书曾被夹持运到箱边，但未入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 176–193 s，轮式底盘支承机器人并携带左右夹爪中的两本书驶向储物箱；视频 201–204 s，底盘又移向箱外白书以尝试拾取。"
+     }
+    ]
+   },
+   "books_in_box_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 208.47,
+      "log_step": null,
+      "text_zh": "观察：视频全程只有两轮向箱内放书，第一轮入箱两本、第二轮入箱一本，另一本白书落在箱外；视频 201–208.47 s 仍在处理这本箱外书，没有后续入箱。推断：评分器 q_score=0.5 对应六本书中的三本，故至少5本入箱的终态必为假；视频未出现该计数成立。"
+     }
+    ]
+   },
+   "books_in_box_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 208.47,
+      "log_step": null,
+      "text_zh": "观察：视频全程只有两轮向箱内放书，第一轮入箱两本、第二轮入箱一本，另一本白书落在箱外；视频 201–208.47 s 仍在处理这本箱外书，没有后续入箱。推断：评分器 q_score=0.5 对应六本书中的三本，故至少6本入箱的终态必为假；视频未出现该计数成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.5,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_box_4",
+   "t": 199.3,
+   "log_step": 240,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 196.5–197.0 s，左手深色书入箱，合格计数到三；视频 199.3–199.6 s，右手白书在箱外脱离夹爪并落地。视频 201–208.47 s 的地面重抓未将其送回箱内，故第4本入箱一直未修复；log step 269 的最后自述也是等待地面拾取，并非宣称任务完成。"
+  },
+  "unmet": {
+   "books_in_box_1": true,
+   "books_in_box_2": true,
+   "books_in_box_3": true,
+   "books_in_box_4": false,
+   "books_in_box_5": false,
+   "books_in_box_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 199.3,
+    "log_step": 240,
+    "evidence_zh": "观察：视频 199.0–199.2 s，白书仍在机器人右夹爪内但位于箱口右侧之外；视频 199.3 s，右夹爪张开，视频 199.4–199.6 s 书翻落在箱外。log step 240 的放置脚本在下放右臂后按固定序列发出开爪命令。推断：log step 250 的服务读数 control_steps=6024 对应视频 6024/30=200.8 s，与放置结束后白书已在箱外的画面核对；log step 240 共75行、每行0.1 s，右手在第59行之后开爪，对应视频约 199.2 s，吻合逐帧开爪时刻。因此这是书尚未在目标内就按计划松手，依未到位释放的规则标位姿不准。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 199.3,
+    "log_step": 240,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 240 的脚本用单个末端目标求���解，将整组关节位置插值后一次提交，并在固定行数后打开右夹爪；脚本没有在开爪前核实白书实际位于箱内。视频 199.0–199.6 s 显示白书仍在箱外就被释放。log step 262 的恢复尝试中，脚本打印的低位目标逆解核对位置为 [0.6394,-0.9425,0.8959]，明显未实现其代码所求的 [0.920,-0.280,0.009]；末段视频也没有完成重新入箱。推断：放置及恢复的控制执行未可靠实现目标物到位，开环释放没有纠正这一偏差；现有证据不足以进一步确定抓取几何、逆解或跟踪中的哪一项是主要原因。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志或成功参考视频，无法直接核实辅助抓取附着、每本书的精确线速度及逐关节执行误差；入箱静止时刻依据连续画面估计，约有半秒误差。推断：第四本在箱外释放的过程可见，但其未到位究竟源于持书相对位姿、逆解还是实际跟踪，证据不足，根因仅保留控制；本次以逐帧开爪及 log step 240 的计划释放证据判断现象。"
+ },
+ "summary_zh": "观察：机器人两轮运书，分别在视频约 132.0 s、134.5 s、197.0 s 完成前三本入箱，终态为3/6，与评分器 q_score=0.5 一致。观察：视频约 199.3 s，右夹爪在白书仍位于箱外时按脚本开爪，白书落地，末段重抓未完成入箱，断点为第4本书入箱、现象为位姿不准。推断：控制执行与开爪前的到位核实不足，但缺少状态日志，无法把根因进一步细分，静止时刻也仅能作视觉估计。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "前三本入箱时间（约132.0/134.5/197.0 s）与帧一致，q_score=0.5对应3/6；断点为第4本书（白书）在约199.3 s于箱外松手落地，之后重抓未成功，位姿不准与根因停在“控制”均有视频和日志支撑，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:20:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--dkupvnh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--dkupvnh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "22e2540e7254d3444ccdd208baccb7eb455da70efad18ddf60ec817120e07ace",
+   "video_sha256": "bc3da026905cb293e4a5f370e52444985197a463b099197bdf9cbcb8f9553d54",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--fjjaetc.json

@@ -0,0 +1,308 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-books-up-for-storage-i00-standard--fjjaetc",
+ "taskKey": "behavior-1k/boxing_books_up_for_storage",
+ "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b",
+ "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": 74177,
+   "sim_steps": 74177,
+   "physics_steps": 296708,
+   "steps": 24655,
+   "elapsed_s": 14044.8,
+   "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-boxing-books-up-for-storage-i00-standard--fjjaetc/replay.mp4",
+  "duration_s": 2472.567,
+  "fps": 30.0,
+  "frames": 74177,
+  "sha256": "3336e714a604daf004e97eb66ce35b90f34b7e1e989a4b196415b8916316d79c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "books_in_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 4.0 s 的头部视角能看见沙发前的敞口储物箱，箱内没有书；机器人正在转向环视。"
+     },
+     {
+      "t": 15.0,
+      "log_step": 19,
+      "text_zh": "观察：视频 10.5–16.5 s，机器人空手驶近沙发，头部及腕部画面大幅翻转，随后斜停在沙发旁；log step 19 的机器人服务记录 control_steps=642，log step 29 的本体读数为 roll=61.8°、pitch=-36.5°。"
+     },
+     {
+      "t": 1256.0,
+      "log_step": 217,
+      "text_zh": "观察：视频 1233–1256 s，机器人右夹爪伸向书柜格板，随后空爪退出，书仍在格内；未见任何书随夹爪离柜，也未见第1本书入箱。全片每隔约30秒的巡视帧及该操作段的密集帧均未显示搬书入箱动作。"
+     },
+     {
+      "t": 2472.53,
+      "log_step": null,
+      "text_zh": "推断：视频 2471.5–2472.53 s 机器人仍斜靠家具，箱内未在这些末帧中显露；run.json 的评分器 q_score=0、live_matches_replay=1，结合视频 4.0 s 空箱初态及取书未成的画面，终态不可能有至少1本合格入箱书，故 final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在寻找箱子、靠近书柜及反复脱困时驱动轮式底盘，支承机身移动（如视频 10.5–21.5 s、1215–1230 s）；没有持书搬运。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "推断：视频 1236–1241 s 右侧张开的二指夹爪抵在书柜格板附近，腕部视角被格板遮住且末端无法继续前进；log step 191、195 的实际末端位置与命令不符，log step 198 后退后恢复移动。实际为右爪顶压书柜，未见夹住书，不标抓握。"
+     }
+    ]
+   },
+   "books_in_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 4.0 s 的头部视角能看见沙发前的敞口储物箱，箱内没有书；机器人正在转向环视。"
+     },
+     {
+      "t": 1256.0,
+      "log_step": 217,
+      "text_zh": "观察：视频 1233–1256 s，机器人右夹爪伸向书柜格板，随后空爪退出，书仍在格内；未见任何书随夹爪离柜，也未见第2本书入箱。全片每隔约30秒的巡视帧及该操作段的密集帧均未显示搬书入箱动作。"
+     },
+     {
+      "t": 2472.53,
+      "log_step": null,
+      "text_zh": "推断：视频 2471.5–2472.53 s 机器人仍斜靠家具，箱内未在这些末帧中显露；run.json 的评分器 q_score=0、live_matches_replay=1，结合视频 4.0 s 空箱初态及取书未成的画面，终态不可能有至少2本合格入箱书，故 final=false。"
+     }
+    ]
+   },
+   "books_in_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 4.0 s 的头部视角能看见沙发前的敞口储物箱，箱内没有书；机器人正在转向环视。"
+     },
+     {
+      "t": 1256.0,
+      "log_step": 217,
+      "text_zh": "观察：视频 1233–1256 s，机器人右夹爪伸向书柜格板，随后空爪退出，书仍在格内；未见任何书随夹爪离柜，也未见第3本书入箱。全片每隔约30秒的巡视帧及该操作段的密集帧均未显示搬书入箱动作。"
+     },
+     {
+      "t": 2472.53,
+      "log_step": null,
+      "text_zh": "推断：视频 2471.5–2472.53 s 机器人仍斜靠家具，箱内未在这些末帧中显露；run.json 的评分器 q_score=0、live_matches_replay=1，结合视频 4.0 s 空箱初态及取书未成的画面，终态不可能有至少3本合格入箱书，故 final=false。"
+     }
+    ]
+   },
+   "books_in_box_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 4.0 s 的头部视角能看见沙发前的敞口储物箱，箱内没有书；机器人正在转向环视。"
+     },
+     {
+      "t": 1256.0,
+      "log_step": 217,
+      "text_zh": "观察：视频 1233–1256 s，机器人右夹爪伸向书柜格板，随后空爪退出，书仍在格内；未见任何书随夹爪离柜，也未见第4本书入箱。全片每隔约30秒的巡视帧及该操作段的密集帧均未显示搬书入箱动作。"
+     },
+     {
+      "t": 2472.53,
+      "log_step": null,
+      "text_zh": "推断：视频 2471.5–2472.53 s 机器人仍斜靠家具，箱内未在这些末帧中显露；run.json 的评分器 q_score=0、live_matches_replay=1，结合视频 4.0 s 空箱初态及取书未成的画面，终态不可能有至少4本合格入箱书，故 final=false。"
+     }
+    ]
+   },
+   "books_in_box_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 4.0 s 的头部视角能看见沙发前的敞口储物箱，箱内没有书；机器人正在转向环视。"
+     },
+     {
+      "t": 1256.0,
+      "log_step": 217,
+      "text_zh": "观察：视频 1233–1256 s，机器人右夹爪伸向书柜格板，随后空爪退出，书仍在格内；未见任何书随夹爪离柜，也未见第5本书入箱。全片每隔约30秒的巡视帧及该操作段的密集帧均未显示搬书入箱动作。"
+     },
+     {
+      "t": 2472.53,
+      "log_step": null,
+      "text_zh": "推断：视频 2471.5–2472.53 s 机器人仍斜靠家具，箱内未在这些末帧中显露；run.json 的评分器 q_score=0、live_matches_replay=1，结合视频 4.0 s 空箱初态及取书未成的画面，终态不可能有至少5本合格入箱书，故 final=false。"
+     }
+    ]
+   },
+   "books_in_box_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 4.0 s 的头部视角能看见沙发前的敞口储物箱，箱内没有书；机器人正在转向环视。"
+     },
+     {
+      "t": 1256.0,
+      "log_step": 217,
+      "text_zh": "观察：视频 1233–1256 s，机器人右夹爪伸向书柜格板，随后空爪退出，书仍在格内；未见任何书随夹爪离柜，也未见第6本书入箱。全片每隔约30秒的巡视帧及该操作段的密集帧均未显示搬书入箱动作。"
+     },
+     {
+      "t": 2472.53,
+      "log_step": null,
+      "text_zh": "推断：视频 2471.5–2472.53 s 机器人仍斜靠家具，箱内未在这些末帧中显露；run.json 的评分器 q_score=0、live_matches_replay=1，结合视频 4.0 s 空箱初态及取书未成的画面，终态不可能有至少6本合格入箱书，故 final=false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_box_1",
+   "t": 15.0,
+   "log_step": 19,
+   "where": "探索",
+   "evidence_zh": "观察：视频 4.0 s 机器人转向时可见空箱，视频 10.5–16.5 s 空手驶近沙发后明显失衡、侧倾。其后虽恢复移动并于视频 1233–1256 s 右臂探入书柜，仍空爪退出；直到视频 2472.53 s 未见一本书被运入箱内。推断：最早出问题且始终未完成的是第1本书入箱；起身或转去寻找箱子没有修复该步骤，断点锚定早期探索时的失衡。"
+  },
+  "unmet": {
+   "books_in_box_1": false,
+   "books_in_box_2": false,
+   "books_in_box_3": false,
+   "books_in_box_4": false,
+   "books_in_box_5": false,
+   "books_in_box_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 15.0,
+    "log_step": 29,
+    "evidence_zh": "观察：视频 14.5–21.5 s，机器人靠近沙发时多视角快速侧转，随后房间在头部图像中持续倾斜，腕部视角也随机身转动；log step 29 本体读数 roll=61.8°、pitch=-36.5°，log step 55、56 还记录到约90°侧倾。视频 2469–2472.53 s 机器人仍斜靠沙发附近家具，未恢复正常取放作业。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 1238.0,
+    "log_step": 191,
+    "evidence_zh": "观察：视频 1236–1241 s，机器人右夹爪探入书柜格口后停住，腕部视���紧贴白色格板，目标书没有被带出；视频 1242–1244 s 夹爪后撤。log step 191 的右TCP目标为(-3.33,-0.74,0.82)米，实际为(-3.324,-0.812,0.856)米，log step 195 再次下令后仍未完成推进，log step 198 改为后退才恢复运动。推断：格板接触阻断了这次取书进路。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 19 的导航脚本按固定方向分三段驶向沙发区域，每段目标平移1.5米，仅在每段后取像，代码未按可见家具中止或绕障；视频 10.5–21.5 s 对应驶近家具后失衡。log step 76 的 goto 只按目标点与底盘位置误差驱动，log step 90 又安排穿过沙发区域的连续路点；视频后续多次侧翻或斜停。取书时 log step 187、191、192 继续向书柜内目标发关节位置命令，而视频 1236–1241 s 末端被格板阻挡，直到 log step 198 后退。推断：实际底盘及手臂运动缺少有效的障碍接触处理，造成失衡和取书路径受阻；证据不足以进一步区分控制子类。"
+   }
+  ],
+  "gap_zh": "无状态日志，也无成功参考视频。头部与腕部相机不能连续显示箱内，无法逐帧测定书的辅助抓取标志、包围盒中心与速度；节点终态结合空箱初态、未见成功取书搬运及评分器 q_score=0 判假。右夹爪与书柜的精确接触点部分被格板遮住，压/擦及阻挡依据前后画面与末端停滞作推断，接触力和更细的控制根因无法确定。"
+ },
+ "summary_zh": "评分局未见书被成功取出并运入箱内，六个入箱计数节点均未达到，最终为0/6，与评分器 q_score=0 一致。第1本书入箱始终未完成：机器人在视频约15 s 探索箱子附近时失衡，之后虽恢复移动，视频 1236–1241 s 的右臂取书又被格板阻挡，最终仍斜靠家具；日志与画面支持运动控制中的避障和接触处理不足。没有状态日志，箱内非持续可见，接触细节与精确静止阈值只能有限核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个入箱节点全为 false、q_score=0，与视频一致；视频约 10–21 s 机器人冲上沙发侧翻（log step 27-28 roll 62°），1236–1244 s 右爪探入书柜格口后退出（帧可见），断点、平衡与被挡/碰撞现象及控制根因都有证据支撑，时钟均为视频时间。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:15:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--fjjaetc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--fjjaetc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4c060cbc8b35f3cde7a58eca8a4570912bdb8e2b659abfdb45ee6957efc1af3b",
+   "video_sha256": "3336e714a604daf004e97eb66ce35b90f34b7e1e989a4b196415b8916316d79c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--grtqedt.json

@@ -0,0 +1,273 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-books-up-for-storage-i00-standard--grtqedt",
+ "taskKey": "behavior-1k/boxing_books_up_for_storage",
+ "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b",
+ "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": 1389,
+   "sim_steps": 1389,
+   "physics_steps": 5556,
+   "steps": 1389,
+   "elapsed_s": 274.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.236,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.249,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-boxing-books-up-for-storage-i00-standard--grtqedt/replay.mp4",
+  "duration_s": 46.3,
+  "fps": 30.0,
+  "frames": 1389,
+  "sha256": "98b9583987fdac1c354c331eaac5dd50e5790c57dda752bf3944be1b3fd80b01"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "books_in_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.5,
+      "log_step": 20,
+      "text_zh": "观察：视频 0–28.5 s 中机器人反复转向扫描房间，随后空手向书柜方向移动；左右腕部画面未见夹持书本，也未见取书或向箱内放书。"
+     },
+     {
+      "t": 46.27,
+      "log_step": 22,
+      "text_zh": "推断：任务初态说明六本书在书柜、箱子为空（inputs/run.json task_text）；视频 29–46.27 s 中机器人仰视、侧翻，末帧书仍可见于书柜，未发生搬书或入箱。评分器 q_score=0，live_matches_replay=1；结合初态与全程无转移，合格书数始终为0，故“至少1本书入箱”未达成，末态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–29 s 中移动底盘支承机器人原地旋转扫描并驶向书柜，属于准备第1本书入箱的场景探索；尚未建立夹爪与书本的操作接触。"
+     }
+    ]
+   },
+   "books_in_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.5,
+      "log_step": 20,
+      "text_zh": "观察：视频 0–28.5 s 中机器人反复转向扫描房间，随后空手向书柜方向移动；左右腕部画面未见夹持书本，也未见取书或向箱内放书。"
+     },
+     {
+      "t": 46.27,
+      "log_step": 22,
+      "text_zh": "推断：任务初态说明六本书在书柜、箱子为空（inputs/run.json task_text）；视频 29–46.27 s 中机器人仰视、侧翻，末帧书仍可见于书柜，未发生搬书或入箱。评分器 q_score=0，live_matches_replay=1；结合初态与全程无转移，合格书数始终为0，故“至少2本书入箱”未达成，末态为假。"
+     }
+    ]
+   },
+   "books_in_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.5,
+      "log_step": 20,
+      "text_zh": "观察：视频 0–28.5 s 中机器人反复转向扫描房间，随后空手向书柜方向移动；左右腕部画面未见夹持书本，也未见取书或向箱内放书。"
+     },
+     {
+      "t": 46.27,
+      "log_step": 22,
+      "text_zh": "推断：任务初态说明六本书在书柜、箱子为空（inputs/run.json task_text）；视频 29–46.27 s 中机器人仰视、侧翻，末帧书仍可见于书柜，未发生搬书或入箱。评分器 q_score=0，live_matches_replay=1；结合初态与全程无转移，合格书数始终为0，故“至少3本书入箱”未达成，末态为假。"
+     }
+    ]
+   },
+   "books_in_box_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.5,
+      "log_step": 20,
+      "text_zh": "观察：视频 0–28.5 s 中机器人反复转向扫描房间，随后空手向书柜方向移动；左右腕部画面未见夹持书本，也未见取书或向箱内放书。"
+     },
+     {
+      "t": 46.27,
+      "log_step": 22,
+      "text_zh": "推断：任务初态说明六本书在书柜、箱子为空（inputs/run.json task_text）；视频 29–46.27 s 中机器人仰视、侧翻，末帧书仍可见于书柜，未发生搬书或入箱。评分器 q_score=0，live_matches_replay=1；结合初态与全程无转移，合格书数始终为0，故“至少4本书入箱”未达成，末态为假。"
+     }
+    ]
+   },
+   "books_in_box_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.5,
+      "log_step": 20,
+      "text_zh": "观察：视频 0–28.5 s 中机器人反复转向扫描房间，随后空手向书柜方向移动；左右腕部画面未见夹持书本，也未见取书或向箱内放书。"
+     },
+     {
+      "t": 46.27,
+      "log_step": 22,
+      "text_zh": "推断：任务初态说明六本书在书柜、箱子为空（inputs/run.json task_text）；视频 29–46.27 s 中机器人仰视、侧翻，末帧书仍可见于书柜，未发生搬书或入箱。评分器 q_score=0，live_matches_replay=1；结合初态与全程无转移，合格书数始终为0，故“至少5本书入箱”未达成，末态为假。"
+     }
+    ]
+   },
+   "books_in_box_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.5,
+      "log_step": 20,
+      "text_zh": "观察：视频 0–28.5 s 中机器人反复转向扫描房间，随后空手向书柜方向移动；左右腕部画面未见夹持书本，也未见取书或向箱内放书。"
+     },
+     {
+      "t": 46.27,
+      "log_step": 22,
+      "text_zh": "推断：任务初态说明六本书在书柜、箱子为空（inputs/run.json task_text）；视频 29–46.27 s 中机器人仰视、侧翻，末帧书仍可见于书柜，未发生搬书或入箱。评分器 q_score=0，live_matches_replay=1；结合初态与全程无转移，合格书数始终为0，故“至少6本书入箱”未达成，末态为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_box_1",
+   "t": 35.8,
+   "log_step": 21,
+   "where": "探索",
+   "evidence_zh": "观察：视频 29.5–35.5 s 中机器人头部视野逐渐转向天花板，随后视频 35.7–36.3 s 中左右腕部视野也明显侧倾，机器人侧翻；到视频 46.27 s 仍未恢复。log step 21 的机器人指令是在驶近书柜后旋转底盘采集第二处扫描，服务返回 failure: the robot fell over，尚无取书或装箱动作。推断：失败发生于第1本书入箱之前的场景探索，归于 books_in_box_1。"
+  },
+  "unmet": {
+   "books_in_box_1": false,
+   "books_in_box_2": false,
+   "books_in_box_3": false,
+   "books_in_box_4": false,
+   "books_in_box_5": false,
+   "books_in_box_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 35.8,
+    "log_step": 21,
+    "evidence_zh": "观察：视频 35.7–36.3 s 中机器人腕部相机内的地板、书柜与窗框一起快速倾斜，视频 38–46.27 s 持续处于歪斜低位且未恢复；log step 21 服务返回跌倒终止，末态本体读数 tilt=-0.27，log step 22 确认 done=True、reason=failure: the robot fell over。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志 / 视频 / agent 自述",
+    "evidence_zh": "推断：agent 的控制脚本在 log step 11 定义 cur_action(now)，将当次实测的躯干、双臂关节角直接作为位置目标；drive 每次重新读取 now 后调用它，log step 13、16、20、21 连续沿用此策略。log step 11 的初始 torso_joint1=1.024、torso_joint4≈0，log step 23 的末态分别为-0.506、-1.117；视频 29.5–35.5 s 中头部先仰向天花板，腕部此时仍大致直立，随后视频 35.7–36.3 s 全机侧翻。这支持测量姿态被不断写回指令、未维持固定躯干目标的姿态保持失败；agent 也在 log step 25 将逐次下垂累积列为自己的可能控制错误。下垂的力矩及重心变化并无连续数据核实。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志或成功参考视频，箱内也没有持续可见的视角；节点末态由初态、全程未见搬书及评分器 q_score=0 联合确定。日志只有少量姿态读数，没有连续关节目标、力矩或重心数据，因此反馈控制归因是结合代码、前后读数和视频姿态变化的推断，不能进一步确认具体失衡力学过程。"
+ },
+ "summary_zh": "六本书入箱的计数节点均未达成，末态为0/6；视频中机器人只做房间扫描并驶近书柜，尚未取书。机器人在第二处扫描时于视频约35.8 s 侧翻，直到视频46.27 s 末帧未恢复，服务以跌倒终止；控制代码反复将实测躯干姿态写回目标，结合前后关节读数与视频，支持反馈控制失效。没有连续状态日志，具体失衡力学原因仍不能完全确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "六个计数节点末态为假、断点在 books_in_box_1（探索）、平衡现象和反馈控制根因均与视频及日志（log step 11/21/22/23/24 的跌倒终止与关节读数）一致，推断也已标明；未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:11:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--grtqedt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--grtqedt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "84ddfbef70da295a854253f581ed76d263c53b5886a5a9555b2a2bc281589ec7",
+   "video_sha256": "98b9583987fdac1c354c331eaac5dd50e5790c57dda752bf3944be1b3fd80b01",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--pbqvuwa.json

@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-books-up-for-storage-i00-standard--pbqvuwa",
+ "taskKey": "behavior-1k/boxing_books_up_for_storage",
+ "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b",
+ "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": 3263,
+   "sim_steps": 3263,
+   "physics_steps": 13052,
+   "steps": 873,
+   "elapsed_s": 1397.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-boxing-books-up-for-storage-i00-standard--pbqvuwa/replay.mp4",
+  "duration_s": 108.767,
+  "fps": 30.0,
+  "frames": 3263,
+  "sha256": "a858f71b5b005d37bf4a22ec224a118da14a7cea7e0b6b5dba6b318fa2b9c025"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "books_in_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–96.0 s 的头部和腕部视图显示机器人在沙发、矮书架、桌椅及楼梯口周围转向扫描和移动，未见夹爪从书架取出书，也未见携书或向箱内放书。"
+     },
+     {
+      "t": 108.733,
+      "log_step": 245,
+      "text_zh": "推断：视频 98.7–99.9 s 视图翻转后，至视频 108.733 s 末帧未恢复或搬书；log step 245 的机器人服务状态确认回合因跌倒结束。评分器 q_score=0.0、live_matches_replay=1，结合初始书在书架且全程未见入箱，末态合格书为0本，故至少1本书入箱为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–98.7 s，轮式底盘支承机器人，在搜寻书与箱子的过程中多次原地转向并在房间和楼梯口附近移动；没有可确认的夹爪抓书接触。"
+     }
+    ]
+   },
+   "books_in_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–96.0 s 的头部和腕部视图显示机器人在沙发、矮书架、桌椅及楼梯口周围转向扫描和移动，未见夹爪从书架取出书，也未见携书或向箱内放书。"
+     },
+     {
+      "t": 108.733,
+      "log_step": 245,
+      "text_zh": "推断：视频 98.7–99.9 s 视图翻转后，至视频 108.733 s 末帧未恢复或搬书；log step 245 的机器人服务状态确认回合因跌倒结束。评分器 q_score=0.0、live_matches_replay=1，结合初始书在书架且全程未见入箱，末态合格书为0本，故至少2本书入箱为假。"
+     }
+    ]
+   },
+   "books_in_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–96.0 s 的头部和腕部视图显示机器人在沙发、矮书架、桌椅及楼梯口周围转向扫描和移动，未见夹爪从书架取出书，也未见携书或向箱内放书。"
+     },
+     {
+      "t": 108.733,
+      "log_step": 245,
+      "text_zh": "推断：视频 98.7–99.9 s 视图翻转后，至视频 108.733 s 末帧未恢复或搬书；log step 245 的机器人服务状态确认回合因跌倒结束。评分器 q_score=0.0、live_matches_replay=1，结合初始书在书架且全程未见入箱，末态合格书为0本，故至少3本书入箱为假。"
+     }
+    ]
+   },
+   "books_in_box_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–96.0 s 的头部和腕部视图显示机器人在沙发、矮书架、桌椅及楼梯口周围转向扫描和移动，未见夹爪从书架取出书，也未见携书或向箱内放书。"
+     },
+     {
+      "t": 108.733,
+      "log_step": 245,
+      "text_zh": "推断：视频 98.7–99.9 s 视图翻转后，至视频 108.733 s 末帧未恢复或搬书��log step 245 的机器人服务状态确认回合因跌倒结束。评分器 q_score=0.0、live_matches_replay=1，结合初始书在书架且全程未见入箱，末态合格书为0本，故至少4本书入箱为假。"
+     }
+    ]
+   },
+   "books_in_box_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–96.0 s 的头部和腕部视图显示机器人在沙发、矮书架、桌椅及楼梯口周围转向扫描和移动，未见夹爪从书架取出书，也未见携书或向箱内放书。"
+     },
+     {
+      "t": 108.733,
+      "log_step": 245,
+      "text_zh": "推断：视频 98.7–99.9 s 视图翻转后，至视频 108.733 s 末帧未恢复或搬书；log step 245 的机器人服务状态确认回合因跌倒结束。评分器 q_score=0.0、live_matches_replay=1，结合初始书在书架且全程未见入箱，末态合格书为0本，故至少5本书入箱为假。"
+     }
+    ]
+   },
+   "books_in_box_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–96.0 s 的头部和腕部视图显示机器人在沙发、矮书架、桌椅及楼梯口周围转向扫描和移动，未见夹爪从书架取出书，也未见携书或向箱内放书。"
+     },
+     {
+      "t": 108.733,
+      "log_step": 245,
+      "text_zh": "推断：视频 98.7–99.9 s 视图翻转后，至视频 108.733 s 末帧未恢复或搬书；log step 245 的机器人服务状态确认回合因跌倒结束。评分器 q_score=0.0、live_matches_replay=1，结合初始书在书架且全程未见入箱，末态合格书为0本，故至少6本书入箱为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_box_1",
+   "t": 98.7,
+   "log_step": 243,
+   "where": "探索",
+   "evidence_zh": "观察：视频 96.2–98.6 s，机器人仍在楼梯口附近空手调整朝向和移动；视频 98.7–99.9 s，各相机视图快速翻转，随后保持倾斜且没有开始抓书。log step 243 执行前往地面物体附近的移动命令时，机器人服务返回“failure: the robot fell over”，log step 245 确认 done=True。推断：机器人在为第1本书入箱寻找目标及接近观察位置时失去平衡，此后没有恢复，该步骤未完成。"
+  },
+  "unmet": {
+   "books_in_box_1": false,
+   "books_in_box_2": false,
+   "books_in_box_3": false,
+   "books_in_box_4": false,
+   "books_in_box_5": false,
+   "books_in_box_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 98.7,
+    "log_step": 243,
+    "evidence_zh": "观察：视频 98.7–99.9 s，头部与腕部视图在楼梯口处突然大幅翻转，视频 100.0–108.733 s 保持倒伏后的视角；log step 243 的机器人服务异常及 log step 245 的终止状态均明确给出“failure: the robot fell over”。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 98.7,
+    "log_step": 136,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：移动控制没有在支撑条件改变时保护机身稳定。log step 136 创建的 goto.py 按目标平面位置直接计算底盘位移，仅在每三次移动前以头部图像中部的近距离深度阈值停止，没有检查底座高度、倾角或运动方向下方的支撑；log step 243 调用此程序移动到 (0.3,-0.7)，与视频 98.7–99.9 s 的翻倒及服务跌倒终止相对应。log step 111、114 已分别记录过机器人先前倾斜38.7度和后退恢复，说明本回合已有移动失稳反馈；最终移动仍未加入相应保护。具体接触与失稳机制缺少状态数据，故仅标控制大类。"
+   }
+  ],
+  "gap_zh": "未提供状态日志或成功示范，视频也没有直接展示储物箱内部；节点未达依据全程未见取书、搬运或入箱，并结合评分器 q_score=0.0 推断，不能从夹爪姿态认定抓取。相机随机器人运动，无法直接看清轮地接触及精确倾角；可确认楼梯口附近失稳和服务的跌倒判定，但 agent 自述越过楼梯洞口（log step 254）的具体路径与碰撞机制待核实，控制根因不细分。log step 254 将 elapsed_s 称为仿真时间不准确，本标注全部时间锚点取自视频帧。"
+ },
+ "summary_zh": "机器人在房间内扫描、搜寻并移动，未见取书或装箱，六个入箱节点均未达到，末态0/6与评分器 q_score=0.0 一致。视频约98.7 s，机器人在楼梯口附近探索时翻倒，至视频108.733 s仍未恢复，服务确认因跌倒终止；移动控制仅以近距离障碍阈值保护，未处理底座倾斜或支撑变化，根因标为控制。没有状态日志及箱内直���视图，具体轮地接触、越界路径和失稳机制不能核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频、日志一致：六个入箱节点全程未见取书或入箱，final 均为假；视频约98.7 s 楼梯口处视图翻转并保持倒伏至末帧，log step 243/245 的服务读数为“failure: the robot fell over”，断点探索、现象平衡、根因控制（推断，已标注）均有证据支持，时间均取自视频帧。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:08:48Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--pbqvuwa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--pbqvuwa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4173eb8de882244c3a535458f0561d54fc7b3cec5b01403f7cb63ea6b3e3b75a",
+   "video_sha256": "a858f71b5b005d37bf4a22ec224a118da14a7cea7e0b6b5dba6b318fa2b9c025",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--qgqfvsy.json

@@ -0,0 +1,410 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-books-up-for-storage-i00-standard--qgqfvsy",
+ "taskKey": "behavior-1k/boxing_books_up_for_storage",
+ "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.8333333333333334,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 35519,
+   "sim_steps": 35519,
+   "physics_steps": 142076,
+   "steps": 35519,
+   "elapsed_s": 13960.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.8333333333333334,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-boxing-books-up-for-storage-i00-standard--qgqfvsy/replay.mp4",
+  "duration_s": 1183.967,
+  "fps": 30.0,
+  "frames": 35519,
+  "sha256": "498a0461f06ed0db20befc1866078db706bfe4be37ffa0a1ed1728bfa4bb2c33"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "books_in_box_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      400.5,
+      422.5
+     ],
+     [
+      470.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–20 s 机器人转身接近书柜，六本待收书仍在书格；视频 170 s 可见地板上的空白储物箱，初始没有书入箱。"
+     },
+     {
+      "t": 400.5,
+      "log_step": 254,
+      "text_zh": "观察：视频 343–398 s 左夹爪夹持黄封面书并将其从书柜一侧运至地板上的箱子；视频 399.5–400.5 s 夹爪张开，黄书落在箱底；视频 402–406 s 夹爪退出，黄书留在箱内不再移动。"
+     },
+     {
+      "t": 422.5,
+      "log_step": 268,
+      "text_zh": "推断：视频 422–430 s 左夹爪抓住箱沿后逐渐提箱，视频 434–468 s 搬箱、转向并下降，黄书随箱运动，故静止条件暂失；这段时间黄书没有掉出箱子。区间端点约为视频 422.5 s 和视频 470.5 s，依据画面及连续搬箱动作近似，不能从画面恢复精确速度阈值。"
+     },
+     {
+      "t": 472,
+      "log_step": 288,
+      "text_zh": "观察：视频 470–472.5 s 箱子在书柜旁落定，腕相机重新看见黄书留在箱底；视频 480–800 s 的后续箱内视图仍可见黄书，之后新增书本时未见其出箱。"
+     },
+     {
+      "t": 400,
+      "log_step": 254,
+      "text_zh": "推断：本回合没有重置或恢复，评分字段 sim_steps=35519 与视频 35519 帧相等，控制频率与视频帧率均为30赫兹；log step 254 的 control_steps=11992 对应视频 399.73 s，已与视频 400 s 黄书松手核对。这里未使用 agent 工作时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 283–289 s 左夹爪沿黄书表面向书格外拨拉，黄书随后掉到地板；这是夹取之前的直接拨动。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 343–400 s 左二指夹爪夹住地板上黄书的书角，抬起并送到箱内松开；随后同一夹爪夹箱沿，把装有黄书的箱子提走并放在书柜旁。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 350–395 s 底盘载着持黄书的机器人驶向箱子；视频 434–453 s 底盘又支承持箱机器人驶回书柜旁。"
+     }
+    ]
+   },
+   "books_in_box_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      830.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 811,
+      "log_step": 435,
+      "text_zh": "观察：视频 807–811 s 深蓝封面书随左夹爪离开原来的下层书格，腕相机中书保持在两指之间；视频 814–829 s 机器人持书移到箱子上方并降低。"
+     },
+     {
+      "t": 838,
+      "log_step": 444,
+      "text_zh": "观察：视频 830–831 s 左夹爪张开并空手抬离；视频 838–839 s 腕相机俯看箱内，深蓝书与黄书均在箱底，夹爪已离开，两书没有可见运动。"
+     },
+     {
+      "t": 830.5,
+      "log_step": 442,
+      "text_zh": "推断：结合视频 829.5–831.5 s 的松手、后退和视频 838 s 的箱内视图，将至少两本离手静止的起点近似放在视频 830.5 s；后续箱子没有再被搬起，两本书均留在箱中直至结尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 807–830 s 左二指夹爪夹持深蓝书的前角，将书从下层书格抽出并送入箱中松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 814–821 s 底盘在左爪持深蓝书时侧移，使机器人对准书柜旁的箱子。"
+     }
+    ]
+   },
+   "books_in_box_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      965.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 957,
+      "log_step": 491,
+      "text_zh": "观察：视频 950–957 s 左夹爪从上层书格夹住红书脊、白封面的书并向外抽出，原位置露空；视频 960–964.5 s 书保持在夹爪中并被降低到箱内。"
+     },
+     {
+      "t": 970,
+      "log_step": 498,
+      "text_zh": "观察：视频 965–967.5 s 左夹爪张开后撤，红脊白书留在箱内；视频 970–973 s 箱内俯视可见黄书、深蓝书、红脊白书三本，均已离手且无可见运动。"
+     },
+     {
+      "t": 965.5,
+      "log_step": 496,
+      "text_zh": "推断：据视频 964.5–967.5 s 的释放及视频 970 s 箱内三书，将第三本入箱静止的起点近似标为视频 965.5 s；此后没有取出已入箱书本。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 950–965 s 左二指夹爪夹住红脊白书的前角，抽出并移至箱内松手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 884–887 s 取红脊白书的尝试中，底盘小幅向书柜侧移并靠近，随后继续同一本书的夹取。"
+     }
+    ]
+   },
+   "books_in_box_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      1008.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1001,
+      "log_step": 506,
+      "text_zh": "观察：视频 997–1001 s 左夹爪夹持青色封面书从书格向外移动；视频 1002–1007.5 s 书随夹爪下降到箱子另一侧。"
+     },
+     {
+      "t": 1009.5,
+      "log_step": 513,
+      "text_zh": "观察：视频 1008 s 夹爪张开，青书下落；视频 1008.5–1009.5 s 青书停在箱内已有三书旁，夹爪与书分离；视频 1013–1014 s 再次看向箱内，四书仍在。"
+     },
+     {
+      "t": 1008.5,
+      "log_step": 511,
+      "text_zh": "推断：将第四本离手静止的起点近似标为视频 1008.5 s；后续加放白书及离开箱子的画面没有显示这四本被取出或掉出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 997–1008 s 左二指夹爪夹持青书书角，从上层书格抽出，移到箱子空余一侧松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 972–984 s 底盘绕过地板上的箱子并侧移到青书所在书格前，再伸左爪取书。"
+     }
+    ]
+   },
+   "books_in_box_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      1109.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1104,
+      "log_step": 542,
+      "text_zh": "观察：视频 1097–1104 s 右二指夹爪夹住白色封面、紫色圆形图案书，将它从下层书格抽出，原书格露空；视频 1104–1108.5 s 右爪持书降低到箱中。"
+     },
+     {
+      "t": 1110,
+      "log_step": 548,
+      "text_zh": "观察：视频 1109 s 右夹爪张开，白书落在箱内已有书上；视频 1109.5–1115 s 夹爪退出，白书保持在箱内，无可见运动；视频 1116–1120 s 的腕部视图仍显示装着五本书的箱子。"
+     },
+     {
+      "t": 1183.9,
+      "log_step": null,
+      "text_zh": "推断：视频 1121–1183.9 s 机器人离箱去取绿脊书，没有再搬箱或取出箱内书本；结合 reward.q_score=0.8333333333333334（六个入箱目标中的五个）及 live_matches_replay=1，终态至少五本入箱成立。离手静止的第五本起点近似为视频 1109.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 1102–1109 s 右二指夹爪夹住白色紫图案书的书角，抽出、降低到箱内并松手；这一段底盘未发生可见行驶。"
+     }
+    ]
+   },
+   "books_in_box_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1141,
+      "log_step": 551,
+      "text_zh": "观察：视频 1132–1137.5 s 左夹爪对着最后一本绿脊书前角逐渐闭合；视频 1138–1141 s 夹爪向外撤回，但绿书仍平放在原书格，没有随夹爪离开。"
+     },
+     {
+      "t": 1170.5,
+      "log_step": 567,
+      "text_zh": "观察：视频 1148–1159 s 再次闭合后左爪仍空手后退；视频 1169–1171 s 进近书格右侧竖直隔板时，夹爪/腕部接��隔板并明显偏转，仍未抽出绿书。"
+     },
+     {
+      "t": 1183.9,
+      "log_step": 568,
+      "text_zh": "观察：视频 1178–1183.9 s 左夹爪改从另一书角进近并闭合，绿书始终留在书格，至视频最后一秒也没有被夹出或送往箱子。"
+     },
+     {
+      "t": 1183.9,
+      "log_step": null,
+      "text_zh": "推断：绿书的书格位置始终可见而从未完成搬运；评分器 q_score=5/6 且 live_matches_replay=1，与终态只有五本在箱内一致，因此第六本入箱 final=false，而非因遮挡记为未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 1132–1183.9 s 左夹爪在绿脊书前缘和书角处进退拨碰，视频 1169–1171 s 还碰到书柜竖直隔板；虽反复闭合，未见两指包夹住绿书并搬出，故不记抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 1121–1128 s 底盘从装书箱旁侧移到最后一本绿脊书所在的书格前，支承机器人进行后续取书。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.8333333333333334,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_box_6",
+   "t": 1137.5,
+   "log_step": 551,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1137.5 s 左夹爪第一次闭合后没有夹住绿脊书，视频 1141 s 空手撤回，书仍在格内；视频 1148–1183.9 s 的再次夹取及改换书角也没有完成抽出和入箱。前五本已在箱内，后续始终未修复的是第六本的取书入箱过程。"
+  },
+  "unmet": {
+   "books_in_box_1": true,
+   "books_in_box_2": true,
+   "books_in_box_3": true,
+   "books_in_box_4": true,
+   "books_in_box_5": true,
+   "books_in_box_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 1137.5,
+    "log_step": 551,
+    "evidence_zh": "观察：视频 1134–1137.5 s 左夹爪两指在绿书书脊前方合拢，视频 1139–1141 s 撤回时两指间没有书，绿书仍在原书格；视频 1153–1159 s 复试及视频 1180–1183.9 s 换角夹取仍未建立可搬运书本的夹持接触。这里有拨碰，但没有形成所需抓握。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 1170.5,
+    "log_step": 567,
+    "evidence_zh": "观察：视频 1169–1171 s 左夹爪沿绿书靠右的书角进近，腕部/夹爪碰上书格的竖直隔板，腕相机画面从书脊翻向白色隔板，头相机同时可见左腕偏转，书仍留在格内；log step 563 指令要求进近该书角，log step 567 返回的末端实际位姿偏离目标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 1137.5,
+    "log_step": 549,
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 1134–1141 s 和视频 1150–1159 s 中，选定的书角进深与腕朝向使两指在书脊前方闭合，没有包住书边；视频 1169–1171 s 的后续进近又使腕部占据书格隔板空间。log step 549、552 均采用同一 qrightcorner 朝向，在相近书角坐标逐级闭爪后直接后撤；可见失败来自夹持接触几何与书格净空不匹配。视频 1178–1183.9 s 改换书角也未取出，这本书的可行替代抓法未被验证。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 提供完整视频和运行日志，但没有状态日志，也没有成功参考视频。书本速度、辅助抓取附着与精确内含判据没有逐帧读数；入箱静止时刻按释放前后和箱内画面近似，尤其视频 422–470.5 s 搬箱段的速度阈值与细小停顿无法精确恢复。末次书角的实际接触点部分被夹爪遮挡，不能确定可行替代抓法；没有据此推断感知误差或任务不可行。"
+ },
+ "summary_zh": "观察：机器人先后将黄、深蓝、红脊白、青、白色紫图案五本书放入箱内，终态为5/6，与评分器 q_score=5/6 一致；第一本入箱后随箱搬运，静止条件暂失，箱子在书柜旁落定后恢复。观察：最后的绿脊书在视频 1137.5–1183.9 s 多次闭爪后仍留在书格，另一次进近被隔板阻挡；推断：书角夹持的接触几何及净空选择未能形成有效抓握，断在第6本书入箱。观察：没有状态日志或成功参考视频，离手静止的阈值时刻及搬箱时的细小停顿只能近似判断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点进度（5/6，与q_score=5/6一致）、断点（第六本绿书取书）、现象与根因均有视频支持，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": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:22:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--qgqfvsy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--qgqfvsy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0efb7f2362068821169a652dc2577021f9f432fd2dea8092b1fd17ee1ac82c46",
+   "video_sha256": "498a0461f06ed0db20befc1866078db706bfe4be37ffa0a1ed1728bfa4bb2c33",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--x5r9byw.json

@@ -0,0 +1,293 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-books-up-for-storage-i00-standard--x5r9byw",
+ "taskKey": "behavior-1k/boxing_books_up_for_storage",
+ "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b",
+ "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": 6008,
+   "sim_steps": 6008,
+   "physics_steps": 24032,
+   "steps": 2003,
+   "elapsed_s": 3581.5,
+   "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": 0.359,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.379,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-boxing-books-up-for-storage-i00-standard--x5r9byw/replay.mp4",
+  "duration_s": 200.267,
+  "fps": 30.0,
+  "frames": 6008,
+  "sha256": "538c834a2ed352afd586669129c9fcb6874991c10667d8703450dab0936f7e29"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "books_in_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 111.5,
+      "log_step": 447,
+      "text_zh": "观察：视频 104–112 s，机器人右臂伸向书柜右端格口，右腕画面中的夹爪闭合后退出，指间没有书；书柜内可见的书仍留在原处。log step 446–447 记录对应的取书脚本及执行，不能把脚本中的 close_grasp 当作抓取成功。"
+     },
+     {
+      "t": 147.5,
+      "log_step": 504,
+      "text_zh": "观察：视频 117–155 s，机器人多次将右夹爪伸入蓝色书所在的中层格子；视频 140–147 s 的右腕画面可见蓝色书仍靠在隔板旁，闭合夹爪退回时没有把书带走。视频 170–178 s 再次操作后，白色书仍在书柜中，右夹爪为空。"
+     },
+     {
+      "t": 200.2,
+      "log_step": 524,
+      "text_zh": "推断：视频 61–65 s 可见尚空的储物箱；其后的取书尝试未出现书随夹爪离柜并到箱内的过程，视频 190.5–200.2 s 机器人翻倒。评分器 reward.q_score=0、live_matches_replay=1；结合初态无书入箱，终态合格书数只能为0，本节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 104–155 s 右夹爪多次伸入书柜并空夹，视频 170–178 s 再次取书也未带出书；腕部画面贴近隔板，指尖与书、隔板的局部接触被遮挡，无法确定实际触碰方式，未把闭合命令记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–104 s 机器人底盘承重行驶，寻找储物箱并接近书柜；视频 156–170 s 调整取书位置，视频 179–190 s 离开书柜沿通道行驶。未观察到行驶时夹爪持有书。"
+     }
+    ]
+   },
+   "books_in_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 178.0,
+      "log_step": null,
+      "text_zh": "观察：视频 104–155 s 的取书动作后，蓝色书仍留在书柜；视频 170–178 s 白色书也未随夹爪离柜。整段视频未见书被送入储物箱，未出现至少2本书已放入、离手且静止的状态。"
+     },
+     {
+      "t": 200.2,
+      "log_step": 524,
+      "text_zh": "推断：初态六本书均不在箱内，评分器 reward.q_score=0，且 live_matches_replay=1；因此终态箱内书数为0，不可能满足至少2本书的本节点。视频 199.3–200.2 s 机器人仍处于翻倒状态，未发生后续放书修复。"
+     }
+    ]
+   },
+   "books_in_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 178.0,
+      "log_step": null,
+      "text_zh": "观察：视频 104–155 s 的取书动作后，蓝色书仍留在书柜；视频 170–178 s 白色书也未随夹爪离柜。整段视频未见书被送入储物箱，未出现至少3本书已放入、离手且静止的状态。"
+     },
+     {
+      "t": 200.2,
+      "log_step": 524,
+      "text_zh": "推断：初态六本书均不在箱内，评分器 reward.q_score=0，且 live_matches_replay=1；因此终态箱���书数为0，不可能满足至少3本书的本节点。视频 199.3–200.2 s 机器人仍处于翻倒状态，未发生后续放书修复。"
+     }
+    ]
+   },
+   "books_in_box_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 178.0,
+      "log_step": null,
+      "text_zh": "观察：视频 104–155 s 的取书动作后，蓝色书仍留在书柜；视频 170–178 s 白色书也未随夹爪离柜。整段视频未见书被送入储物箱，未出现至少4本书已放入、离手且静止的状态。"
+     },
+     {
+      "t": 200.2,
+      "log_step": 524,
+      "text_zh": "推断：初态六本书均不在箱内，评分器 reward.q_score=0，且 live_matches_replay=1；因此终态箱内书数为0，不可能满足至少4本书的本节点。视频 199.3–200.2 s 机器人仍处于翻倒状态，未发生后续放书修复。"
+     }
+    ]
+   },
+   "books_in_box_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 178.0,
+      "log_step": null,
+      "text_zh": "观察：视频 104–155 s 的取书动作后，蓝色书仍留在书柜；视频 170–178 s 白色书也未随夹爪离柜。整段视频未见书被送入储物箱，未出现至少5本书已放入、离手且静止的状态。"
+     },
+     {
+      "t": 200.2,
+      "log_step": 524,
+      "text_zh": "推断：初态六本书均不在箱内，评分器 reward.q_score=0，且 live_matches_replay=1；因此终态箱内书数为0，不可能满足至少5本书的本节点。视频 199.3–200.2 s 机器人仍处于翻倒状态，未发生后续放书修复。"
+     }
+    ]
+   },
+   "books_in_box_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 178.0,
+      "log_step": null,
+      "text_zh": "观察：视频 104–155 s 的取书动作后，蓝色书仍留在书柜；视频 170–178 s 白色书也未随夹爪离柜。整段视频未见书被送入储物箱，未出现至少6本书已放入、离手且静止的状态。"
+     },
+     {
+      "t": 200.2,
+      "log_step": 524,
+      "text_zh": "推断：初态六本书均不在箱内，评分器 reward.q_score=0，且 live_matches_replay=1；因此终态箱内书数为0，不可能满足至少6本书的本节点。视频 199.3–200.2 s 机器人仍处于翻倒状态，未发生后续放书修复。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_box_1",
+   "t": 111.5,
+   "log_step": 447,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 104–112 s 机器人第一次伸臂取书后右夹爪空着退出，未带出书；视频 117–155 s 对蓝色书的反复抓取及视频 170–178 s 对白色书的尝试也未完成入箱。第1本书入箱始终未修复，之后机器人在视频约 190.5 s 翻倒；log step 524 的服务状态以 failure: the robot fell over 结束本回合。"
+  },
+  "unmet": {
+   "books_in_box_1": false,
+   "books_in_box_2": false,
+   "books_in_box_3": false,
+   "books_in_box_4": false,
+   "books_in_box_5": false,
+   "books_in_box_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 111.5,
+    "log_step": 447,
+    "evidence_zh": "观察：视频 108 s、111.5 s 的右腕画面中，夹爪在书柜格口附近闭合、退出，双指之间没有书；视频 124 s、140–147 s 仍可见蓝色书留在格内、夹爪空着收回。需要的对向夹持未建立，未见先持书再滑落的过程。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 190.5,
+    "log_step": 524,
+    "evidence_zh": "观察：视频约 190–194 s 机器人行驶后机身持续侧翻，头部和两腕视野随之大幅旋转；视频 199.3–200.2 s 地板和房间仍呈侧转视角，未恢复。log step 524 服务报告 control_steps=6008、done=True、reason=failure: the robot fell over；log step 549 末态本体读数的倾斜余弦为-0.543。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：控制实现存在可定位的缺陷，且未用反馈修复取书或失衡。log step 510 的逆解接口说明解会改变躯干与目标臂，但 log step 520 执行白色书轨迹时把解中的躯干关节覆盖成固定中立值，视频 170–178 s 右臂抬起而白色书留在格内；log step 544 也记录空夹后的双指开度为0。用于该段行驶的 log step 105 脚本检测到倾斜只打印 WARNING，仍继续提交底盘动作；log step 544 的实际执行记录从倾斜余弦0.798连续降到0.470、0.317及负值，直至服务判跌倒，与视频 190.5–200.2 s 一致。具体最初空夹的几何误差无法进一步分型。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志��成功示范视频。右腕在若干闭合阶段被书柜隔板遮挡，无法确认指尖与书或隔板的具体接触对、接触力，故 contact_actual 的末端接触保留未知；空爪退回和书留格可见，不能据此虚构抓握或掉书。首次抓取失败的具体几何原因及侧翻起始处的底盘接触面不可确定；未据侧翻反推碰撞、感知错误或环境故障。"
+ },
+ "summary_zh": "机器人找到储物箱并在书柜前多次尝试取书，但未观察到任何书被带出并放入箱内；评分器 q_score=0，六个入箱节点均未达成。断点为第1本书入箱：视频约 111.5 s 空夹退出后一直未修复，视频约 190.5 s 又发生侧翻并以跌倒结束；日志支持控制实现及反馈处理存在缺陷。缺少状态日志，指尖的具体接触和初始失衡的接触原因不能确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个入箱节点均未达成、断点为第1本书入箱、空夹与侧翻现象均与抽帧所见一致；未发现需要改变内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:10:49Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--x5r9byw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--x5r9byw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7d58d7759d6a03707a6a7fe5daad2644dde137d4a49f445e50c11303ef499a09",
+   "video_sha256": "538c834a2ed352afd586669129c9fcb6874991c10667d8703450dab0936f7e29",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--yft7vjh.json

@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-boxing-books-up-for-storage-i00-standard--yft7vjh",
+ "taskKey": "behavior-1k/boxing_books_up_for_storage",
+ "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 10990,
+   "sim_steps": 11140,
+   "physics_steps": 44560,
+   "steps": 3132,
+   "elapsed_s": 6875.0,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-boxing-books-up-for-storage-i00-standard--yft7vjh/replay.mp4",
+  "duration_s": 371.4,
+  "fps": 10.0,
+  "frames": 3714,
+  "sha256": "01e6b64953973c86f9ecbe4738aaf9d993d5a17e5c3b158cdc3e903c94218d7b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "books_in_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频起始至视频 60 s，机器人主要转向、行驶和观察墙面木门；没有取出书并放入箱内的过程。"
+     },
+     {
+      "t": 68.0,
+      "log_step": 132,
+      "text_zh": "观察：视频 63–74 s，机器人左夹爪下探地面白色矩形物后闭合、抬起，白色物仍留在地面，夹爪未带走它；视频 96–105 s 的再次下探也没有形成搬运。log step 132 的“这是书、已接触”是 agent 的判断，不能据此认定抓书成功。"
+     },
+     {
+      "t": 120.0,
+      "log_step": 313,
+      "text_zh": "观察：视频 112–126 s，机器人左夹爪围住墙面木门的长把手并拉动，随后撤回；视频 210–244 s 又向地面下探，视频 260–280 s 及视频 330–366 s 再次操作木门把手，均未出现书进入箱子的画面。agent 在 log step 313 也将先前当作书柜的面板改称房门。"
+     },
+     {
+      "t": 371.3,
+      "log_step": null,
+      "text_zh": "推断：视频 369.9–371.3 s 的逐帧末态仍停在房门前，没有末尾装书动作；完整视频中未见书籍被搬入箱内，评分器给出 q_score=0.0，且六个入箱关系均非初始已满足目标，故最终合格书数为0，第1本书入箱为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 0–63 s 及后续多段搜索中转向、行驶，底盘支承机身接近地面候选物和墙面木门；未见携带书籍行驶。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 118.5–122.5 s，左侧二指夹爪从两侧夹住木门长把手并拉动，这是为寻找书籍而作的探索接触；夹住的不是书。地面白色物的下探闭爪未形成可见抓持，不将其计为抓书。"
+     }
+    ]
+   },
+   "books_in_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 244.0,
+      "log_step": null,
+      "text_zh": "观察：视频 63–105 s 及视频 210–244 s 的候选物抓取后，没有物体随夹爪搬运到箱内；其余视频主要是移动搜索与木门把手探索，未见连续装书或一次装入多本书，第2本入箱的操作未启动。"
+     },
+     {
+      "t": 371.3,
+      "log_step": null,
+      "text_zh": "推断：视频 369.9–371.3 s 无新增放书动作；评分器 q_score=0.0，六个入箱目标均不属于初始已满足关系，因此最终没有合格入箱书籍，至少2本入箱为假。"
+     }
+    ]
+   },
+   "books_in_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 244.0,
+      "log_step": null,
+      "text_zh": "观察：视频 63–105 s 及视频 210–244 s 的候选物抓取后，没有物体随夹爪搬运到箱内；其余视频主要是移动搜索与木门把手探索，未见连续���书或一次装入多本书，第3本入箱的操作未启动。"
+     },
+     {
+      "t": 371.3,
+      "log_step": null,
+      "text_zh": "推断：视频 369.9–371.3 s 无新增放书动作；评分器 q_score=0.0，六个入箱目标均不属于初始已满足关系，因此最终没有合格入箱书籍，至少3本入箱为假。"
+     }
+    ]
+   },
+   "books_in_box_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 244.0,
+      "log_step": null,
+      "text_zh": "观察：视频 63–105 s 及视频 210–244 s 的候选物抓取后，没有物体随夹爪搬运到箱内；其余视频主要是移动搜索与木门把手探索，未见连续装书或一次装入多本书，第4本入箱的操作未启动。"
+     },
+     {
+      "t": 371.3,
+      "log_step": null,
+      "text_zh": "推断：视频 369.9–371.3 s 无新增放书动作；评分器 q_score=0.0，六个入箱目标均不属于初始已满足关系，因此最终没有合格入箱书籍，至少4本入箱为假。"
+     }
+    ]
+   },
+   "books_in_box_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 244.0,
+      "log_step": null,
+      "text_zh": "观察：视频 63–105 s 及视频 210–244 s 的候选物抓取后，没有物体随夹爪搬运到箱内；其余视频主要是移动搜索与木门把手探索，未见连续装书或一次装入多本书，第5本入箱的操作未启动。"
+     },
+     {
+      "t": 371.3,
+      "log_step": null,
+      "text_zh": "推断：视频 369.9–371.3 s 无新增放书动作；评分器 q_score=0.0，六个入箱目标均不属于初始已满足关系，因此最终没有合格入箱书籍，至少5本入箱为假。"
+     }
+    ]
+   },
+   "books_in_box_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 244.0,
+      "log_step": null,
+      "text_zh": "观察：视频 63–105 s 及视频 210–244 s 的候选物抓取后，没有物体随夹爪搬运到箱内；其余视频主要是移动搜索与木门把手探索，未见连续装书或一次装入多本书，第6本入箱的操作未启动。"
+     },
+     {
+      "t": 371.3,
+      "log_step": null,
+      "text_zh": "推断：视频 369.9–371.3 s 无新增放书动作；评分器 q_score=0.0，六个入箱目标均不属于初始已满足关系，因此最终没有合格入箱书籍，至少6本入箱为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_box_1",
+   "t": 110.0,
+   "log_step": 251,
+   "where": "探索",
+   "evidence_zh": "观察：视频 63–105 s 的地面候选物抓取没有带走物体；视频约 110 s 起，机器人转而接近并抓拉墙面木门把手，继续寻找可能的书柜。此后虽多次更换视角和夹爪，没有完成第一本书的入箱，视频末尾仍在木门前；因此首次始终未修复的是第1本书入箱，锚点取转向门把手探索处。"
+  },
+  "unmet": {
+   "books_in_box_1": false,
+   "books_in_box_2": false,
+   "books_in_box_3": false,
+   "books_in_box_4": false,
+   "books_in_box_5": false,
+   "books_in_box_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "目标搜索失败",
+    "t": 110.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频约 110–126 s、视频 260–280 s 和视频 330–366 s，机器人把操作集中在带长把手的墙面木门；视频 63–105 s、视频 210–244 s 的地面候选物也没有被带走。全程没有找到并取出可确认的书，未进入任何可见的装书过程。",
+    "note_zh": "候选名称：目标搜索失败。现有接触或运动条目不能表达反复搜索和探查错误候选物、始终未定位待装书籍的现象；已开展探索，不能标没尝试。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "evidence_zh": "推断：视频 110–126 s 及视频 330–366 s 可见的是墙面上带门框、横向饰条和长把手的房门，机器人却持续围绕其把手探索藏书位置。agent 在 log step 251 将其称为柜面，log step 313 又承认先前面板是房门而非书架；log step 593、604 再将带把手和横条的木门判断为可能的矮书柜并尝试开启。错误的场景物体识别使机器人反复接近房门，而未定位实际书籍；这一归因依据识别记录与画面的对应，不依据零分本身。",
+    "source_zh": "视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。地面白色矩形物的确切语义身份、下探时指尖是否短暂接触其表面，以及被遮挡区域内的书籍位置无法精确核实；没有将 agent 所称的抓书、非零夹爪开度或抬臂动作当作成功抓持。节点全���未达依据未见搬运入箱的动作链，最终为假另由评分器总分界定；不进一步推定具体控制或力学根因。"
+ },
+ "summary_zh": "六个入箱计数节点均未达到，最终为0/6；机器人反复搜索、下探地面白色候选物及抓拉木门把手，没有可见的书籍入箱过程。断点是第1本书入箱的探索阶段，现象为目标搜索失败，日志与画面对照支持将房门误识为可能书柜的感知问题。没有状态日志或成功示范，白色候选物的身份和部分指尖接触不确定，但最终零本入箱由评分器 q_score=0.0 及视频行为共同支持。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个节点最终为假与评分器 q_score=0 及视频（全程无书入箱）一致；断点取第1本书入箱的探索阶段、感知根因有 log step 313 的自我更正与画面（带把手的房门）支持，未发现需要改动的错误。地面白色物体身份无法由画面确定，标签已在 gap_zh 中说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:15:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--yft7vjh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--yft7vjh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "652da5e7b025000b2de0814941d0aa2d804d15728d9bb13b608c4a9ff2367793",
+   "video_sha256": "01e6b64953973c86f9ecbe4738aaf9d993d5a17e5c3b158cdc3e903c94218d7b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--nrusehv.json

@@ -0,0 +1,285 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-privileged--nrusehv",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 8442,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 8592,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 2300.0,
+   "replay_timeout_s": 6828.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 3,
+   "agent_resets": 14,
+   "agent_sim_steps": 8592,
+   "agent_records": 0,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 12.377,
+   "peak_memory_gb": 16.474,
+   "peak_processes": 49,
+   "peak_disk_gb": 2.592,
+   "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/behavior-bringing-paper-to-recycling-i00-privileged--nrusehv/replay.mp4",
+  "duration_s": 286.4,
+  "fps": 30.0,
+  "frames": 8592,
+  "sha256": "c1697b1c7e9fb0116c5a6f8afd50a73f377e3aa146c142e220669de5097af024"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60,
+      "log_step": null,
+      "text_zh": "观察：视频 57–61.5 s 的头部画面显示厨房通向花园的木框玻璃门仍封住门口；机器人在厨房水槽和台面旁操作报纸，没有操作此门。"
+     },
+     {
+      "t": 286.3,
+      "log_step": null,
+      "text_zh": "推断：从视频起始到视频 286.3 s，机器人始终在厨房取物区域，没有打开花园出口或穿过出口；未达本节点，也未见另选出口的开门动作。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 286.3,
+      "log_step": null,
+      "text_zh": "推断：DAG 记载回收桶初始关闭；视频全段机器人仅在厨房抓袋及操作报纸，直到视频 286.3 s 仍在台面旁，没有到花园接触桶盖，故开桶事件未发生。回收桶本身不在相机视野内。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2–4.5 s 纸袋原在厨房地板上，视频 7–8.5 s 左夹爪夹住袋壁并抬起纸袋；随后左腕画面一直可见纸袋随机器人移动。"
+     },
+     {
+      "t": 286.3,
+      "log_step": null,
+      "text_zh": "观察：视频 281–286.3 s 左腕画面仍可见被夹持的纸袋，机器人仍在厨房水槽旁，未出现纸袋进入回收桶或释放入桶的过程。"
+     },
+     {
+      "t": 286.3,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 与未入桶画面一致；初始已成立的关桶条件不增加此分数，两项新增入桶条件均未满足。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪夹住纸袋袋壁、抬起并一直持有；没有入桶释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘驶近地板纸袋，抓起后携袋驶向厨房报纸台面旁。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59,
+      "log_step": null,
+      "text_zh": "观察：视频 57–61.5 s 右夹爪在报纸上合拢，报纸仍留在台面，夹爪退开时没有把报纸带离；后续又多次调整接近方向并推动报纸。"
+     },
+     {
+      "t": 195,
+      "log_step": null,
+      "text_zh": "观察：视频 193–197.5 s 右夹爪再次在台面报纸边缘闭合、张开，报纸仍由台面支承，没有被带走。"
+     },
+     {
+      "t": 286.3,
+      "log_step": null,
+      "text_zh": "观察：视频 272–286.3 s 报纸仍在水槽旁台面，末段右夹爪抬起后报纸留在原处；全段没有报纸进入回收桶的画面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右夹爪指端下压、擦过台面上的报纸，多次合爪未形成可靠夹持。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪沿台面横移，推动报纸滑动、转动，未将报纸夹起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘携左爪所持纸袋移动到报纸台面旁，调整右臂取报纸的工作位置。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的初始目标位串 001 表明桶盖初始关闭；视频中机器人一直在厨房抓取纸袋和报纸，没有接近花园回收桶或操作桶盖，因而保留初始关闭状态，区间从视频 0 s 延续到结束。"
+     },
+     {
+      "t": 286.3,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 不否定保留的初始关桶条件，因为 BEHAVIOR 的该分数不计初始已满足且保持的目标。桶盖未入镜，关闭状态依据初态及全段未操作桶盖推断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_bin",
+   "t": 59,
+   "log_step": 226,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 57–61.5 s 右夹爪对台面报纸合爪后空手退开，报纸没有离开台面；视频 193–197.5 s 再次尝试仍未带走报纸，视频 286.3 s 报纸仍在厨房。该取报纸失败始终未修复，机器人未进入送报纸入桶阶段。log step 225–226 记录第一次合爪后的 object_in_hand 为 None。"
+  },
+  "unmet": {
+   "sack_in_bin": false,
+   "newspaper_in_bin": false,
+   "bin_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 59,
+    "log_step": 226,
+    "evidence_zh": "观察：视频 57–61.5 s 右夹爪接触、合拢后未夹走报纸，视频 193–197.5 s 再次合爪仍把报纸留在台面；直到视频 286.3 s 未建立能搬运报纸的抓持。此处缺失的是有效夹持接触，已有指端触碰、下压和推动，不是完全没有碰纸。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 226,
+    "t": 59,
+    "source_zh": "日志",
+    "evidence_zh": "推断：右夹爪的接近高度与夹持几何未让薄报纸进入有效夹持区域。log step 219、221 仅报告单根指端碰纸；log step 226 合爪后虽报告两指碰纸，但辅助抓取射线检测为空且 object_in_hand=None；log step 367 再次合爪也出现相同组合。辅助抓取射线是模拟器用于检查物体是否横跨夹爪内部的检测，不能由指端接触替代；视频 57–61.5 s、193–197.5 s 的纸留台面现象与此相符。尚未验证能成功搬起报纸的替代握法。"
+   }
+  ],
+  "gap_zh": "没有状态日志及成功示范；桶盖始终不在画面内，关桶区间依据 DAG 给出的关闭初态及视频全段没有操作回收桶推断。花园出口仅观察到厨房玻璃门，机器人没有选用其他出口。报纸局部被夹爪遮挡，抓持几何的根因结合已交付动作对应的会话诊断推断，未验证替代握法。log step 149 重置并重新开始录制，log step 439 保存 8442 行，log step 442 导出同一动作序列；评分器 deterministic=1、video_replay_matches=1，未将此前重置中的失败算入进度。"
+ },
+ "summary_zh": "机器人抓起并持有纸袋，随后反复尝试夹起台面报纸，但两件物品均未入桶；最终仅保留回收桶初始关闭状态，节点为 1/5。断点为报纸入回收桶：视频约 59 s 的合爪未建立有效抓持，后续调整仍未修复，日志支持抓取接触几何不适配这一根因。没有状态日志，桶盖未入镜，关闭区间依据初态和全程未操作桶盖推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点进度1/5、断点(报纸入桶，取报纸反复失败)、没建立接触及抓取接触设计根因与视频一致；纸袋全程在手、报纸留台面。未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:09:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--nrusehv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--nrusehv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "34e2ec09d3bb0b95b3df2eea46f33b788ab27d542de5969e97af1782d07a8ebb",
+   "video_sha256": "c1697b1c7e9fb0116c5a6f8afd50a73f377e3aa146c142e220669de5097af024",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--tminh5s.json

@@ -0,0 +1,280 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-privileged--tminh5s",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 1907,
+   "sim_steps": 1907,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 947.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 9,
+   "agent_sim_steps": 3490,
+   "agent_records": 8,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 7.025,
+   "peak_memory_gb": 12.469,
+   "peak_processes": 51,
+   "peak_disk_gb": 3.117,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-bringing-paper-to-recycling-i00-privileged--tminh5s/replay.mp4",
+  "duration_s": 63.567,
+  "fps": 30.0,
+  "frames": 1907,
+  "sha256": "928b1304a426474d7a4827fa382c0de7233ae96b5c1f902bf4dea07352e588f6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      51.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 51.5,
+      "log_step": null,
+      "text_zh": "观察：视频 50.0–52.8 s，机器人持物向出口前行，木色门板向外摆开；视频约 51.5 s 已露出可通过的开口，随后机器人进入室外通道。到达时刻约有0.5秒不确定性。"
+     },
+     {
+      "t": 52.8,
+      "log_step": 83,
+      "text_zh": "观察：log step 83 的搬运脚本选择 door v1 路线；视频 52.8 s 可见室外铺装和已让开的门板，支持此处为所用花园出口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 50.0–54.0 s，轮式底盘承载持物的双臂向门外行驶，门板随机器人前行而摆开。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 50.0–52.8 s 能看到门板摆开，但门板与机器人的具体接触点被门板和持物机械臂遮挡，不能确定由底盘、机械臂还是所持物品直接推门；未见夹爪抓住门把手。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 63.5,
+      "log_step": null,
+      "text_zh": "观察：视频 62.5–63.5 s，蓝色回收桶进入头部及腕部画面，盖子仍覆盖桶口；完整视频中机器人只取物、搬运和过门，未见末端接近桶盖或掀盖动作。"
+     },
+     {
+      "t": null,
+      "log_step": 89,
+      "text_zh": "观察：log step 89 保存的是 ACT_AB 与 ACT_C 的拼接，未包含后续 ACT_D；log step 90 确认交付文件形状为1907行。log step 141 也明确称交付文件只到取物和行驶阶段。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 31.5,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0 s 纸袋仍在厨房地面；视频 31.0–34.0 s，左腕视角中夹爪围住袋口边缘，袋子离开原来地面位置并随左手移动。"
+     },
+     {
+      "t": 63.5,
+      "log_step": null,
+      "text_zh": "观察：视频 62.5–63.5 s，左腕画面仍可见紧邻夹爪的棕色纸袋，回收桶在机器人前方；未见纸袋被送入桶口或释放到桶内。评分器 q_score=0 与未完成放入一致，但本判断不只依据零分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 31.0–34.0 s，左侧二指夹爪夹住纸袋的袋口边缘并提离地面；后续左腕画面持续可见所持纸袋。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 34.0–63.5 s，底盘承载持袋左臂驶离厨房、经过门口并进入室外通道。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频 13.0–24.5 s，右夹爪在台面报纸旁移动，报纸先沿台面移动，随后在右腕画面中随夹爪抬离台���；机器人离开台面并携带报纸。"
+     },
+     {
+      "t": 63.5,
+      "log_step": null,
+      "text_zh": "观察：视频 51.4–51.8 s 及视频 62.5 s，头部画面中右夹爪旁可见所持报纸；直到视频 63.5 s 未见报纸进入蓝色回收桶或在桶内释放。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 13.0–20.5 s，右夹爪推动台面上的报纸使其沿台面移位，随后再从边缘接近。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 20.5–24.5 s，右侧二指夹爪夹住报纸边缘并将其带离台面；视频 51.4–51.8 s 可见报纸随右夹爪一起移动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人取报纸时底盘接近台面；视频 24.5–63.5 s 又携带报纸移动到取袋位置、经过门口并进入室外通道。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 63.5,
+      "log_step": null,
+      "text_zh": "观察：视频 62.5–63.5 s 蓝色回收桶的盖子合在桶口上，机器人没有进行桶盖操作。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 记录初始目标位串001，即桶盖初始关闭；结合完整视频未见开桶操作且视频 62.5–63.5 s 仍合盖，关桶状态从起始持续到结束。q_score=0 不计入一直保持的初始关闭条件，因此与该节点为真并不矛盾。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "bin_opened",
+   "t": 63.5,
+   "log_step": 89,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 62.5–63.5 s 机器人仍持袋子和报纸，蓝色回收桶已进入画面但桶盖未被操作，轨迹即结束。log step 89 明确只保存取物与搬运的 ACT_AB、ACT_C，log step 90 确认1907行动作，与评分器 n_actions=1907相符；后续开桶和投放测试不在交付文件中。推断：取物和通道开门之后，下一项必需的开桶工作尚未开始，故断点记为打开回收桶，视频末尾仅为导航锚点。"
+  },
+  "unmet": {
+   "sack_in_bin": false,
+   "newspaper_in_bin": false,
+   "bin_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 63.5,
+    "log_step": 89,
+    "evidence_zh": "观察：完整视频至视频 63.5 s 只包含取物、持物行驶和过门，未见任一夹爪尝试操作回收桶盖；视频末尾桶盖仍闭合。log step 89 的保存调用排除了桶旁操作段 ACT_D，log step 141 说明交付的1907步文件没有任何物品入桶。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 提供了完整视频与运行记录，但没有状态日志或成功示范。门板的直接接触部位在视频 50.0–52.8 s 被遮挡，开门时间只能作视觉近似。log step 86–140 包含多次开桶、投放、恢复状态和重新启动的会话测试；其中有开桶成功而投放失败的记录，均在已交付的1907步之外，不能据此给评分轨迹标注空夹、掉落或投放偏差。推断：保存记录可解释为何交付止于搬运，却不足以确定造成这一部分交付的单一能力根因，故根因层留空；也不凭头部视角倾斜判定机器人跌倒。"
+ },
+ "summary_zh": "机器人取起报纸和纸袋，约在视频 51.5 s 打开所用花园出口并携物进入室外；评分轨迹结束时两件物品均未入桶，桶盖保持初始关闭，最终节点为2/5。断点为打开回收桶：交付文件只保存取物和搬运，开桶工作尚未启动；会话中后续的开桶、投放测试不能计入本次评分，现有证据不足以进一步确定根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间、断点（打开回收桶，首步前/没尝试）与空根因层（附 gap_zh）均与视频和 log 一致；会话中的开桶尝试未进入交付文件，不能作为评分轨迹的现象。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:13:26Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--tminh5s/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--tminh5s/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "975fbcc6fa4b20773f93996134efba3ee78a4587eabd74515cb1aab2ef1b1c59",
+   "video_sha256": "928b1304a426474d7a4827fa382c0de7233ae96b5c1f902bf4dea07352e588f6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--ubujtwv.json

@@ -0,0 +1,287 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-privileged--ubujtwv",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 2130,
+   "sim_steps": 2130,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 837.3,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 8,
+   "agent_resets": 12,
+   "agent_sim_steps": 9063,
+   "agent_records": 4,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-paper-to-recycling-i00-privileged--ubujtwv/replay.mp4",
+  "duration_s": 71.0,
+  "fps": 30.0,
+  "frames": 2130,
+  "sha256": "0c452ccbf6e3b578fa19f2f3a662a3fd956631164f89eaa1f1ec7b17b796d491"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频 15.0–17.0 s，机器人左侧末端抵近木框玻璃门，门板向外转开，门框与门板间露出通往花园的开口；视频 61.0–65.0 s 机器人随后从该门口向室外移动。首次满足的时刻约为视频 16.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 15.0–17.0 s，机器人左夹爪/手部抵住花园门并向外推，未见夹住把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–8.0 s，轮式底盘承载机器人从厨房移向走廊门，随后配合推门。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 70.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0–70.9 s，机器人在厨房、走廊和门外近处移动，未见到达回收桶或掀桶盖的动作；末帧仍在房屋门外近处。"
+     },
+     {
+      "t": 70.9,
+      "log_step": 362,
+      "text_zh": "推断：log step 316、328、362 确认交付的是2130步的早期版本；视频未执行脚本所列的桶边阶段，不能把后续会话的开盖测试算为本次开桶。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 47.5,
+      "log_step": null,
+      "text_zh": "观察：视频 32.5–38.0 s，橙棕色纸袋仍直立于厨房冰箱旁地面；视频 40.0–47.5 s 它仍可见于主视图下缘，右夹爪为空，未见纸袋随手抬起。"
+     },
+     {
+      "t": 70.9,
+      "log_step": null,
+      "text_zh": "推断：视频后段机器人离开厨房时未见携带纸袋，也未到回收桶；评分器 reward.q_score=0.0 限定末态没有新增入桶目标，故纸袋入桶最终为假。初始已关闭的桶不计入该q_score，不能由零分否定关桶状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 36.5–40.0 s，机器人底盘移向厨房纸袋所在区域；视频 48.0 s 后又离开。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 38.0–47.5 s，夹爪可见但纸袋与指尖的近距离接触区位于画面边缘或被遮挡，无法确认右夹爪是否实际碰到纸袋；不记抓握。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 300,
+      "text_zh": "观察：视频 31.5–36.5 s，机器人左腕视角靠近厨房台沿，随后移开；报纸及两指接触区被遮挡，未见报纸离开台面并随夹爪运动。log step 284、300 的交付脚本将该阶段用于左臂取报纸，之后才尝试纸袋。"
+     },
+     {
+      "t": 70.9,
+      "log_step": null,
+      "text_zh": "推断：视频 36.5–70.9 s 未见机器人持报纸前往回收桶，末尾也未到达回收桶；结合评分器 reward.q_score=0.0，报纸入桶末态为假，不能依据脚本里的释放命令记一次放入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 24.0–32.0 s，机器人底盘从走廊返回厨房并移向台面工作区。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 31.5–36.5 s，左腕视图被近处台沿及机器人部件遮挡，报纸未显露；无法确认左夹爪实际碰到报纸的方式，不以脚本闭爪命令充当抓握。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务DAG记录初始目标位串001，即回收桶起始关闭；视频 0–70.9 s 的实际活动没有到达回收桶或操作桶盖，故关闭状态从视频 0 s 保持至末尾。这是初始条件与整段活动的联合推断，桶盖本身未进入相机视野。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_bin",
+   "t": 32.0,
+   "log_step": 300,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 31.5–36.5 s 机器人在厨房台边进行左臂取物阶段，随后移向地面纸袋，始终未完成报纸入桶；这是开门后最早尝试且后续未补成的步骤。log step 284、300、316、362 确认交付脚本的顺序为开门、返回厨房、取报纸、取纸袋，且最终保留该版本。视频 61.0–70.9 s 的持续倾斜和评分器 fallen=1 是后来的终止事件，不替代更早未修复的报纸步骤。"
+  },
+  "unmet": {
+   "sack_in_bin": false,
+   "newspaper_in_bin": false,
+   "bin_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "log_step": 303,
+    "evidence_zh": "推断：会话取报纸测试中，log step 290 的左臂多次末端移动后 grasp 均返回 None；log step 303 再次报告左臂末端未到命令位置，四次夹取均为空，log step 293 的补偿尝试也未获得报纸。这些是会话测试证据，只支持报纸操作存在控制困难，不能当作本次视频的接触现象，也不足以区分抓取几何、逆解或反馈控制子类。 观察：log step 284 的 oracle2 脚本在 ik_move 中对任一 arm 都使用 q[4:11]；log step 356 中 agent 自述该写法把左臂关节用于右臂，log step 357 的修复代码改为左臂 q[4:11]、右臂 q[11:18]，另存为 oracle5。log step 316 将 trajectory2 复制为最终 trajectory，log step 362 的最终核验显示 actions=(2130,25)、生成脚本 plan matches oracle2: True，且删除 trajectory5。推断：交付版本仍保留上述右臂关节映射错误，可能影响纸袋操作；视频 38.0–47.5 s 未见纸袋随右夹爪抬起，但接触区遮挡，不能从画面直接确认该错误的实际影响。该右臂错误不解释左臂取报纸失败，报纸断点的根因仍只支持控制大类，不据此细分为轨迹或逆解。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 只有本次视频、运行记录及元数据，没有状态日志或成功示范。视频 31.5–36.5 s 的报纸和指尖接触区被台沿/机器人部件遮挡，后续可见夹爪与纸袋却未见有效搬运；无法区分本次报纸尝试究竟是未建立抓握、末端偏差还是台沿阻挡，因此失败现象层留空，根因只以会话测试支持到控制大类。回收桶和桶盖未进入视野，关桶全程保持由初态和未到桶边联合推断；开门时刻约有0.5秒误差。 观察：log step 356–357、362 补充了右臂关节切片修复及最终仍交付 oracle2 的版本证据。推断：该错误对纸袋动作的具体影响未由视频直接确认，也不能填补左臂报纸断点的原因缺口。"
+ },
+ "summary_zh": "机器人推开花园通道，回收桶原有关闭状态保持，最终完成2/5个节点；纸袋仍在厨房，未见两件纸品入桶。最早未修复的步骤是报纸入桶中的取物阶段，会话测试支持控制困难，随后视频末段机器人持续倾斜，评分器记录fallen=1。无状态日志，报纸接触区及回收桶被遮挡，故不强定抓取失败现象，关桶状态为联合推断。 日志还显示最终交付保留了后续才修复的右臂关节映射错误，其对纸袋动作的影响为推断，不作为左臂报纸失败的原因。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、断点（报纸入桶、操作中）、空现象层加 gap_zh 基本站得住；但根因证据漏掉了日志里明确的、与交付轨迹直接相关的发现：agent 在 log step 356 发现 ik_move 把���臂关节切片用到右臂（q[4:11] 而非 q[11:18]），step 357 修复版 oracle5 未交付，最终交付的仍是含该 bug 的 oracle2（step 362 'matches oracle2: True'）。标签只引用 step 290/303 的会话抓取测试。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点（报纸入桶，操作中）、空现象层加 gap_zh 与根因“控制”（证据已区分观察/推断）均未发现与视频矛盾之处；开门时刻约 13–16.5 s 之间帧上难以精确判定，差异不足以要求改动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:46:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--ubujtwv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--ubujtwv/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--ubujtwv/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--ubujtwv/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9a50861938511a960494b496648fa60714b67af40fb37000f49ae67fd952af4f",
+   "video_sha256": "0c452ccbf6e3b578fa19f2f3a662a3fd956631164f89eaa1f1ec7b17b796d491",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--uvnxpkq.json

@@ -0,0 +1,338 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-privileged--uvnxpkq",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6666666666666666,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 34140,
+   "sim_steps": 34140,
+   "final_reward": 0.6666666666666666,
+   "q_score": 0.6666666666666666,
+   "replay_wall_s": 5437.0,
+   "replay_timeout_s": 14400.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 1,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-paper-to-recycling-i00-privileged--uvnxpkq/replay.mp4",
+  "duration_s": 1138.0,
+  "fps": 30.0,
+  "frames": 34140,
+  "sha256": "bbcd8ae7fcb16b39808095f9d6e329ddd8125a1c5b96f0149137f3a2dd86b88d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": 4,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      55.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 45.0,
+      "log_step": null,
+      "text_zh": "观察：视频 42–52 s，机器人右夹爪接近并夹住玻璃花园门的把手区域；左夹爪持续携带橙褐色纸袋。"
+     },
+     {
+      "t": 55.0,
+      "log_step": null,
+      "text_zh": "观察：视频 53–56 s，机器人右臂带动门扇向外转开，视频 55 s 门板已让出通道；视频 58–65 s 机器人携袋穿过门口。首次足够通行的时刻约为视频 55 s，误差约1秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪曾夹住花园门把手区域并带动门扇；左手所持纸袋的接触记在袋子入桶节点。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪在后续接近中推带门扇，使开口进一步扩大；视频 54–56 s 可见门板继续转动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘移至门前、重新靠近门扇，并携袋驶过打开的门口。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      439.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 90.0,
+      "log_step": null,
+      "text_zh": "观察：视频 90–420 s，机器人在蓝色回收桶旁反复接近桶盖、抓住桶体并翻转桶，早期桶盖仍贴着桶口。"
+     },
+     {
+      "t": 439.0,
+      "log_step": 351,
+      "text_zh": "观察：视频 429–436 s，机器人两夹爪分别作用于侧倒的桶体和盖缘；视频 437–442 s 左臂撤开后，右夹爪带着桶盖转离桶口，腕部视角露出内腔。首次超过小缝开口约在视频 439 s；视频 449–455 s 可清楚看到盖板大幅敞开。"
+     },
+     {
+      "t": 760.0,
+      "log_step": null,
+      "text_zh": "观察：视频 680–705 s，机器人抓住桶的轮部将整桶提起、翻转；视频 758–768 s 回收桶重新落地，桶口完全露出，盖板翻在桶外。该次再次开盖不改变已锁存的开桶事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "单侧夹爪多次拨推桶盖前缘、铰链附近凸部和盖角，亦使桶体在地面移动。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪先抓桶后部，再抓轮部提起翻转整桶；成功开盖阶段右夹爪夹住盖缘带动盖板。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 429–436 s 左夹爪握桶体后部稳桶，右夹爪握盖缘；随后左手松开撤离，右手继续开盖。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在花园内多次移近和绕行桶体，配合改变开盖工作位置。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "visual",
+    "intervals": [
+     [
+      885.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–22 s，机器人在厨房地面接近橙褐色纸袋，左夹爪夹住袋口后抬起；纸袋随夹爪和底盘离开原地，随后被携出厨房。"
+     },
+     {
+      "t": 885.5,
+      "log_step": 509,
+      "text_zh": "观察：视频 875–885 s，机器人左夹爪夹住袋壁，将纸袋沿侧躺回���桶的开口送入；视频 885–886 s 张爪并开始退出，纸袋留在内腔。视频 890.5–894.5 s 的远离画面再次显示袋子在桶中；以视频 885.5 s 作为释放后到达的约略时刻。"
+     },
+     {
+      "t": 1137.8,
+      "log_step": null,
+      "text_zh": "推断：视频 1076–1089 s 返回桶旁时纸袋仍清楚可见于内腔，随后报纸叠入其前方；视频 1137.0–1137.8 s 两物仍留在桶中，未见纸袋被取出或掉落。结合评分器最终 q_score=2/3 与可见未关的桶盖，两项入桶目标最终均成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人先用左夹爪夹纸袋口并携出厨房；袋子暂放花园地面后，右、左夹爪先后重新抓取和调整袋壁，最终左夹爪送袋入桶、张爪退出。两手先后操作袋子，没有同时夹袋。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘承载所持纸袋从厨房经花园门移到桶旁，并多次绕桶、绕袋改变插入位置。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "visual",
+    "intervals": [
+     [
+      1102.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1034.0,
+      "log_step": 548,
+      "text_zh": "观察：视频 1020–1028 s 报纸仍在厨房台面，右夹爪围绕纸角调整；视频 1030–1034 s 报纸离开台面并随右夹爪升起，随后被携出厨房。"
+     },
+     {
+      "t": 1102.0,
+      "log_step": 560,
+      "text_zh": "观察：视频 1089–1097 s 右夹爪持报纸在桶口调整，尚未释放；视频 1098–1101.5 s 将报纸倾斜并下送，视频 1102–1106 s 夹爪退出，报纸留在桶内并逐渐静止。以视频 1102 s 为释放后入桶的约略时刻，误差约0.5秒。"
+     },
+     {
+      "t": 1137.8,
+      "log_step": null,
+      "text_zh": "观察：视频 1137.0–1137.8 s，敞开的桶口内仍可见报纸，夹爪已经离开报纸，没有取回或掉出。评分器最终 q_score=2/3。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪夹住报纸角部，从台面抬起并运输，在桶口改变报纸姿态后释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘返回厨房接近台面，随后携带右手报纸沿门口和花园路线返回回收桶。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载初态目标位串001，桶初始关闭；视频 90–105 s 机器人首次接近回收桶时可见盖板合在桶口，之前机器人只在厨房抓袋、开门和驶向桶旁。因此关桶状态在视频起始已成立。"
+     },
+     {
+      "t": 439.0,
+      "log_step": 354,
+      "text_zh": "观察：视频 439–455 s 桶盖转开，起始闭合状态已失去；视频 458–461 s 仍有明显盖口夹角，视频 468–469 s 再次看到盖板合回桶口，随后视频 483–499 s 可见桶盖闭合。"
+     },
+     {
+      "t": 710.0,
+      "log_step": null,
+      "text_zh": "观察：视频 705–757 s 机器人提着桶翻转时，头部视角中的桶体离开画面，持桶腕部画面被蓝色桶壁占满，其他腕部视角也看不到盖口。无法从这些画面判定翻转中是否又短暂闭合、何时跨过5%关节阈值；因此完整 intervals 置 null，保留已确认的初态与终态，不把遮挡段填作一直开启或一直闭合。"
+     },
+     {
+      "t": 1137.8,
+      "log_step": 569,
+      "text_zh": "观察：视频 1106–1128 s 左臂尝试靠近桶盖却未夹住，视频 1134–1137.8 s 换右夹爪合拢，指尖位于盖板外表面附近，没有夹住边缘或带动盖板合回；最后一秒桶口与敞开的桶盖均清楚可见，最终关桶状态为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 1106–1128 s 左夹爪接近未到位，视频 1134–1137.8 s 右夹爪在盖板表面附近合拢，未形成抓握。指尖是否实际擦碰盖面在这些视角中不能可靠区分，故不把合爪尝试记为已发生抓握或压擦。关盖阶段底盘未行驶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "bin_closed",
+   "t": 1127.0,
+   "log_step": 563,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1102–1106 s 两件纸品已留在桶内，机器人接着操作桶盖。视频 1126–1128 s 左夹爪在未夹住盖缘的位置闭合；视频 1134–1137.8 s 换右夹爪仍未抓住盖缘，桶盖一直敞开。log step 563、569分别保存左、右手关盖尝试后的轨迹，均返回未持有桶盖且success=False，之后没有���复。"
+  },
+  "unmet": {
+   "sack_in_bin": true,
+   "newspaper_in_bin": true,
+   "bin_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 1127.0,
+    "log_step": 569,
+    "evidence_zh": "观察：视频 1126–1128 s 与视频 1134–1137.8 s，机器人先左后右合拢夹爪，未形成包住盖缘、可带动铰链的抓握；最后右夹爪只在蓝色盖板表面附近合拢，盖板没有跟随夹爪闭合。log step 563的三次CLOSEGRIP及log step 569的RCG均为None None。这里缺失的是关盖所需的抓握接触，并非抓住后滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：关盖失败与末端接近、抓取执行未到位有关。log step 561、564的脚本把目标设在桶盖边缘；log step 563实际记录左手接近末端位置误差约0.532 m和0.608 m，却仍返回True，三次闭爪均未建立抓取；log step 569右手末段误差约0.0497 m，闭爪仍无抓取。视频 1126–1137.8 s 也显示夹爪未带住盖缘、盖板不随动。没有足够证据区分接触几何选择与轨迹跟踪的各自贡献，故停留在控制大类。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志和成功示范。视频 705–757 s 翻桶时盖口在所有相机中不可见，不能重建桶盖多次运动中的完整闭合区间，因此bin_closed.intervals为null；已确认起始闭合及最终未关闭。视频所示纸品释放后的停留支持入桶，包围盒中心和0.05米/秒阈值不能从像素直接精确测量，末态结合评分器2/3总分判断。关盖接近失败有日志误差和视频支持，但没有关节限位或接触力记录，不能细分控制根因。 关盖尝试中的指尖是否实际擦碰盖面无法可靠判定，contact_actual记为未知。"
+ },
+ "summary_zh": "机器人打开花园通道与桶盖，纸袋约在视频 885.5 s、报纸约在视频 1102 s 释放后留在回收桶内，最终5个节点中4个成立。断点为关上回收桶：机器人先左后右尝试夹盖缘，末端接近和抓取未到位，直到视频 1137.8 s 桶盖仍敞开，评分器为2/3。无状态日志，翻桶阶段盖口被完全遮挡，关桶节点的完整时间区间无法确定，起始闭合与最终未关闭已单独记录。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时间、终态（4/5，与 q_score=2/3 及末帧桶内可见纸袋和报纸、桶盖敞开一致）、断点 bin_closed 及现象“没建立接触”均与视频和日志相符；根因停留在控制大类且已写明证据缺口，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:16:26Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--uvnxpkq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--uvnxpkq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cf61b956c59cc04e1023fa79eab9adcb2ebfa310f9fe7168d6023738091404dd",
+   "video_sha256": "bbcd8ae7fcb16b39808095f9d6e329ddd8125a1c5b96f0149137f3a2dd86b88d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--3pe3kb2.json

@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-standard--3pe3kb2",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "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": 2570,
+   "sim_steps": 2570,
+   "physics_steps": 10280,
+   "steps": 1484,
+   "elapsed_s": 1408.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 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,
+   "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-bringing-paper-to-recycling-i00-standard--3pe3kb2/replay.mp4",
+  "duration_s": 85.667,
+  "fps": 30.0,
+  "frames": 2570,
+  "sha256": "e10a6226aa1306c8dd4a784c986b6c63e40ebd08afebd5f4151912c62c70af84"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.5,
+      "log_step": null,
+      "text_zh": "观察：视频约1.5–3.0 s的转身扫描中，厨房和客厅朝花园的玻璃门板仍封住门口；视频约58–75 s机器人持报纸在室内转向、行驶，没有夹爪操作门把或推开门板的动作，也未形成可通行的花园开口。"
+     },
+     {
+      "t": 76.3,
+      "log_step": 86,
+      "text_zh": "观察：视频约76.3 s机器人在室内墙柱旁侧翻，视频85.6 s仍未恢复或通过花园门；log step 86执行的是向客厅方向的底盘移动，并非开门动作。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 85.6,
+      "log_step": null,
+      "text_zh": "推断：DAG记载回收桶初始关闭；视频全程机器人留在厨房及客厅入口，未到达花园或操作回收桶，视频85.6 s仍侧倒在室内，因此没有发生开桶事件。桶盖本身未进入可辨识视野，判断依据为初态与连续动作过程。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频约1.5–2.0 s橙棕色纸袋立在厨房玻璃门前地板上；视频约64–71 s再次看见纸袋仍在该室内地面，机器人正在持报纸转身，没有抓取或搬运纸袋。"
+     },
+     {
+      "t": 85.6,
+      "log_step": null,
+      "text_zh": "推断：视频约76.3 s机器人侧翻后至视频85.6 s一直留在室内，未将纸袋送往花园；评分器q_score=0且live_matches_replay=1，与纸袋最终未入桶一致，不能仅凭该分数推断此前未尝试。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": 53,
+      "text_zh": "观察：视频约24–29 s右夹爪在台面报纸附近闭合、抬起后，报纸仍留在原台面，首次抓取没有带走报纸。"
+     },
+     {
+      "t": 57,
+      "log_step": 71,
+      "text_zh": "观察：视频约53–55 s右夹爪侧向接近台边报纸；视频约56–57 s报纸随右夹爪抬起、离开台面，原台面位置变空。视频约58–75 s可见报纸随机器人移动，仍未放入任何回收桶。"
+     },
+     {
+      "t": 76.3,
+      "log_step": 86,
+      "text_zh": "观察：视频约76.3 s持报纸移动中的机器人在室内墙柱旁侧翻；视频约78–85.6 s机器人停留在原地，没有到桶口放入、松手的后续动作。最终评分器q_score=0，live_matches_replay=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪在台面上推移报纸，使其伸出台边，为侧向夹取创造悬边；报纸确实在台面上移动。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪从台边夹住报纸，抬起并持续携带；左夹爪没有同时操作报纸。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘先移到厨房台面旁，随后承载机器人和右夹爪所持报纸，从台前向客厅方向行驶，途中侧翻。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG的criterion_zh明确给出初始目标位串001，即回收桶初始关闭；视频从起点至视频85.6 s没有机器人到达或接触花园回收桶的过程，故关闭状态按初始条件持续成立，不以两件物品入桶的after边门控。此状态未由桶盖近景直接复核。"
+     },
+     {
+      "t": 85.6,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0不否定这个保留的初始目标；BEHAVIOR计分不重复计入一直成立的初始目标，且视频中没有开桶或关桶操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_bin",
+   "t": 76.3,
+   "log_step": 86,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约56–57 s机器人已用右夹爪拿起报纸，随后持报纸离开台面；视频约75.5–76.5 s靠近客厅入口墙柱时机体突然倾斜并侧翻，至视频85.6 s仍侧倒在室内，报纸入桶步骤没有完成。log step 86执行goto(5.7, 3.6, 110)，服务回传机体向上轴竖直分量降至0.032、随后为0.173；先前抓空已由后续成功拿起修复，侧翻后的入桶失败未修复。"
+  },
+  "unmet": {
+   "sack_in_bin": false,
+   "newspaper_in_bin": false,
+   "bin_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 76.3,
+    "log_step": 86,
+    "evidence_zh": "观察：视频约76.3 s机器人沿墙柱移动时视角急剧翻转，视频约77–79 s机体侧倒，视频84.7–85.6 s头部视野被贴近的墙面遮住，腕部视野仍横斜，未站回。log step 86服务返回upz=0.032/0.173，log step 91–96的恢复动作后基座仍维持侧倾；这是搬运报纸中的失去支撑。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：log step 19编写的goto将当前位置至目标点直接插值为一批同时平移和转向的底盘指令，没有检查路线及所持物体的扫掠空间或选择绕障点；log step 86在右臂维持携报姿态时直接执行通往客厅的goto(5.7, 3.6, 110)。视频约73–76.3 s显示右臂及报纸贴近墙柱后机器人侧翻；agent亦自述“carrying the newspaper…straight line…without checking the path for obstacles”（log step 99）。据代码与画面判断，跨工作区域搬运时采用的直线路线缺少障碍物避让，导致本次失败。",
+    "source_zh": "日志",
+    "log_step": 86
+   }
+  ],
+  "gap_zh": "无状态日志和成功示范。回收桶未进入可辨识视野：桶保持关闭及未开桶依据DAG初态与机器人始终未到桶旁的连续过程推断，不能直接量测桶盖关节；可见的厨房、客厅花园门均未打开，走廊的替代门未近距离检查。侧翻接触被机体部分遮挡，不能确定最先撞墙的是哪一连杆；不另标碰撞或报纸脱手。log step 96服务仍为done=False、reason=None，评分字段task_failure=0，不能把本次停止写成已经触发连续10秒跌倒终止规则。"
+ },
+ "summary_zh": "机器人将台面报纸推至悬边后，用右夹爪拿起并向客厅方向搬运，但在视频约76.3 s贴近墙柱时侧翻，直到视频85.6 s结束仍未恢复；断点为报纸入回收桶，日志支持未绕障的直线路线规划导致失败。两件纸品均未入桶，花园门和回收桶未打开；仅DAG明确给出的桶初始关闭状态推断保留，最终1/5节点成立。缺少状态日志且桶盖不可见，桶盖状态及具体碰撞连杆无法直接复核。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频一致：视频约56–57 s拿起报纸，约76–77 s在客厅入口墙柱旁侧翻，断点、平衡现象和直线goto规划根因均有画面与log step 86/99支持；bin_closed按初态保留符合规则。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:09:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--3pe3kb2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--3pe3kb2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "41dbc0d8a777db451ca58b91c3158ea68c4ab203f37c27185ca5c4f4fed12dba",
+   "video_sha256": "e10a6226aa1306c8dd4a784c986b6c63e40ebd08afebd5f4151912c62c70af84",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--jpaqpv5.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-standard--jpaqpv5",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "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": 2508,
+   "sim_steps": 2508,
+   "physics_steps": 10032,
+   "steps": 386,
+   "elapsed_s": 6700.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 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,
+   "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-bringing-paper-to-recycling-i00-standard--jpaqpv5/replay.mp4",
+  "duration_s": 83.6,
+  "fps": 30.0,
+  "frames": 2508,
+  "sha256": "d77476c79fa2c9f83fe0cacb6a6ddc4c5e2fe36f418f2bf2483cb44389f91871"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": 61,
+      "text_zh": "观察：视频 1.0 s、3.0–5.0 s 及 15.0–16.0 s 的巡视画面可见带玻璃的外门，未见门板让出通道；机器人随后在厨房台面前操作报纸。"
+     },
+     {
+      "t": 83.57,
+      "log_step": 260,
+      "text_zh": "观察：视频 65.0–83.57 s，机器人靠近纸袋所在的厨房花园门并转动躯干观察，玻璃门仍封住门口；未见夹爪操作把手或推开门板。log step 260 的最后一段机器人动作也是持物前移、转动躯干扫描，没有开门指令。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 83.57,
+      "log_step": 260,
+      "text_zh": "推断：视频 0.0–83.57 s 的巡视、台面取报纸、厨房内行驶及门前取纸袋过程均未显示机器人到达回收桶或操作桶盖；DAG 记载回收桶初始关闭，故开桶事件未发生。桶本身未在这些视角中得到可辨识的近景。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.0,
+      "log_step": 256,
+      "text_zh": "观察：视频 70.0–77.33 s，棕色纸袋仍在厨房花园门内侧地板上；视频约 77.6 s 起，纸袋离开原地并随右夹爪上移。"
+     },
+     {
+      "t": 83.57,
+      "log_step": 260,
+      "text_zh": "观察：视频 80.0–83.57 s，纸袋随右夹爪在厨房门前移动，末帧仍在机器人右手处，没有被送到回收桶内或释放。"
+     },
+     {
+      "t": 83.57,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0、live_matches_replay=1 与末段持袋留在厨房的画面一致；新建立的袋子入桶目标在终态不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 77.6–83.57 s，右侧二指夹爪夹住棕色纸袋边缘，纸袋离开地板并随右臂移动；左爪同期持报纸，未共同夹持纸袋。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 74.0–75.5 s，底盘移向纸袋；视频约 80.0–81.2 s，底盘在右爪持袋时继续在厨房内前移。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 110,
+      "text_zh": "观察：视频 24.0–57.5 s，机器人在厨房台面上对报纸反复降爪、合爪和抬爪；多次抬爪后报纸仍留在原台面，不能按这些动作直接认定已抓起。"
+     },
+     {
+      "t": 64.5,
+      "log_step": 201,
+      "text_zh": "观察：视频 58.0–60.5 s，左爪夹住报纸；视频 61.0–64.5 s，报纸离开台面且随左臂和后退的机器人移动，腕部画面仍可见报纸位于两指之间。"
+     },
+     {
+      "t": 83.57,
+      "log_step": 260,
+      "text_zh": "观察：视频 65.0–83.57 s，机器人始终把报纸夹���左爪中，在厨房内移动并看向花园门；末帧报纸仍在左爪，未进入回收桶，也未释放。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 58.0–83.57 s，左侧二指夹爪夹住报纸并携带，报纸离开台面后持续随夹爪移动；右爪后来单独拿纸袋。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：底盘移向厨房台面取报纸，视频 62.0–67.0 s 持报纸后退、转向并驶向纸袋，视频约 80.0–81.2 s 继续持报纸前移。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的初始目标位串为 001，说明回收桶初始关闭。视频 0.0–83.57 s，机器人一直在室内巡视和取物，没有到桶旁或开盖动作，因此原有闭盖状态持续到结束；此判断依赖初态与连续动作上下文，并非直接看到了桶盖。"
+     },
+     {
+      "t": 83.57,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0 不否定初始保持的闭盖目标，因为该指标不计仍保持的初始已真文字目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_bin",
+   "t": null,
+   "log_step": 260,
+   "where": "操作中",
+   "evidence_zh": "推断：报纸入桶是本次最早进入取物操作而最终未完成的目标步骤。视频 61.0–64.5 s 已可见机器人把报纸提离台面，随后持续持报纸在厨房内移动；视频 65.0–83.57 s 仍在门前查看场景并取纸袋，始终未把报纸送入桶。log step 260 是最后一段持物移动与巡视，之后 log step 261–286 仅检查已有图像、深度和姿态；未见后续恢复。无法定位一个独立的不可逆失误瞬间，故 t 留空。"
+  },
+  "unmet": {
+   "sack_in_bin": false,
+   "newspaper_in_bin": false,
+   "bin_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 提供完整视频和运行日志，但没有状态日志或成功示范；回收桶未获得可辨识近景，闭盖持续成立由 DAG 初态及机器人未接近或操作桶盖推断。视频中的报纸抓取偏差后来已纠正，纸袋也已提起；末段没有针对桶口的放置动作，无法据此断言最终发生没建立接触、滑落或放置偏差，故现象层留空。日志以 log step 286 的姿态检查结束，没有最终成功报告；run.json 记录 agent 墙钟用时 7203 s、预算 7200 s，但预算耗尽本身不能作为根因，现有证据不足以确定未完成搬运具体源于错误规划、错误感知还是控制问题，故根因层也留空。"
+ },
+ "summary_zh": "机器人最终抓起报纸和纸袋，但两件物品仍由左右夹爪持在厨房内，花园通道未打开，未见开桶或入桶；仅回收桶初始关闭这一状态保持，终态进度为 1/5。最早实际操作但未完成的目标步骤为报纸入桶，抓取成功后搬运仍未完成，未见能可靠归类的后续物理失败事件。无状态日志及成功示范，桶盖状态由初态与连续行为推断，失败现象和具体根因保留为空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 5,
+    "summary_zh": "抽查视频各时段帧：报纸在约58 s被左爪夹起，纸袋在约78 s被右爪夹起，末帧两物仍在手中，未见开桶或入桶，与标注一致；终态1/5、bin_closed自初始保持与评分器q=0相符。现象/根因留空并附gap_zh，证据不足以支持具体归类，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:15:13Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--jpaqpv5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--jpaqpv5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b0683a3033417dac96610b513f620765ae414ad751bc32cccb9eb231caf749f1",
+   "video_sha256": "d77476c79fa2c9f83fe0cacb6a6ddc4c5e2fe36f418f2bf2483cb44389f91871",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--jxnqgak.json

@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-standard--jxnqgak",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "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": 3318,
+   "sim_steps": 3318,
+   "physics_steps": 13272,
+   "steps": 1106,
+   "elapsed_s": 1302.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-paper-to-recycling-i00-standard--jxnqgak/replay.mp4",
+  "duration_s": 110.6,
+  "fps": 30.0,
+  "frames": 3318,
+  "sha256": "585918fc76419175c2cfa92272b2799627a8caea37d4e26de0cc3820d8c75ba0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14,
+      "log_step": null,
+      "text_zh": "观察：视频 14 s 的头部画面中，客厅远端金色边框玻璃门仍封住出口；视频 90 s 的近景中，厨房纸袋后方的玻璃门也仍封住开口。"
+     },
+     {
+      "t": 97,
+      "log_step": 190,
+      "text_zh": "观察：视频 82–100 s 机器人空手接近厨房花园门、再转向客厅观察，没有夹爪操作门把手或推开门板的画面；log step 174、190 分别执行接近厨房花园门和检查客厅出口的导航。视频全程未见所选路线形成可通行开口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 82–100 s 轮式底盘承载机器人接近厨房花园门并转向检查客厅方向；未见夹爪接触门板或把手。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录初始目标位串001，即回收桶初始关闭；视频 0–110.55 s 机器人始终在厨房、餐桌与客厅边界活动，未到桶旁，也未见任何掀盖操作，故开桶事件未达到。桶盖未有可辨识近景。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90,
+      "log_step": 183,
+      "text_zh": "观察：视频 90 s 纸袋仍直立在厨房玻璃门前地板上，机器人两爪未夹住纸袋；log step 183 是该纸袋的定位，非搬运完成结果。"
+     },
+     {
+      "t": 110.55,
+      "log_step": 201,
+      "text_zh": "观察：视频约 100.5 s 起机器人侧倒并持续到视频 110.55 s，纸袋仍在原门前地板区域，未随夹爪抬起或送入容器；log step 201 的纸袋抓取脚本在首次预抓取动作时收到服务的跌倒终止响应。"
+     },
+     {
+      "t": 110.55,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，live_matches_replay=1；袋子入桶是初始未满足的目标，结合纸袋始终留在室内地面的画面，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 82–90 s 轮式底盘移到门前纸袋附近，为取袋作准备；视频末尾未见夹爪包夹、抬起纸袋。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 45,
+      "log_step": 128,
+      "text_zh": "观察：视频 41–47 s 机器人右夹爪执行靠近、合爪与回撤动作，但报纸仍平放在水槽右侧台面，未随夹爪离开支撑面；视频 45 s 同时可见报纸与未持报纸的右爪。"
+     },
+     {
+      "t": 49,
+      "log_step": 139,
+      "text_zh": "观察：视频 48–57 s 机器人右爪再次伸到报纸上方、触拨纸面后回撤，报纸在台面上改变位置，未形成可见的包夹携带；视频 63–69 s 又一次伸爪后仍未将其带走。"
+     },
+     {
+      "t": 74,
+      "log_step": 172,
+      "text_zh": "观察：视频 74–78 s 机器人收臂、后退后，报纸重新完整露出，仍躺在水槽右侧台面；此后机器人离开该处，未见报纸进入任何容器。"
+     },
+     {
+      "t": 110.55,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0 且 live_matches_replay=1，结合连续画面中报纸未被搬离台面，报纸入桶终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 48–57 s 右夹爪指端触拨报纸，使其在水槽右侧台面上移位；未见两指将报纸夹住并提离台面，故不标抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 26–40 s 轮式底盘移动到报纸所在台面前，视频 70–78 s 空手后退、调整观察位置。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确记录初始目标位串001，回收桶初始关闭；视频 0–110.55 s 未见机器人到桶旁或进行开盖操作，因此将初始关闭状态保留至结束，区间为[0,null]。该值依据初态和全程无开桶操作，并非从 q_score=0 推出。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_bin",
+   "t": 45.0,
+   "log_step": 128,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 41–47 s 机器人右爪第一次合爪、回撤时，报纸仍留在水槽右侧台面；视频 48–69 s 的两次重试后，视频 74–78 s 仍见报纸在台面。推断：机器人随后转去门前纸袋和花园出口，此报纸步骤从未完成，是最早未修复的失败步骤；视频约 100.5 s 的后续倾倒及 log step 202 的跌倒终止没有修复它。"
+  },
+  "unmet": {
+   "sack_in_bin": false,
+   "newspaper_in_bin": false,
+   "bin_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 45.0,
+    "log_step": 128,
+    "evidence_zh": "观察：视频 45 s 右夹爪回撤时没有携带报纸，报纸仍在台面；视频 48–57 s 虽有右爪触拨纸面的接触，视频 74–78 s 仍见报纸原地留在台面。推断：所需的包夹抓取接触未建立；不是已拿起后失去保持。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 41–69 s 机器人对同一静止报纸反复靠近、合爪、抬爪，实际只触拨或空爪回撤，没有形成取纸所需的接触；log step 124、136、147–148 的逆解查询均报告相关抓取目标有解，log step 127、138、149 的脚本确实命令右爪闭合后抬升。问题集中在抓取动作的实际执行；现有证据不能进一步区分接触几何与实际轨迹跟踪误差。",
+    "source_zh": "视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范。回收桶在所检查的三相机画面中没有可辨识的桶盖近景，关闭区间依据DAG明确的初态及全程未开桶的过程推断；花园门判断限于所观察的厨房、客厅候选出口。报纸抓取的精确接触点、接触力和辅助附着状态未记录，故根因只标控制，不细分；视频末段可见倾倒，但碰到餐椅的说法仅见agent在log step 206的自述，未据此归因。"
+ },
+ "summary_zh": "仅保留回收桶初始关闭状态，终态完成1/5个节点；未打开所观察的花园出口或桶盖，纸袋和报纸均未入桶。最早未修复的失败是报纸抓取：视频 41–69 s 多次伸爪、合爪后，视频 74–78 s 报纸仍留在台面，属未建立抓取接触，根因保守标为控制；视频约 100.5 s 机器人随后倾倒，服务最终以跌倒终止。无状态日志，桶盖全程关闭由初态与无开桶操作推断，抓取误差的具体来源无法细分。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值、断点（报纸入桶，≈45 s，没建立接触）与根因（控制）与画面一致，q=0与bin_closed从t=0保持相符。仅有一处证据时间自相矛盾：sack_in_bin证据称视频109.5–110.55 s侧倒，而画面和断点证据都显示约100.5 s已倾倒。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第二轮：第一轮的证据时间已修正；节点值（仅 bin_closed 初态保留）、断点（报纸入桶，≈45 s，没建立接触）与根因（控制）与画面一致，validator 通过。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:44:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--jxnqgak/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--jxnqgak/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--jxnqgak/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--jxnqgak/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9ded93cb1716339dfbe1a4928e499012cfdb2ebbb5397425352f6a95dcbcbbe0",
+   "video_sha256": "585918fc76419175c2cfa92272b2799627a8caea37d4e26de0cc3820d8c75ba0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--k6eyexb.json

@@ -0,0 +1,339 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-standard--k6eyexb",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 7813,
+   "sim_steps": 7963,
+   "physics_steps": 31852,
+   "steps": 913,
+   "elapsed_s": 6704.8,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-paper-to-recycling-i00-standard--k6eyexb/replay.mp4",
+  "duration_s": 265.5,
+  "fps": 10.0,
+  "frames": 2655,
+  "sha256": "8c48e5a2596fb54fdc44938b911e0992e74a6a95cd065f0f95df794ab4be53a6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      86.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 86.0,
+      "log_step": null,
+      "text_zh": "观察：视频85–88 s头部视角转向厨房花园出口，带把手的木框门扇位于开口一侧，门扇与固定门框之间露出通向灰色露台的开口；视频88 s可见开口延伸至门槛。以视频86 s为首次明确确认达成的锚点，不把相机转动直接当成门扇转动。"
+     },
+     {
+      "t": 154.0,
+      "log_step": null,
+      "text_zh": "观察：视频154–170 s头部及右腕视角可见门扇边缘、把手和通往露台的开口；视频154 s下方横向木条处于室内木地板与室外露台的交界，不能据此认定玻璃门板仍封住整个出口。"
+     },
+     {
+      "t": 200.0,
+      "log_step": null,
+      "text_zh": "推断：视频200–205 s头部视角中固定门框与带把手门扇分处通道两侧，结合视频86–88 s及154–170 s所见，满足DAG所要求的可供机器人或回收物品通过的开口。此节点是锁存事件，后来继续操作把手或转向客厅另一出口不撤销达成；早期门初态及准确开启瞬间无法确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频82–86 s左腕视角被遮挡，右腕与头部视角未清楚显示导致开口形成的接触，无法确认该时段右夹爪是否抓住把手或哪一部位推动门扇。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频158–170 s及259–265.3 s，右夹爪指尖贴靠厨房门或客厅另一扇门的把手及邻近门面并调整、回拉；这些后续接触不能反推视频86 s时的开门接触，也不足以确认夹爪包夹把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约68–103 s及150–170 s底盘承载机械臂在厨房门前进退、横移；视频215–265.3 s驶至客厅另一出口继续操作把手。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 154.0,
+      "log_step": null,
+      "text_zh": "观察：视频150–170 s机器人携袋停在厨房花园出口的门槛内侧，门扇旁有通向室外露台的开口；视频160–168 s可见露台和远处物体，但未见机器人驶到该物体旁、夹爪接触桶盖或掀盖。远处物体的身份不能据此确定为回收桶。"
+     },
+     {
+      "t": 265.3,
+      "log_step": null,
+      "text_zh": "推断：视频175–187 s机器人退回厨房台面附近，视频195–205 s再次接近原门，视频215–265.3 s转向客厅另一扇玻璃门并操作把手，末秒仍在室内；结合桶盖初始关闭及全程未见到桶旁开盖，判定开桶事件未发生。此项是视觉过程推断，reward.q_score=0不能单独决定非目标开桶事件。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频约6–55 s，机器人先后用左、右夹爪多次靠近、闭爪及试抬棕色纸袋，袋子在地面被推移并倒伏。"
+     },
+     {
+      "t": 60.5,
+      "log_step": null,
+      "text_zh": "观察：视频57–61.5 s，左夹爪贴住袋侧后抬升，纸袋随手离开地面，原地不再留袋；随后左腕画面被袋体遮住，头部画面仍间歇可见袋边。"
+     },
+     {
+      "t": 265.3,
+      "log_step": null,
+      "text_zh": "推断：视频约61.5–265.3 s机器人持袋在室内移动、尝试开门，未到回收桶或完成入桶释放；评分器reward.q_score=0也排除纸袋入桶这一新增目标在终态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约6–55 s，左右夹爪依次尝试抓袋时推动袋体，使其平移、倒伏；两臂未同时夹持袋子。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约58–61.5 s左二指夹爪夹住袋侧并抬起，随后携带；不是仅凭夹爪开度认定抓取。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：底盘接近地面纸袋，并在左夹爪持袋时在厨房、门前和客厅之间移动。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 180.0,
+      "log_step": 441,
+      "text_zh": "观察：视频约175–187 s，机器人驶近厨房台面，右夹爪保持空手伸在前方，未见报纸离开台面或随夹爪移动；之后机器人退开并返回玻璃门。"
+     },
+     {
+      "t": 265.3,
+      "log_step": null,
+      "text_zh": "推断：视频后段机器人一直空着右夹爪操作门，未见取走或放入报纸；评分器reward.q_score=0排除报纸入桶这一新增目标在终态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约175–187 s底盘驶近厨房台面寻找、接近报纸，随后退开；未观察到夹爪与报纸接触，故只记已发生的移动支撑。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG的bin_closed判据记载初始目标位串001，即桶盖起始关闭。复核视频150–170 s，虽可从门前看到露台和远处物体，但机器人没有到桶旁接触或掀盖；视频175–265.3 s继续在厨房、客厅内活动，故保留初始关闭状态。桶盖缺少可辨识近景，此为依据初态和未操作过程的推断；q_score=0不计持续保持的初始目标，不能据此判桶盖已打开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "sack_in_bin",
+   "t": 170.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频86–88 s所选花园出口已可见通行开口；视频154–170 s机器人左手携带纸袋停在门槛内侧、右手仍在门边调整，视频172–175 s转回厨房，未把纸袋运到回收桶或释放入桶。视频200–205 s再次接近原出口，视频215–265.3 s转向客厅另一扇门，至末秒仍未完成入桶。推断：开门事件已达成，未修复的是携袋送往回收桶这一放置步骤；依03 Step 3.1，持物前往目标属于该放置步骤的操作中，不能仅因打开回收桶尚未达成就把未见桶盖操作的节点选作断点。视频170 s是折返前的粗略导航锚点。"
+  },
+  "unmet": {
+   "sack_in_bin": false,
+   "newspaper_in_bin": false,
+   "bin_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志或成功示范。视频86–88 s及154–170 s支持花园出口已有开口，但准确开启瞬间、早期门初态及形成开口的接触方式无法确认。机器人携袋在门槛处停留后折返，缺少可确定折返原因的接触、力或门机构读数，故不补写门未开、受阻、抓握失败等现象或控制根因，现象与根因均留空。log step 313、331、343、398对开口、玻璃面和折返的说法是agent自述，不替代视频对门状态及失败机制的判断；log step 538的IK及回拉输出也不是门开合或力读数。露台远处物体的身份和桶盖缺少可辨识近景，桶盖持续关闭仍依据DAG初态与未见操作过程推断；两件物品终态未入桶另有reward.q_score=0约束。日志后段许多工具结果为空，不能补写动作结果。"
+ },
+ "summary_zh": "机器人重抓后抬起并携带纸袋，视频约86 s已能确认厨房花园通道存在可通过开口；最终五个��点中达成开门事件及保持桶盖初始关闭两项，袋子和报纸均未入桶。视频154–170 s携袋停在门槛处，随后折返室内并继续尝试其他出口，断点改为袋子入回收桶的操作中。准确开门接触和携袋折返原因缺少可靠证据，现象与根因留空；桶盖持续状态仍含初态推断，置信度保持6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "厨房花园门在视频约86 s起已明显敞开（门扇转开、露出室外露台/花园，机器人在148–165 s站在门槛处），标注称“门板始终封住出口、garden_access_opened 从未达成”与帧相矛盾；以此为断点和根因（把手处控制失败）的整条失败叙述因此不成立，需要重新定断点。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "厨房花园门在视频约86 s起已被推开（头部视角可见门扇转向室内、木门框与室外露台通透），标注称门板始终封住出口与帧矛盾。第1轮同一问题被驳回，但新帧证据明确：86、88、154–168、200 s头部帧均显示无玻璃封挡的门洞。garden_access_opened应为达成，断点需改到其后的未完成步骤。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "三项round-2问题的处理均成立：开门节点已改为达成（86 s起），断点改为sack_in_bin操作中并有文档依据，summary/gap已重写，未发现事实错误。",
+    "n_issues": 0,
+    "n_checks": 3
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "三项round-2问题的处理均成立：开门节点已改为达成（86 s起），断点改为sack_in_bin操作中并有文档依据，summary/gap已重写，未发现事实错误。",
+   "checks_ok": "3/3",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:51:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--k6eyexb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--k6eyexb/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--k6eyexb/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--k6eyexb/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--k6eyexb/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--k6eyexb/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f42500abe0ea2e434a4a08544c1829636badc8ec31a62c3b5ca85fd899f1c860",
+   "video_sha256": "8c48e5a2596fb54fdc44938b911e0992e74a6a95cd065f0f95df794ab4be53a6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--qybxygp.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-standard--qybxygp",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "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": 1525,
+   "sim_steps": 1525,
+   "physics_steps": 6100,
+   "steps": 1465,
+   "elapsed_s": 701.8,
+   "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": 0.411,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.036,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-paper-to-recycling-i00-standard--qybxygp/replay.mp4",
+  "duration_s": 50.833,
+  "fps": 30.0,
+  "frames": 1525,
+  "sha256": "3bce091b98e09a2dc6df4518c36b32bfebe6159c211e579e03fc6320546e9010"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5–3.0 s 的厨房与客厅扫描中，金色框玻璃门的门板仍封住通往花园的开口；机器人未伸手开门。视频 0–50.8 s 中机器人一直在室内旋转、移动和翻滚，未见任何花园门打开或机器人通过花园出口。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–50.8 s 全程为厨房及相邻室内空间，机器人没有到达花园中的回收桶，也没有掀盖动作；回收桶本身不在可辨视野。推断：结合DAG记载的桶初始关闭及全程未操作桶，开桶事件未发生。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5–2.5 s 可见棕色纸袋直立在厨房花园门旁的地板上，机器人没有夹住或抬起它。"
+     },
+     {
+      "t": 50.8,
+      "log_step": null,
+      "text_zh": "观察：视频 50.8 s 右侧花园门前仍可见棕色纸袋留在厨房地板上，两夹爪未携带纸袋。推断：全程未见纸袋离开原处或被送入桶，且run.json评分器q_score=0.0，袋子入桶终值为假。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": 78,
+      "text_zh": "观察：视频 0–13.0 s 机器人进行室内扫描和底盘移动，未见夹爪从厨房台面夹起报纸；视频 13.0–50.8 s 机器人反复翻滚并尝试恢复姿态，未见携报纸、进入花园或向桶内释放物品。推断：run.json评分器q_score=0.0排除新增的报纸入桶目标成立，终值为假。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG的bin_closed判据及bin_opened说明明确记录初始目标位串001，即桶初始关闭。视频 0–50.8 s 机器人始终未到花园操作回收桶，也未搬运任何目标物至桶，故关闭状态从视频 0 s 保留至结束；桶盖未直接入镜。q_score=0.0不否定这个初始已成立的目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 13.0,
+   "log_step": 78,
+   "where": "探索",
+   "evidence_zh": "观察：视频 11.5–13.6 s 机器人在厨房柜体旁原地旋转，视角逐渐侧翻至地板近乎竖直；视频 13.6–50.8 s 继续翻滚及恢复动作，未转入开门、开桶或纸品搬运。log step 75–78记录这是室内彩色建图扫描，尚无具体目标物操作。推断：故障发生在机器人探索场景时，无法把这一通用扫描唯一归于某个DAG步骤，断点ref保留unknown���"
+  },
+  "unmet": {
+   "sack_in_bin": false,
+   "newspaper_in_bin": false,
+   "bin_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 13.0,
+    "log_step": 78,
+    "evidence_zh": "观察：视频 12.8–14.4 s 头部视角明显侧翻，视频 17–40 s 多次翻滚或被机器人本体遮挡；视频 49.8–50.8 s 仍见歪斜视角与伸出的空夹爪。单局实时服务的本体读数在log step 78显示control step 394的基座竖直分量仅0.516，随后control step 418为0.016；log step 121服务以failure: the robot fell over结束。推断：控制频率30 Hz，394/30=视频约13.13 s，已用视频 13.0–13.4 s 的侧翻核对，属于全身失去平衡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 75的扫描脚本一次生成130个底盘旋转控制步，每步0.05 rad，以30 Hz整批提交；批次内部不读取姿态或据倾斜停止。log step 78记录基座竖直分量从control step 382的1.000降至394的0.516、418的0.016，但扫描仍执行到476；视频 13.0–15.8 s 同样显示侧翻后继续旋转。推断：扫描控制缺少及时的姿态反馈中止与稳定恢复，使旋转中的失稳持续发展；后续恢复未使机器人重返任务，最终触发跌倒失败。"
+   }
+  ],
+  "gap_zh": "无状态日志及成功参考视频。通用室内扫描未显示机器人已选定某个开门或搬运步骤，因此无法唯一指定断点节点，未向任何任务节点附加扫描的底盘接触；各任务节点均未见具体操作。回收桶始终未进入可辨视野，关桶持续成立依据DAG明确初态及未接近、未操作桶推断。不能从相机画面确定初次失稳的具体碰撞对或驱动失稳机理；agent在log step 134将其归于家具碰撞与关节刚度，仅作为其自述，不据此追加碰撞现象或环境根因。"
+ },
+ "summary_zh": "机器人只保留回收桶初始关闭状态，最终为1/5个节点成立；未打开花园通道或回收桶，纸袋与报纸均未入桶。机器人在室内建图扫描时于视频约13.0 s失去平衡，连续旋转批次没有及时依据姿态反馈停止，之后反复恢复仍以跌倒结束。扫描尚未对应具体任务节点，断点节点未知；桶盖全程不可辨，关闭状态由明确初态与未操作桶推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（仅bin_closed自视频0 s起成立，q_score=0与PROG-10一致）、控制步30 Hz与视频帧一一对应的时钟映射（394/30≈13.1 s，视频12–14 s可见侧翻）、跌倒（平衡）现象与断点（扫描中跌倒、无步骤已开始、ref unknown / 探索）均有证据支持；根因反馈控制属推断，gap_zh已说明碰撞/刚度机理不可定，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:09:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--qybxygp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--qybxygp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9d236a76501fcd999ca2fc62bc6dfa47a7e673eaa0239e0530023ac1585f6b71",
+   "video_sha256": "3bce091b98e09a2dc6df4518c36b32bfebe6159c211e579e03fc6320546e9010",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--tdgggqp.json

@@ -0,0 +1,247 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-paper-to-recycling-i00-standard--tdgggqp",
+ "taskKey": "behavior-1k/bringing_paper_to_recycling",
+ "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067",
+ "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": 2803,
+   "sim_steps": 2803,
+   "physics_steps": 11212,
+   "steps": 2353,
+   "elapsed_s": 1862.4,
+   "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-bringing-paper-to-recycling-i00-standard--tdgggqp/replay.mp4",
+  "duration_s": 93.433,
+  "fps": 30.0,
+  "frames": 2803,
+  "sha256": "5e4f6f4935c30ffa795fe7cf2d3755d9685a1a2c106f2915eb3d4b9f34d8359f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "garden_access_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.5、1.5 s 可见纸袋旁的木框玻璃门，门板仍封住开口；视频 0–9.5 s 机器人在室内转向、前后移动，未见夹爪操作门把手或门板让出通道。视频 10–93.4 s 机器人倒伏，未经过花园出口。"
+     }
+    ]
+   },
+   "bin_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 93.4,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确回收桶初始关闭；检查视频 0–93.4 s，机器人始终未离开室内工作区，未见接近或操作花园回收桶，故未发生开桶事件。桶本身没有清楚入镜，不能从画面直接量出盖关节角。"
+     }
+    ]
+   },
+   "sack_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.5、1.5 s 的棕色纸袋仍立在玻璃门旁地面，视频 4.0、6.8、7.5 s 再次出现时仍在原区域；两只夹爪未夹持纸袋，未见抬升、携带或投放。"
+     },
+     {
+      "t": 93.4,
+      "log_step": null,
+      "text_zh": "推断：视频 8–93.4 s 机器人倒伏且没有把纸袋运往花园的过程；评分器 reward.q_score=0.0、live_matches_replay=1，与纸袋未入桶一致。初始关闭的桶盖不计入该 q_score，零分仍排除了新增的纸袋入桶目标。"
+     }
+    ]
+   },
+   "newspaper_in_bin": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.8,
+      "log_step": 43,
+      "text_zh": "观察：视频 4–7.8 s 机器人空手在厨房台面附近转向、移动，视频 7.8–9.5 s 视野大幅侧翻；未见任一夹爪从台面夹起报纸，也未见报纸随夹爪离开台面。log step 38、43 的脚本在执行厨房台面附近的底盘导航。"
+     },
+     {
+      "t": 93.4,
+      "log_step": null,
+      "text_zh": "推断：检查至视频 93.4 s，机器人未完成从厨房到花园的搬运或投放；评分器 reward.q_score=0.0、live_matches_replay=1 排除了新增的报纸入桶目标，故终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 4–7.8 s 轮式底盘承载空手机械臂，在厨房台面附近移动和转向；这是取台面报纸前的接近阶段，未观察到夹爪与报纸建立接触。"
+     }
+    ]
+   },
+   "bin_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的初始目标位串 001 明确桶盖关闭；视频 0–93.4 s 机器人未到花园回收桶旁，也没有开盖动作，故初始关闭状态保留至结束。此状态从视频 0 s 计入，不受两件物品入桶的 after 边门控；reward.q_score=0.0 不否定初始已成立的关桶状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_bin",
+   "t": 7.8,
+   "log_step": 43,
+   "where": "转场",
+   "evidence_zh": "推断：视频 4–7.8 s 机器人空手在厨房台面附近接近、转向，随后在视频 7.8–8.3 s 翻倒；log step 38、43 的实际调用均为台面附近的底盘导航，因而将断点归到取台面报纸的转场。视频 8.3–93.4 s 未见恢复直��或完成报纸抓取、搬运，log step 45 的服务本体姿态也显示基座严重倾斜。早先朝玻璃门方向的室内巡视没有进入开门操作。"
+  },
+  "unmet": {
+   "sack_in_bin": false,
+   "newspaper_in_bin": false,
+   "bin_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 7.8,
+    "log_step": 45,
+    "evidence_zh": "观察：视频 7.7–8.3 s 头部与腕部画面一起大幅侧翻，视频 8.5–9.5 s 地面近乎竖直，视频 10–93.4 s 头部视角持续贴近地面、朝向天空，机器人未恢复正常工作姿态。log step 45 的服务基座四元数为 [-0.583,-0.533,0.457,0.408]，与严重倾倒一致；视频 92.5–93.4 s 的末段仍保持倒伏。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 7.8,
+    "log_step": 22,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 22 的底盘辅助函数先把整条 joint_position 命令置零，未传 trunk 时也持续将四个躯干关节命令为零，而非保持 log step 14 记录的初始躯干姿态 [1.02,-1.44,-0.47,0]；log step 38、43 又调用该函数，以每控制步约 0.06 m 的底盘位移接近台面，导航停止条件只检查平面位置与偏航。log step 49 的本体反馈显示基座高度和倾斜随这些动作增大，视频 4–8.3 s 也显示连续倾斜并最终翻倒。由此支持移动与躯干控制未维持支承稳定；没有独立试验区分躯干目标、行驶速度及障碍接触的各自贡献，故只标控制总类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范。回收桶未清楚入镜，关盖全程保持由 DAG 初态和机器人始终未操作桶推断；两件物品终态另由评分器总分约束。接近台面的目标归属结合 log step 38、43 的实际导航调用推断，报纸本身未获得清晰近景；首次造成失稳的具体碰撞体及是否存在台阶无法从机载画面确认，不采用 agent 在 log step 91 自述的台阶尺寸或“无法自救”作为环境根因。"
+ },
+ "summary_zh": "本次轨迹仅保留初始关桶状态，终态进度为 1/5；未见纸袋或报纸被抓起、送入回收桶，也未打开花园通道或桶盖。机器人在接近厨房台面、准备取报纸的转场中于视频约 7.8 s 翻倒，随后至视频 93.4 s 未恢复；日志中的移动与躯干命令支持控制失稳这一根因。回收桶未清楚入镜且无状态日志，关盖状态依初态与无操作过程推断，具体致倒接触无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（仅 bin_closed 从 0 s 起为真、终值 1/5）、断点 newspaper_in_bin / 转场 和 全身·平衡 现象与视频一致；但断点与根因证据里的 log 步号引用有误（把 step 43 状态读取当作导航、把 step 22 的看图当作底盘辅助函数），需更正，否则读者按步号追不到所述内容。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（仅 bin_closed 自 0 s 起为真、终值 1/5）、断点 newspaper_in_bin/转场、全身·平衡现象与视频一致；第 1 轮的 log 步号争议已由标注者以 steps[].id 说明解决，无新证据。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:46:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--tdgggqp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--tdgggqp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--tdgggqp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-paper-to-recycling-i00-standard--tdgggqp/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e1a6d8ae4b1d0720e32d345623a4fe28ad73ad525348b865df513f6a1c768edd",
+   "video_sha256": "5e4f6f4935c30ffa795fe7cf2d3755d9685a1a2c106f2915eb3d4b9f34d8359f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--3h88erv.json

@@ -0,0 +1,327 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-privileged--3h88erv",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.25,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 2043,
+   "sim_steps": 2043,
+   "fallen": 0,
+   "final_reward": 0.25,
+   "q_score": 0.25,
+   "replay_wall_s": 1139.3,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 32,
+   "agent_resets": 0,
+   "agent_sim_steps": 39495,
+   "agent_records": 8,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 7.062,
+   "peak_memory_gb": 13.566,
+   "peak_processes": 75,
+   "peak_disk_gb": 3.794,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-carrying-in-groceries-i00-privileged--3h88erv/replay.mp4",
+  "duration_s": 68.1,
+  "fps": 30.0,
+  "frames": 2043,
+  "sha256": "e7e4ccfad58c6f8bfa84386568672ab1220f9dae0bbf976f7a421cc65caffe26"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      41.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 38.5,
+      "log_step": null,
+      "text_zh": "观察：视频 38.5 s 木门仍位于机器人前方；视频 40.5–41.5 s 木门转离门框、露出走廊地板，机器人携纸袋穿过门口，视频 42 s 已进入走廊。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 39–41 s 机器人向木门前进，门板随之转开；纸袋及机体遮住施力区域，不能辨认究竟由哪个部位推门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘向木门移动并携袋穿过打开的车库出口。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 64.8,
+      "log_step": null,
+      "text_zh": "观察：视频 52–64 s 机器人驶近厨房冰箱，视频 64.8–68.067 s 银灰色门板仍贴合柜体，未出现可放食品的搁架内腔，也未见夹爪拉开门扇；作为外观对照，oracle 视频 175–220 s 明确可见打开后的白色搁架。"
+     },
+     {
+      "t": 68.067,
+      "log_step": 902,
+      "text_zh": "观察：log step 902 的交付生成日志记录保存 2043 个动作后 Fridge open: False；此动作数与评分录像帧数一致，且门的状态与本次录像相符。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.5–12.5 s 左腕视图可见纸袋口处的红色番茄，随后机器人提起纸袋并搬运；番茄后续被袋壁遮挡。"
+     },
+     {
+      "t": 65.2,
+      "log_step": null,
+      "text_zh": "观察：视频 64.8–65.2 s 机器人在关闭的冰箱门外松开纸袋，未见番茄进入搁架；视频 67–68.067 s 也没有取回番茄或打开冰箱的补救。"
+     },
+     {
+      "t": 68.067,
+      "log_step": 902,
+      "text_zh": "推断：log step 902 保存的 2043 动作轨迹报告 Inside(tomato, fridge): False，录像未见任何入箱操作；评分器 q_score=0.25 的新增目标已由汽车关闭占满（冰箱初始关闭不计新增分），因此番茄最终不在冰箱内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左夹爪夹住纸袋并提离后备厢，视频 11.5–12.5 s 腕部视图可见袋口处番茄，视频 42–64 s 可见袋内牛奶纸盒。推断：纸袋作为承载容器间接托运食品；未见夹爪直接抓食品，番茄后续是否仍在袋内被袋壁遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘承重并移动，将所持纸袋从汽车旁经车库木门运到厨房冰箱前。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 42.0,
+      "log_step": null,
+      "text_zh": "观察：视频 42–64 s 左腕视图可见蓝白色牛奶纸盒仍在机器人左夹爪携带的纸袋中。"
+     },
+     {
+      "t": 65.2,
+      "log_step": null,
+      "text_zh": "观察：视频 64.8 s 左夹爪及纸袋位于冰箱外门板旁；视频 65.133–66.467 s 左腕视图中纸袋和蓝白色纸盒落在门外木地板上，视频 67–68.067 s 机器人缩手，未把它们送入搁架。"
+     },
+     {
+      "t": 68.067,
+      "log_step": 902,
+      "text_zh": "观察：log step 902 记录保存 2043 个动作后 Inside(milk, fridge): False，与视频中的门外释放一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左夹爪夹住纸袋并提离后备厢，视频 11.5–12.5 s 腕部视图可见袋口处番茄，视频 42–64 s 可见袋内牛奶纸盒。推断：纸袋作为承载容器间接托运食品；未见夹爪直接抓食品，番茄后续是否仍在袋内被袋壁遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘承重并移动，将所持纸袋从汽车旁经车库木门运到厨房冰箱前。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频 23.5–24.5 s 机器人右夹爪推动抬起的后备厢盖，盖板下降并贴回车身；视频 29 s 可见汽车后部已不露出黑色内腔，后续未再回车旁开盖。首次达标时间约为视频 24.5 s。"
+     },
+     {
+      "t": 29.0,
+      "log_step": 902,
+      "text_zh": "观察：log step 902 的交付生成日志记录 j_trunk=-0.0000、Car open: False，保存 2043 个动作后仍为关闭，与录像一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 23–24.5 s 机器人右夹爪从汽车侧面扫推后备厢盖使其合拢；左夹爪持袋，未协同操作盖板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘从车尾驶到汽车侧面、调整朝向以便右臂推盖。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 说明冰箱初始关闭；本次机器人在视频 0–52 s 尚未操作冰箱，视频 64–68.067 s 近景仍见两扇门贴合柜体且不露内腔，因此该初始状态持续保持，并非机器人完成了装货后的关门。"
+     },
+     {
+      "t": 68.067,
+      "log_step": 902,
+      "text_zh": "观察：log step 902 保存的 2043 动作轨迹终态为 Fridge open: False，评分器 q_score=0.25；初始已成立的冰箱关闭关系不增加该分数。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.25,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "milk_in_fridge",
+   "t": 65.0,
+   "log_step": 902,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 64.8–65.2 s 机器人左夹爪在仍关闭的冰箱门外释放纸袋，牛奶纸盒随袋落在门外地板；视频 67–68.067 s 缩手结束，未恢复。推断：机器人正进行装袋食品入冰箱的放置操作，其中牛奶的门外释放可直接定位；番茄在同次搬运中也未完成，但无法确认它是否更早离袋。"
+  },
+  "unmet": {
+   "tomato_in_fridge": false,
+   "milk_in_fridge": false,
+   "car_closed": true,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 65.2,
+    "log_step": 902,
+    "evidence_zh": "观察：视频 64.8 s 机器人左夹爪持袋停在关闭的冰箱外门板旁，视频 65.133–66.467 s 牛奶和纸袋已在门外木地板上；释放之前食品未进入目标内腔，之后未纠正。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "观察：视频 52–68.067 s 机器人到达冰箱后未打开门，直接将所持纸袋移向关闭的门板并松开；log step 896、921 的脚本放置段直接求解 left_tcp 到容积内坐标，随后无条件 open_gripper，log step 902 仍报告两件食品 Inside=False、Fridge open=False。推断：执行顺序漏掉了放入前必须形成可通过开口的步骤，并把末端坐标命令当作实际容纳关系，导致在冰箱外释放；这不是已验证可行接触方案下的单纯逆解误差。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无模拟器状态日志。纸袋壁及机器人遮住番茄的搬运过程，无法确认番茄是否、何时离袋，故不把 agent 在 log step 926 中对甩落的猜测标成观察到的现象；断点用可见的牛奶门外释放定位，不能排除番茄更早发生未修复的脱落。木门施力部位也被遮挡，只能确定底盘前进及门确实打开。食品最终未入冰箱有交付生成日志、录像和评分总分交叉支持。"
+ },
+ "summary_zh": "机器人取出并搬运纸袋，约视频 24.5 s 关上汽车、视频 41 s 打开车库通道；冰箱关闭状态从开局保持，最终共 3/6 个节点成立。机器人未先打开冰箱，约视频 65 s 在门外松开装牛奶的纸袋，食品均未入内，断点记牛奶入冰箱，现象为位姿不准，根因为操作顺序规划遗漏。番茄后续受袋壁遮挡，不能定位可能更早发生的离袋事件。",
+ "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、断点（牛奶入冰箱，约视频65 s门外释放）与现象/根因与帧一致；q_score=0.25由汽车关闭解释。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:25:18Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--3h88erv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--3h88erv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9f703cdc11e0e5c9f52f8cb247e114b0a11d9b5775cbcc5de83a6cfdf9e49c33",
+   "video_sha256": "e7e4ccfad58c6f8bfa84386568672ab1220f9dae0bbf976f7a421cc65caffe26",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--6relklx.json

@@ -0,0 +1,341 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-privileged--6relklx",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 1500,
+   "sim_steps": 1500,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 990.5,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 16,
+   "agent_sim_steps": 1500,
+   "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-carrying-in-groceries-i00-privileged--6relklx/replay.mp4",
+  "duration_s": 50.0,
+  "fps": 30.0,
+  "frames": 1500,
+  "sha256": "e595b5f12571a03d93b72a86af46b3a51c0b4c728e2e47cfed48827f42c40439"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 16.2–17.5 s，机器人向棕色内门移动，门板转离门框，门后木地板走廊露出，机器人随后穿过开口；视频 18–26 s 已在屋内行进。以视频约 17.0 s 记通道形成，误差约半秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "推/扫",
+      "note_zh": "推断：视频 16.2–17.5 s 夹爪空置，机器人随底盘前进以机体前部顶开木门；直接接触处在低处，被机体遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 10–17.5 s 底盘移动至内门并驶过门槛，支承机器人。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      36.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.5,
+      "log_step": 259,
+      "text_zh": "观察：视频 36.2–37.4 s，右腕视图中的冰箱门板向外偏转，门框旁出现内侧空间，随后视频 37.4–39.0 s 可从门板下方看到内腔；与成功示例视频 160–180 s 的开门外观相符。以视频约 36.5 s 记可装入食品的开口，门板和机器人遮挡使时间约有半秒误差。"
+     },
+     {
+      "t": null,
+      "log_step": 259,
+      "text_zh": "观察：log step 259 是 log step 253 启动并保存的最终生成运行，其输出的冰箱两门角度依次为约 [0,0.145]、[0.721,0]、[0.426,0] 弧度，随后关门；该顺序与回放中的门板偏转相符，不采用 log step 246 的另一会话测试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "推/扫",
+      "note_zh": "推断：视频 34–40 s 机器人移动着贴近冰箱门面并横向擦推门板；log step 259 的最终运行及 log step 262 的交付说明均将其记为机体随底盘挤压、侧拖冰箱门。未见夹爪握住把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 34–40 s 底盘在冰箱前反复移动和调整朝向，支承机器人。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–9.0 s，红色番茄仍露在后备厢纸袋口，纸袋未随右夹爪离开后备厢；机器人随后空手驶离，视频 26–49.97 s 未见番茄送入冰箱。"
+     },
+     {
+      "t": 49.97,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0，结合番茄初始在汽车内及回放未发生搬运，可判番茄入冰箱终态为假；这不是仅凭零分认定没有尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 3.5–9.0 s 右夹爪在后备厢纸袋附近伸探，但指尖与袋壁的接触点被车身、腕部和视角遮挡；未见夹紧纸袋或直接夹住食品，不能标为已经抓握或持袋承托。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–3.5 s 底盘驶到后备厢旁，为整体搬运装有两件食品的纸袋作准备；没有成功携物行驶。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": 259,
+      "text_zh": "观察：视频 5.0–9.0 s 装食品的纸袋留在后备厢，右腕视图可见袋内红色番茄与蓝白色包装；机器人未把纸袋带走，后续冰箱前的夹爪也是空的。log step 259 的最终生成运行两次输出 in hand: None。"
+     },
+     {
+      "t": 49.97,
+      "log_step": null,
+      "text_zh": "推断：食品初始装在同一纸袋中，回放无袋子或牛奶抵达冰箱；评分器 q_score=0.0 也不容许原先不成立的牛奶容纳目标在终态成立，故 final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 3.5–9.0 s 右夹爪在后备厢纸袋附近伸探，但指尖与袋壁的接触点被车身、腕部和视角遮挡；未见夹紧纸袋或直接夹住食品，不能标为已经抓握或持袋承托。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–3.5 s 底盘驶到后备厢旁，为整体搬运装有两件食品的纸袋作准备；没有成功携物行驶。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 汽车后备厢盖抬起；视频 5–9 s 抓袋未成功后，视频 13.5–14.0 s 汽车后备厢盖仍翘起，机器人离开且没有返回关车。"
+     },
+     {
+      "t": null,
+      "log_step": 259,
+      "text_zh": "推断：log step 259 的交付运行抓袋两次失败后直接进入推通道门阶段，未输出关后备厢阶段；结合视频中最后一次看见汽车时仍敞开及评分器 q_score=0.0，关上汽车终态为假。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      36.0
+     ],
+     [
+      40.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 记录该冰箱初始关闭，视频 33.5–35.8 s 还能看到两门前面板基本并列；此前机器人未进行食品装入。按 state 节点规则，初始关闭从视频 0 s 计入，不由 after 边门控。"
+     },
+     {
+      "t": 36.5,
+      "log_step": null,
+      "text_zh": "观察：视频 36.2–39.0 s 冰箱门板明显转出，内侧空间露出，故关闭状态在该段失去；视频 34–36 s 还出现短促偏转和遮挡，无法从画面量取5%关节阈值，首次失去时间近似记视频 36.0 s。"
+     },
+     {
+      "t": 40.0,
+      "log_step": 259,
+      "text_zh": "推断：视频 39.2–40.0 s 门板回转，右腕视图中两门把手重新靠拢、前面板回到并列位置；log step 259 的同一最终生成运行在关门后报告两门角度约 [0,0]。以视频约 40.0 s 记恢复；视频 49.0–49.97 s 已检查，但门面不在视野内，终态关闭结合该运行反馈及此后没有开门动作判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "推/扫",
+      "note_zh": "推断：视频约 39.2–40.0 s 机体贴着门板随底盘移动，使门板回转；log step 259 最终运行也记录机体推动关门。接触点被门板遮挡，未见夹爪抓把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 39–49.97 s 底盘继续在冰箱及厨房前方移动，支承机器人完成关门后的调整。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tomato_in_fridge",
+   "t": 5.0,
+   "log_step": 259,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.5–9.0 s 机器人右臂在后备厢上方和纸袋附近尝试抓袋，袋子及食品一直留在车内；随后机器人空手离开且不再补取。推断：这是将番茄与牛奶整袋搬入冰箱的共同取物环节，最早未修复的失败同时影响两个放入节点，以 tomato_in_fridge 指代该共同失败，并不表示先完成番茄再搬牛奶。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 5.0,
+    "log_step": 259,
+    "evidence_zh": "观察：视频 5.0–9.0 s 右夹爪退开后，纸袋与红色番茄仍在后备厢中，未出现袋子被夹住并随手抬起；log step 259 的最终生成运行两次输出 in hand: None。推断：未建立搬袋所需的有效夹持，不是抓住后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：抓袋目标与整体搬运方案已有可行依据，但交付运行未实现相应夹持。log step 250 对同一袋壁目标的左右臂均返回可用逆解；log step 252 改用右臂抓袋，log step 259 最终运行却两次未夹持任何物体，视频 5–9 s 也没有提起袋子。log step 246 的会话测试曾以左臂到达袋壁、误差约0.001米并输出 sack.n.01_1 在手，仅作为可行性和控制差异的证据，不计为交付进度；缺少交付运行的末端误差与接触对，无法进一步区分跟踪、碰撞或夹持几何问题。"
+   }
+  ],
+  "gap_zh": "无状态日志；抓袋指尖接触点受遮挡，无法确定是否曾轻触袋壁，因此两件食品节点的接触方式为未知。冰箱操作时相机大幅倾斜且常被机体和门板遮住，开口时间和关门恢复时间为视觉近似；较早的小幅开合是否越过5%阈值及终帧两门精确开度无法逐帧直接确认，终态结合已绑定交付的 log step 259 反馈判断。会话测试与交付运行严格分开，未将 agent 自述的工作预算耗尽当作原因。",
+  "unmet": {
+   "tomato_in_fridge": false,
+   "milk_in_fridge": false,
+   "car_closed": false,
+   "fridge_closed": true
+  }
+ },
+ "summary_zh": "交付回放中机器人打开车库通道和冰箱，冰箱最后恢复关闭，终态为3/6个节点；番茄和牛奶未离开汽车，后备厢仍开着。最早未修复的失败是整袋搬运两件食品时右臂未建立有效夹持，证据支持控制问题，但不足以细分；纸袋接触及冰箱小幅开合的精确时刻受遮挡影响。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间、断点（整袋取物失败）与现象/根因均与视频和 log step 259 的交付运行输出相符；会话测试与交付运行已区分，未发现需要改内容的错误。冰箱开合时间受相机晃动遮挡，只能近似，标注已如实说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:24:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--6relklx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--6relklx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "79178a9009bb6f57857a6db13c6f086fd82d3c8cb238ffea8e5f1814ad758fb0",
+   "video_sha256": "e595b5f12571a03d93b72a86af46b3a51c0b4c728e2e47cfed48827f42c40439",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--fvru4jr.json

@@ -0,0 +1,323 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-privileged--fvru4jr",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 1050,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 0,
+   "goal_first_step": -1,
+   "sim_steps": 1046,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 788.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 1,
+   "agent_resets": 7,
+   "agent_sim_steps": 0,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-carrying-in-groceries-i00-privileged--fvru4jr/replay.mp4",
+  "duration_s": 34.867,
+  "fps": 30.0,
+  "frames": 1046,
+  "sha256": "0a5fb0ca07789a8b408a281128595b7bbee85096e60e959cf659957bf0c8ef4c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.6–9.4 s 棕色内门门板已转离门框，门口同时露出车库灰地与走廊木地；机器人随后穿过门口，视频 12–18 s 已在室内走廊和客厅一侧。以视频约 9.2 s 的明确通行开口为达到锚点，误差约半秒。"
+     },
+     {
+      "t": 9.2,
+      "log_step": 93,
+      "text_zh": "推断：结合视频 8.6–9.4 s 的门板转动、机器人驶过门槛，以及 log step 93 所存 mega4 脚本在此段仅命令底盘沿路径移动，通道由机器人行进时推开；视角不能辨认机体哪一部分实际顶住门板。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 8.6–10 s 机器人底盘载着机体驶过车库内门，进入木地板走廊。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "推断：视频 8.6–9.4 s 机器人驶过时木门转开，但腕部视角被机体遮住，无法确定是底盘、躯干还是手臂接触门板；没有可确认的夹爪抓握。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 21.3 s 起头部视角向地面俯倾，随后多视角翻转，至视频 34.8 s 未恢复；视频 24.3、24.5、24.8、25.5、26 s 可见地板、桌椅、深色橱柜及机体遮挡，不能辨认冰箱门。已检视频 21.3–34.8 s 未见门扇拉开或食品搁架内腔，不能把这些帧当作冰箱关闭的直接观察。"
+     },
+     {
+      "t": null,
+      "log_step": 96,
+      "text_zh": "观察：log step 93 的 mega4 脚本先导航，再执行右夹爪把手接近与闭合；log step 96 同次运行依次输出 M4 at kitchen、M4 frhand False、M4 frj [0. -0.]，之后返回车库的导航反复停在同一位置。log step 95 记录该次轨迹保存且为 1050 行，log step 103 核实交付文件同为 1050 行。推断：这些交付轨迹的日志与视频倒地、未见开门或装入过程相符，支持开门未成；评分器 reward.q_score=0.0 与未装入食品一致，但不单独证明开门节点未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 17–21 s 机器人仍在移动，头部视角朝向客厅沙发与茶几，底盘承担移动。推断：结合 log step 93 的路线及 log step 96 的 M4 at kitchen 标记，此段属于接近冰箱工作位置；画面本身不能确认已到冰箱前。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 21–25 s 腕部视角大部分被机体遮挡。推断：log step 93、96 表明机器人执行了右夹爪接近把手的动作，但画面不能确定夹爪是否碰到门板、把手及接触方式，不能确认为抓握。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–10 s 机器人离开仍开盖的汽车；视频约 21.3 s 起俯倾倒地，至视频 34.8 s 未恢复且未返回车库，没有可见的番茄随夹爪搬运、到达或留在冰箱搁架内的过程。视频 24.3–24.8 s 看不到可辨认的冰箱门，不能直接判断该时刻门是否关闭。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0；番茄入冰箱属于初始不成立的目标谓词，若最终成立会增加该总分，因此其 final=false。该总分用于约束终值，不用于推断夹取接触；结合视频没有实际装入过程，本节点无达到区间。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–10 s 机器人离开仍开盖的汽车；视频约 21.3 s 起俯倾倒地，至视频 34.8 s 未恢复且未返回车库，没有可见的牛奶随夹爪搬运、到达或留在冰箱搁架内的过程。视频 24.3–24.8 s 看不到可辨认的冰箱门，不能直接判断该时刻门是否关闭。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0；牛奶入冰箱属于初始不成立的目标谓词，若最终成立会增加该总分，因此其 final=false。该总分用于约束终值，不用于推断夹取接触；结合视频没有实际装入过程，本节点无达到区间。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 红色汽车后备厢盖向上抬起；视频 6、9.2 s 仍可见盖子竖起。机器人离开车库后直到视频 34.8 s 都没有回到汽车处，未出现压下后备厢盖的动作。"
+     },
+     {
+      "t": null,
+      "log_step": 95,
+      "text_zh": "推断：评分器 reward.q_score=0.0 排除了初始未成立的关车目标在终态成立；与视频中汽车一直未被操作相符。log step 95 虽打印后备厢推压循环，log step 96 却显示机器人仍停在厨房；这些远处目标命令不能作为实际接触汽车的证据。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–24.8 s 的腕部与头部画面主要是倒地后的地板、橱柜、桌椅和机体遮挡，看不到可辨认的冰箱门；已检视频约 21.3–34.8 s 也未见门扇打开或食品搁架内腔，不能声称画面直接显示双门齐平。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 记录冰箱初始关闭；视频前段显示机器人离开车库并在室内移动，随后俯倾倒地、未恢复，未见开门过程。交付 mega4 的 log step 96 在 M4 frhand False 后读取门角为 M4 frj [0. -0.]，支持开门未成、关闭状态从视频 0 s 延续到末尾。评分器 reward.q_score=0.0 与此相容，但不能单独判定冰箱门状态，因为该分数不计初始已满足且保持的谓词（docs/03_trajectory.md Step 2；CASES.md PROG-10）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 21.5,
+   "log_step": 96,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 21.3 s 起头部视角明显向地面俯倾，随后视角翻转，视频 24.3–26 s 可见倒地后的地板、桌椅及机体遮挡，至视频 34.8 s 未恢复；俯倾前的视频 19.5–21 s 头部视角仍朝向客厅沙发与茶几，画面不能确认已到冰箱前，也不能确定首个手臂命令与失稳的先后。推断：log step 93 的脚本及 log step 96 的 M4 at kitchen → M4 frhand False → M4 frj [0. -0.] 顺序，将未修复的失败定位到冰箱把手接近与开门工作段，因此 ref 保留 fridge_opened、where 保留操作中；冰箱附近的位置及开门尝试期间的归属来自日志与视频的综合推断，不是画面直接观察。"
+  },
+  "unmet": {
+   "tomato_in_fridge": false,
+   "milk_in_fridge": false,
+   "car_closed": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 21.5,
+    "log_step": 95,
+    "evidence_zh": "观察：视频约 21.3–24.8 s 地面逐渐占满头部视角，随后整组视角旋转；视频 26–34.8 s 地板与墙面保持大角度倾斜，机器人未恢复站立。评分器 reward.fallen=1；log step 95 保存的 mega4 状态也报告 fallen=True。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 93 的 mega4 将冰箱把手接近交给 ee2 的躯干及右臂关节运动，log step 96 记录该阶段未抓到把手、门角仍为零，并出现末端位置误差约 0.239 m 的失败输出；视频约 21.3–26 s 对应工作段机器人失去支撑并倒下，后续移动未恢复。因此可定位为接近、开门动作执行时未维持本体稳定的控制问题。接触几何、逆解与反馈稳定性哪个为主尚不能分清，不细分控制子类。"
+   }
+  ],
+  "gap_zh": "观察：本作业无仿真状态日志；视频俯倾前头部视角仍朝向客厅，倒地后的腕部与头部视角被机体遮挡或拍到地板、桌椅、橱柜及天花板，没有可辨认的冰箱门。因此无法直接确认已到冰箱前，或右夹爪与冰箱是否、如何接触；车库门由哪一机体部位推开也不可辨。推断：视频约 21.3–25 s 的倾倒可确定，但无法把第一下失稳精确分到末段靠近与首个手臂命令之间；操作中按 log step 93、96 的冰箱工作段归属，不把手臂命令引起倒地当作已观察事实。agent 在 log step 104 自述“手指长度偏移未计入而顶门”，此细因未被独立接触或力数据证实；冰箱初始关闭及其维持结合 DAG 初态、视频未见开门与 log step 96 门角读数推断，两件食品和汽车终值由视频与评分总分共同支持。"
+ },
+ "summary_zh": "机器人约在视频 9.2 s 打开并通过车库内门；结合 DAG 初态、log step 96 门角读数和视频未见开门，推断冰箱保持初始关闭，最终为 2/6 个节点成立，番茄、牛奶均未搬入，汽车未关闭。视频约 21.3 s 起机器人俯倾倒地，直到视频 34.8 s 未恢复；断点归属打开冰箱及控制层问题由交付 mega4 的日志与视频综合推断，画面不能直接确认冰箱前的位置、最初失稳与手臂命令的先后或具体接触原因。交付为 log step 95 保存、log step 103 确认的 mega4，后续 mega5 的会话尝试不计入此评分轨迹。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值、断点 ref 与现象（平衡）基本成立：车库门约 9.2 s 打开，视频 21.3 s 起俯倾倒地，冰箱未开。但多处把“视频 24.3–24.8 s 腕部画面可见冰箱双门齐平”写成观察，实际这些帧里看不到冰箱，是错误的观察性断言；且倒地起点在视频中仍可见客厅，是否已到冰箱前、是否为手臂命令引起，画面不能确定，应标为推断。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（车库门约 9.2 s 打开，其余未达成，fridge_closed 保持）、断点 fridge_opened、平衡现象与控制根因均与视频和日志相符，上一轮的观察/推断问题已修正。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:47:39Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--fvru4jr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--fvru4jr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--fvru4jr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--fvru4jr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8f21216796d677abb2696a4f151d045209476a8817fd6b4605c732603f3e4e82",
+   "video_sha256": "0a5fb0ca07789a8b408a281128595b7bbee85096e60e959cf659957bf0c8ef4c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--mk67rnr.json

@@ -0,0 +1,304 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-privileged--mk67rnr",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 5258,
+   "sim_steps": 5258,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1906.0,
+   "replay_timeout_s": 3829.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 6,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-carrying-in-groceries-i00-privileged--mk67rnr/replay.mp4",
+  "duration_s": 175.267,
+  "fps": 30.0,
+  "frames": 5258,
+  "sha256": "95c20edde6a4c3ab8076e9d20fc52f77b087562024b14cfe3f6f3f8052d9d59c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      118.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 118.5,
+      "log_step": 188,
+      "text_zh": "观察：视频 115.0–117.0 s 机器人驶向原先关闭的棕色内门；视频 118.0–120.0 s 门板已离开门框，露出木地板走廊，机器人携番茄通过开口。按可通过的开口标为视频约 118.5 s 达成，误差约半秒。"
+     },
+     {
+      "t": 175.2,
+      "log_step": null,
+      "text_zh": "观察：视频 174.3、174.7、175.2 s 及最后一帧，机器人仍在木地板走廊，右夹爪中的番茄未脱落；本节点为已打开通道的锁存事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 115.0–120.0 s 轮式底盘支承并驱动机器人靠近、通过车库内门。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 117.0–119.0 s 门板在机器人前行时转开，但直接推门的接触点被机身和近距离视角遮挡，不能区分夹爪、手臂或机身。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 175.2,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程的每 5 秒画面，并加密检查车库离开至走廊的过程及末秒；机器人始终只在汽车旁和走廊活动，没有出现冰箱门转开及搁架内腔。参考成功录像视频 150–165 s 中银灰色门板和内腔清楚可见，本次无对应动作或场景。"
+     },
+     {
+      "t": 175.2,
+      "log_step": 188,
+      "text_zh": "推断：视频 118.5–175.2 s 机器人在走廊墙角往返、未进入厨房；log step 188 的最后几个导航点也停在走廊，而不是冰箱旁，故没有完成打开冰箱。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 184,
+      "text_zh": "观察：视频 8.0 s 番茄尚在后备厢袋中；视频 12.0–17.0 s 右夹爪已夹住番茄并将它带离纸袋，腕部视图中番茄位于两指之间。只完成拿取，未形成入冰箱关系。"
+     },
+     {
+      "t": 175.2,
+      "log_step": null,
+      "text_zh": "观察：视频 110.0–175.2 s 机器人携番茄离开汽车后滞留走廊；视频 174.3、174.7、175.2 s 及最后一帧仍见番茄夹在右爪中、背景为走廊木地板和墙面，未到达冰箱内腔。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右侧二指夹爪夹住红色番茄，从后备厢袋中拿起，并持续持有至视频末帧。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：底盘驶近汽车取番茄，随后携番茄从车库驶入走廊；未运到冰箱。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": 184,
+      "text_zh": "观察：视频 12.0–18.0 s 左腕视图能看见蓝白牛奶盒仍在纸袋内；视频 20.0–58.0 s 左夹爪向袋口反复伸入、闭合，袋壁折叠移动，却没有带出牛奶。"
+     },
+     {
+      "t": 101.0,
+      "log_step": 187,
+      "text_zh": "观察：视频 60.0–102.0 s 左夹爪继续在后备厢内操作，纸袋仍留在车内；视频 103.0–110.0 s 左爪撤离时未携牛奶，右爪仍持番茄。"
+     },
+     {
+      "t": 175.2,
+      "log_step": 192,
+      "text_zh": "推断：视频 110.0–175.2 s 没有搬运牛奶到厨房或放入冰箱的过程；评分器 q_score=0.0 也不允许新增任何食品入冰箱目标成立。log step 183 重启、184 开始录制、192 保存的 5258 个动作与本视频帧数一致；早先 log step 57–65 的袋子提取和牛奶抓取属于此前会话，不能计入本次轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：左夹爪在后备厢中向下探入并压动、折叠装牛奶的纸袋，尝试闭爪后没有可见的稳定夹持，不能记作成功抓握牛奶或纸袋。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 19.0–22.0 s 及后续尝试期间底盘在汽车尾部调整站位，以便左夹爪探入袋中。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 后备厢盖抬起；视频 5.0–105.0 s 可见黑色敞开内腔，机器人操作食品时未将盖板压回车身。"
+     },
+     {
+      "t": 175.2,
+      "log_step": null,
+      "text_zh": "推断：视频约 110.0 s 机器人离开汽车后，至视频最后一帧只在走廊活动，未返回关车；评分器 q_score=0.0 对这个初始不成立的目标给出终态上界，因此汽车关闭 final=false。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确记载冰箱初始关闭；评分视频 0.0–175.2 s 机器人只在车库与走廊活动，未到冰箱处操作，故关闭条件从视频 0.0 s 保持至终点。此 state 节点不受 after 边门控，应计入初始进度。"
+     },
+     {
+      "t": 175.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 不计仍保持的初始目标，因而与冰箱保持关闭一致；本次未执行关冰箱动作，末帧也未直接拍到冰箱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "milk_in_fridge",
+   "t": 26.0,
+   "log_step": 184,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 17.0–38.0 s 机器人左夹爪对袋内牛奶及袋口进行抓取尝试，牛奶没有随爪离开后备厢；视频 42.0–102.0 s 后续重试仍无取出，视频 103.0–110.0 s 机器人最终撤臂离开。log step 184、187 的最终录制动作分别尝试直接夹牛奶、夹袋沿及深入袋口，均返回未持物。这是首次开始后未修复的食品搬运失败；后来的走廊停滞没有修复该步。"
+  },
+  "unmet": {
+   "tomato_in_fridge": false,
+   "milk_in_fridge": false,
+   "car_closed": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 26.0,
+    "log_step": 184,
+    "evidence_zh": "观察：视频 17.0–18.0 s 牛奶盒仍在袋内；视频 20.0–58.0 s 左爪反复伸入、闭合并压动袋壁，视频 60.0–102.0 s 重试后仍没有把牛奶带出，视频 103.0–110.0 s 撤离时左爪为空。所缺的是搬运所需的稳定夹持，并非完全没有碰到袋壁；未见已夹持牛奶后又掉落的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 38.0,
+    "log_step": 184,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：所执行的夹取位置和深度没有建立可搬运的对向夹持。视频 17.0–58.0 s 左爪操作袋口后袋壁变形，牛奶留在下方；log step 184 的两次袋沿伺服均返回 True，但闭爪后 got=None，侧向夹取也失败；log step 187 更深的按压和南侧袋沿夹取仍未持物。由可见结果与这些命令反馈判断为夹取接触设计失败；没有证据证明所有合法抓法不可行，也不能由这些反馈确认具体哪个车体部位阻挡了手臂。",
+    "note_zh": "推断：早先会话及参考成功录像显示此任务可完成，但未验证本次袋子变形、牛奶移位后同一局面下的可行替代抓法，故 alt_feasible=未知。"
+   }
+  ],
+  "gap_zh": "无状态日志或接触力记录；后备厢深处牛奶和指垫在后半段尝试中被袋壁遮挡，不能精确恢复每次指垫接触位置，也不能确认碰撞部位或不可达性。视频可确认未带出牛奶和未到达冰箱；冰箱从未入镜，其关闭区间依据 DAG 的固定初态及全程未接近、未操作推断。车库内门直接受力的机器人部位被遮挡，contact_actual 保留未��。日志中的早期成功抓取不属于交付录像，未将其计为本次进度。"
+ },
+ "summary_zh": "本次评分轨迹只完成打开车库通道，并保持冰箱初始关闭，最终为 2/6；右爪抓住番茄并携入走廊，但两件食品均未入冰箱，汽车未关闭。首个未修复断点是牛奶入冰箱步骤中的取物：左爪反复夹取袋口及牛奶未建立稳定夹持，随后撤离，根因证据支持抓取和接触设计问题。无状态日志，指垫与袋内牛奶的局部接触被遮挡，冰箱保持关闭依据固定初态和未操作过程推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、断点（牛奶取出失败）、现象与根因均与视频一致；未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:29:07Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--mk67rnr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--mk67rnr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "40674d73b41244a8807359e9ef03798ee9e51cf11020e0e0ceee43faf6690d06",
+   "video_sha256": "95c20edde6a4c3ab8076e9d20fc52f77b087562024b14cfe3f6f3f8052d9d59c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--2ytmaqg.json

@@ -0,0 +1,392 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-standard--2ytmaqg",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.25,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4608,
+   "sim_steps": 4608,
+   "physics_steps": 18432,
+   "steps": 1503,
+   "elapsed_s": 4874.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.25,
+   "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-carrying-in-groceries-i00-standard--2ytmaqg/replay.mp4",
+  "duration_s": 153.6,
+  "fps": 30.0,
+  "frames": 4608,
+  "sha256": "36e98f74b121229d9143e59a79ece445354067c74badbb77881e5a8b4486007a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      60.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 58,
+      "log_step": 154,
+      "text_zh": "观察：视频 56–58 s 棕色内门仍挡住出口；视频 58–60 s，机器人夹着番茄的左爪贴向把手附近并推门，门板开始转开，露出木地板走廊。"
+     },
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：视频 60 s，棕色内门门板已从门框转向画面右侧，左侧露出木地板走廊；视频 61–62 s 门洞和走廊持续可见，门板已离开原先横挡通道的位置。"
+     },
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "推断：依据视频 58 s 门仍关闭、视频 59–60 s 门板转开以及视频 61–62 s 持续可见的门洞，以视频约 60 s 作为车库通道打开的首次达成锚点；近距离视角随躯干运动，门口净宽无法精测，时间约有 1 s 不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 58–64 s，仍夹着番茄的左爪碰靠门把手附近及门板并向前推，未另行抓握门把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 55–64 s 底盘接近内门并随推门调整位置，随后携物穿门。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 101,
+      "log_step": 239,
+      "text_zh": "观察：视频 98–102 s，冰箱两门齐平关闭；机器人左爪仍夹着番茄，贴近中间竖直把手后沿预定方向拉回，门扇没有随爪转开。"
+     },
+     {
+      "t": 129,
+      "log_step": 273,
+      "text_zh": "观察：视频 108–114 s、116–131 s、135–142 s、145–152 s，机器人反复改变左爪姿态接近把手并撤回；未见食品搁架内腔，视频 153.0–153.55 s 两门仍贴合。"
+     },
+     {
+      "t": 153.5,
+      "log_step": null,
+      "text_zh": "推断：已对照成功参考视频：参考视频 160–175 s 的门扇转开与白色搁架内腔在同类视角中清楚可见；本次操作没有出现该达成线索，因此打开冰箱为未达成，而非因遮挡记未知。参考视频仅用于辨认可见判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 101–102 s、117–119 s、137–138 s、147–148 s，夹着番茄的左爪贴碰把手附近和门面，再沿门外方向撤回；未见夹爪包围并抓住把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 97–100 s 底盘调整到冰箱正面，使左爪接近中缝把手。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22,
+      "log_step": 74,
+      "text_zh": "观察：视频 20–23 s，番茄从汽车后备厢纸袋内被左侧二指夹爪夹起；视频 24 s 后番茄随左爪离开后备厢，持续出现���左腕视图的夹爪之间。"
+     },
+     {
+      "t": 153.5,
+      "log_step": null,
+      "text_zh": "观察：视频 98–153.55 s 番茄始终随左爪在关闭的冰箱外运动，结尾左腕视图仍见夹住的番茄；没有番茄进入搁架、松手留在内腔的画面。"
+     },
+     {
+      "t": 153.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.25、live_matches_replay=1；汽车关闭已占新增目标的 1/4，而初始即关闭的冰箱不贡献 q_score。结合两件食品仍在冰箱外的画面，番茄入冰箱终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 22–24 s 左侧二指夹爪夹住并抬起番茄，此后携带番茄至厨房，结尾仍未松手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 51–98 s 底盘支承机器人及左爪所持番茄，从汽车旁经走廊驶到厨房冰箱前。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33,
+      "log_step": 96,
+      "text_zh": "观察：视频 27–33 s 右爪伸入后备厢纸袋，蓝白色牛奶盒随后移到右腕镜头近处并随右臂撤出；视频 34 s 后牛奶盒随机器人离开原来车内位置。"
+     },
+     {
+      "t": 153.5,
+      "log_step": null,
+      "text_zh": "观察：视频 90–153.55 s 右腕视图一直可见夹持的蓝白色牛奶盒，冰箱没有打开，牛奶没有进入内腔或被释放。"
+     },
+     {
+      "t": 153.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.25 与视频所见的汽车关闭相符，初始关闭的冰箱不贡献该新增分数；结合牛奶仍在右爪和冰箱外的画面，牛奶入冰箱终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 28–34 s 右侧二指夹爪夹住牛奶盒并从后备厢撤出，此后右腕视图持续显示被携带的盒体。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 51–98 s 底盘携带右爪所持牛奶盒，经内门和走廊驶入厨房。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      49,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 红色汽车后备厢盖抬起；视频 35–45 s 在机器人取出食品后仍见盖板打开。"
+     },
+     {
+      "t": 49,
+      "log_step": 143,
+      "text_zh": "观察：视频 46.5–49 s，机器人左臂从汽车侧后方沿盖板处下压并收回；视频 50–52 s 驶离时不再见开局抬高的后备厢盖和敞开的后部内腔。"
+     },
+     {
+      "t": 49,
+      "log_step": null,
+      "text_zh": "推断：结合上述盖板运动和评分器 q_score=0.25（两件食品均仍在爪内，冰箱的初始关闭不贡献新增分数），汽车关闭终态为真；约取视频 49 s 为达成锚点，盖板在近处部分被爪和视野边缘遮挡，落到关闭阈值的时刻约有 1 s 不确定性。之后机器人离开汽车，未再操作车门或盖板。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 46.5–49 s，夹着番茄的左爪及其前端贴靠后备厢盖边向下扫推，未见另行抓住盖板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 43–46 s 底盘沿汽车侧后方移动、调整推盖站位；视频 51 s 后驶离汽车。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 98,
+      "log_step": null,
+      "text_zh": "观察：视频 98–99 s 首次近看厨房冰箱时，两扇银灰色门均贴合柜体；视频 100–153.55 s 的反复拉门尝试中未见门扇明显转开或白色搁架内腔，结尾两门仍齐平。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确给出冰箱初始关闭；机器人在视频约 98 s 才来到冰箱，之前一直在车库和通道操作。结合其后门扇始终保持贴合的画面，关闭状态从视频 0 s 保持到结尾；此 state 节点不受食品入冰箱的 after 边门控。无关节角日志，精确 5% 阈值只能由贴合外观判断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.25,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 102,
+   "log_step": 239,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 100–103 s，机器人夹着番茄的左爪接近冰箱中缝把手后向外撤回，门没有跟随打开；视频 108–152 s 多次改变腕部朝向、重试仍未露出内腔，视频 153.55 s 两扇门仍关闭。此前番茄和牛奶均已取出，汽车关盖及车库通道已完成；这次开冰箱失败之后没有修复。"
+  },
+  "unmet": {
+   "tomato_in_fridge": false,
+   "milk_in_fridge": false,
+   "car_closed": true,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 102,
+    "log_step": 239,
+    "evidence_zh": "观察：视频 101–103 s，左爪继续夹着番茄，贴近把手后沿外拉方向离开，门把手和门扇留在原位；视频 117–120 s、137–140 s、147–150 s 同样只见持物左爪贴近和撤回。推断：没有建立开门所需的、能牵引把手的抓握或勾挂；此处指必要的牵引接触未建立，并非声称夹爪与门面完全没有碰触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 239,
+    "t": 102,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：开门接触布局未适配仍持番茄的左爪：视频 101–102 s、118 s、138 s 可见番茄占着爪间位置，左爪从把手外侧贴靠后撤回，未构成对把手的包围或可靠勾挂。log step 239、255、273、281、287 的脚本均保持左夹爪指令为 0.0，并依次改用中缝、侧向进入、不同腕部朝向来尝试勾把手；视频中这些动作始终没有带动门扇。证据支持接触几何不合适，不足以细分为力参数或逆解错误，也未验证同一持物布局下的可行替代。"
+   }
+  ],
+  "gap_zh": "无状态日志或接触对，不能精确区分各次靠门时由哪根指尖或番茄先触及把手，也无法量化门铰链角度和接触力；门口可通过与汽车关盖时刻约有 1 s 视觉不确定性。log step 294 的最后 say 是模型提供方过滤提示，随后没有成功报告；但视频约 102–152 s 已明确出现多次未修复的开门失败，故按提示前已发生的物理失败标注，过滤本身不作现象或根因。"
+ },
+ "summary_zh": "机器人取出并携带番茄和牛奶，关上汽车、打开车库内门并到达厨房；终态达到 3/6 个节点，其中冰箱关闭是初始保持状态，评分器 q_score=0.25。断点为打开冰箱：持番茄的左爪多次贴靠把手后撤回，未建立能拉动门扇的抓握或勾挂，两件食品始终留在冰箱外。无状态接触日志，精确接触部位与部分阈值时刻存在视觉缺口；会话末尾的过滤提示发生在上述物理失败之后。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "总体标注（3/6、断点 fridge_opened、没建立接触 + 抓取和接触设计）与视频一致；但车库通道达成时间 63.5 s 偏晚约 3 s，视频 60 s 门板已转开露出木地板走廊。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第 1 轮的车库通道时间已修正为约视频 60 s；3/6、断点 fridge_opened、没建立接触 + 抓取和接触设计与视频和 q_score=0.25 一致，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:47:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--2ytmaqg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--2ytmaqg/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--2ytmaqg/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--2ytmaqg/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4a4ac0e1bf3467be47b20188522b74d703d0fac7d99fe7cdae513cd96d116cd7",
+   "video_sha256": "36e98f74b121229d9143e59a79ece445354067c74badbb77881e5a8b4486007a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--3smcxer.json

@@ -0,0 +1,375 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-standard--3smcxer",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.25,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 23766,
+   "sim_steps": 23766,
+   "physics_steps": 95064,
+   "steps": 7792,
+   "elapsed_s": 7054.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.25,
+   "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-carrying-in-groceries-i00-standard--3smcxer/replay.mp4",
+  "duration_s": 792.2,
+  "fps": 30.0,
+  "frames": 23766,
+  "sha256": "250a8c1699aa6c89b179c7ae72561aa897f7ac7048b5a65a3d1e658ede77ea90"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      222.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 210.0,
+      "log_step": 183,
+      "text_zh": "观察：视频约210–220 s，机器人左夹爪持番茄，右夹爪抵住棕色内门，随底盘前进将门向走廊推转；不是抓住门把手拉门。"
+     },
+     {
+      "t": 222.0,
+      "log_step": 185,
+      "text_zh": "观察：视频约222–230 s，木门离开门框，木地板走廊和可通行开口显露，机器人随后持番茄穿过；首次满足通行条件取视频约222 s，误差约1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右侧闭合夹爪抵推棕色车库内门门板，逐步将门推开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘承重并向门口前进，以右夹爪推门，随后通过开口。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      347.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 342.0,
+      "log_step": 217,
+      "text_zh": "观察：视频约337–345 s，机器人右夹爪围合冰箱中央把手并向外拉，门由贴合柜体开始转开。"
+     },
+     {
+      "t": 347.0,
+      "log_step": 220,
+      "text_zh": "观察：视频约347–350 s，右门已转离柜体并露出内部搁架，随后继续开大；事件节点从首次可见装入开口的视频约347 s锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住冰箱右门把手，沿门扇转动方向拉开；后续数次重新抓把手开门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘驶近冰箱，并在反复开门过程中退后、横移和重新靠近。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "visual",
+    "intervals": [
+     [
+      589.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 54.0,
+      "log_step": 57,
+      "text_zh": "观察：视频约48–54 s，左夹爪从纸袋内围合红色番茄并提升，番茄随左手离开袋口；之后左腕视角一直可见所持番茄，底盘将其带进厨房。"
+     },
+     {
+      "t": 589.5,
+      "log_step": 288,
+      "text_zh": "观察：视频约587–589 s，左腕视角中的番茄位于冰箱内腔搁架上；视频约589.5–593 s，夹爪张开并后退，番茄留在门框内侧的搁架上，未随手带出。松手完成的区间起点取视频约589.5 s，误差约0.5 s。"
+     },
+     {
+      "t": 593.0,
+      "log_step": 325,
+      "text_zh": "推断：视频约593 s后机器人空手离开冰箱，未再操作番茄；末段牛奶仍在右手、汽车盖仍开，评分器q_score=0.25且live_matches_replay=1，与仅番茄这个新增目标成立相符，判番茄关系保持到结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪直接夹持番茄，从袋中取��、运输并放到冰箱搁架后张开松手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘载着左手番茄从汽车经过车库内门、走廊与客餐厅到冰箱，并调整放置站位。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 80.0,
+      "log_step": 91,
+      "text_zh": "观察：视频约70–180 s，机器人右手多次夹持、提起和翻转纸袋，蓝白牛奶盒仍可见于袋内或袋口；这些操作没有把牛奶送入厨房冰箱。"
+     },
+     {
+      "t": 729.0,
+      "log_step": 319,
+      "text_zh": "观察：视频约724–729 s，右夹爪围合袋口露出的牛奶盒端部，随后牛奶随夹爪向上、向外离开侧放的纸袋；视频约732–750 s，牛奶在右腕视角随手搬离汽车，袋子留在后备厢。"
+     },
+     {
+      "t": 778.0,
+      "log_step": 324,
+      "text_zh": "观察：视频约773–782 s，机器人仍持牛奶经过车库内门时发生侧倾，视频约783–791.7 s倒地后主相机朝向天花板，右腕视角仍见牛奶；牛奶从未抵达冰箱搁架。log step 324的机器人服务回报failure: the robot fell over。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右夹爪持纸袋翻转、搬动时，纸袋承托袋内牛奶；这是取牛奶过程的间接作用，未连袋送到冰箱。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "之后右二指夹爪直接夹住牛奶盒露出的端部，将盒子从纸袋抽出并持续携带。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在车后调整抓取位置，随后载着右手牛奶驶向通往厨房的内门，在门口倒地。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s汽车后备厢盖抬起；视频约30–180 s和670–738 s的后方视角反复看见敞开的黑色后备厢内腔，盖板始终未落回车身。"
+     },
+     {
+      "t": 738.0,
+      "log_step": 329,
+      "text_zh": "观察：视频约738 s，机器人携牛奶离开汽车时盖板仍高举；之后仅驶向内门并倒地，没有返回操作盖板。agent在log step 329也自述关车计划尚未执行。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      345.0
+     ],
+     [
+      398.0,
+      424.5
+     ],
+     [
+      526.5,
+      541.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 330.0,
+      "log_step": 217,
+      "text_zh": "推断：视频约329–344 s机器人首次来到冰箱前，两门贴合柜体；此前机器人只在车库和沿途活动，结合DAG给定初态，关闭关系从视频0 s成立，至首次拉门的视频约345 s失去。"
+     },
+     {
+      "t": 398.0,
+      "log_step": 249,
+      "text_zh": "观察：视频约390–398 s，机械臂在冰箱前试探、回撤，右门合回；视频约398–422 s两门面板齐平、内腔不再显露。视频约424.5 s右手重新拉开该门，至视频约428 s已露出搁架。"
+     },
+     {
+      "t": 526.5,
+      "log_step": 276,
+      "text_zh": "观察：视频约516–525 s机器人调臂时主视角转离冰箱，关合瞬间部分遮挡；视频约526.5–539 s再次正对冰箱时，两扇门均已贴回柜体，故第二次关闭以视频约526.5 s的明确画面作锚点，实际开始可能早数秒。"
+     },
+     {
+      "t": 541.0,
+      "log_step": 278,
+      "text_zh": "观察：视频约541–545 s，机器人右夹爪再次拉门，搁架重新露出；视频约594 s离开时该门仍大开，其后机器人往返车库取牛奶，没有再关冰箱。关闭关系终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "放番茄前反复调臂、试探和回撤时，机械臂及夹爪扫碰右门使其合回；这是非计划关合，之后又由右夹爪抓把手打开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.25,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "milk_in_fridge",
+   "t": 778.0,
+   "log_step": 324,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约729–773 s机器人右手持已取出的牛奶驶向厨房路线；视频约778 s经过车库内门时视野开始明显倾转，视频约782–791.7 s持续倒地，牛奶没有到达冰箱。log step 324的服务回报failure: the robot fell over，log step 325确认episode已结束。因此断在持物搬运所属的牛奶入冰箱步骤。"
+  },
+  "unmet": {
+   "tomato_in_fridge": true,
+   "milk_in_fridge": false,
+   "car_closed": false,
+   "fridge_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 778.0,
+    "log_step": 324,
+    "evidence_zh": "观察：视频约777–783 s，机器人持牛奶通过内门时主相机从木地板与门口转向侧墙、天花板；视频约783–791.7 s未恢复直立。log step 324的服务本体读数为基座z=0.456、up=-0.450，且回报机器人倒地失败；不是正常调头或仅行进偏慢。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 321将两臂设为高位携物姿态，随后log step 324保持该姿态，以goto(-3.72,1.5,-90,v=0.25)驱动底盘过门；视频约773–783 s显示该段运动发生倾覆。log step 20定义的goto只依据平面位置和偏航误差继续修正，未设基座升高或倾斜时停止、恢复的分支，直到服务判episode结束才退出。持物过门控制未维持本体稳定，故归控制；具体碰撞位置和失稳机制未获确认，不细分控制子项。"
+   }
+  ],
+  "gap_zh": "没有状态日志，门关节是否跨越5%阈值只能从门板和内腔外观判断，边界为近似视频时间；第二次冰箱关合发生在部分遮挡段，视频526.5 s是首次重新明确看到已关的锚点，实际开始可能早数秒。倒地前的具体阻挡接触在三个相机中未清晰显示，agent在log step 329推测碰到门框或门扇，不能据此追加被挡/碰撞或确定接触几何根因。番茄末段已离开视野，其保持由最后可见放置、后续未再操作和评分器总分联合推断。"
+ },
+ "summary_zh": "机器人打开车库内门和冰箱，并在视频约589.5 s将番茄松手留在冰箱搁架，最终完成3/6个节点（含两个已锁存的打开事件），原生q_score为0.25。牛奶虽已取出汽车，但机器人持牛奶过内门时于视频约778 s失衡倒地，牛奶未入冰箱，汽车及冰箱最终仍未关闭。无状态日志，冰箱第二次关闭的起点受遮挡影响，倒地的具体碰撞部位也无法确定，根因仅标到控制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时间、倒地断点（牛奶入冰箱步骤，视频约778 s）、平衡现象与控制根因均与帧一致，q_score=0.25 与仅番茄新增相符；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:30:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--3smcxer/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--3smcxer/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2514220a3330cc7908dfcc26bb10b6aeaf851c4085882666fd261bb24ac86430",
+   "video_sha256": "250a8c1699aa6c89b179c7ae72561aa897f7ac7048b5a65a3d1e658ede77ea90",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--hd3xtuo.json

@@ -0,0 +1,325 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-standard--hd3xtuo",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "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": 10777,
+   "sim_steps": 10777,
+   "physics_steps": 43108,
+   "steps": 3593,
+   "elapsed_s": 3915.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-carrying-in-groceries-i00-standard--hd3xtuo/replay.mp4",
+  "duration_s": 359.233,
+  "fps": 30.0,
+  "frames": 10777,
+  "sha256": "6b0c7328f76d0725ca81ff8641ac2c7aba15300efeb9d76484efb5f62b720c8f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      267.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 264.5,
+      "log_step": 367,
+      "text_zh": "观察：视频 258–265 s，机器人持番茄和纸袋靠近棕色木门，右夹爪外侧贴近门板，底盘前进时木门向内转动；视频 267.5 s 门板已离开正前方，露出木地板走廊，视频 270–276 s 机器人携物穿过。达到时间约有0.5秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 264.5–267.5 s，持纸袋的右夹爪外侧随底盘前进顶推棕色门板；没有握住门把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 258–276 s，轮式底盘前进，支承机器人及所携物品并推开、通过车库内门。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 359.2,
+      "log_step": 432,
+      "text_zh": "观察：视频全程粗查并细查视频 258–276 s 和 340–359.2 s，机器人由车库进入走廊后持物转向，始终未靠近或操作厨房冰箱，未出现双门冰箱打开、露出搁架的画面。对照 oracle 视频 135 s 的齐平关闭门板和 155 s 的敞开内腔，可辨认所需变化；该参考仅用于识别完成外观。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 64,
+      "log_step": null,
+      "text_zh": "观察：视频 53–64 s，左夹爪伸入车内纸袋，红番茄随后离开袋内原位，夹在两指之间；视频 64 s 已位于袋外，之后随左手搬运。"
+     },
+     {
+      "t": 238,
+      "log_step": null,
+      "text_zh": "观察：视频 234–238 s，机器人左夹爪夹住红番茄离开仍敞开的汽车；视频 267.5 s 携其穿过木门。"
+     },
+     {
+      "t": 359.2,
+      "log_step": 432,
+      "text_zh": "观察：视频 358.3 s 和 359.2 s，红番茄仍在左夹爪中，背景为走廊墙面、天花板及木门，未进入冰箱。"
+     },
+     {
+      "t": 359.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 且 live_matches_replay=1，与番茄始终未送入冰箱的画面一致；初始关闭的冰箱不计入该原生增量分数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 61–64 s 左夹爪以两指夹住番茄并提离纸袋，此后保持夹持至视频 359.2 s。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 234–276 s，底盘载着左手夹持的番茄离开汽车、驶向木门并进入走廊；随后继续在走廊移动、转向。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 82,
+      "log_step": null,
+      "text_zh": "观察：视频 69–82 s 的车内纸袋中可见蓝白色奶盒；右夹爪多次伸入袋内及袋沿，视频 82–84 s 可见纸袋随右手提起，之后又在后备厢附近反复调整。"
+     },
+     {
+      "t": 238,
+      "log_step": null,
+      "text_zh": "观察：视频 234–238 s，纸袋随右夹爪离开汽车，底盘开始驶离；视频 267.5 s 纸袋随机器人进入走廊，但未运到冰箱。"
+     },
+     {
+      "t": 359.2,
+      "log_step": null,
+      "text_zh": "推断：视频 358.3–359.2 s 机器人仍在走廊持袋，未发生向冰箱放入食品的动作；袋内奶盒终段被纸袋遮挡，但评分器 q_score=0.0、live_matches_replay=1 排除牛奶入冰箱这一新增目标终态为真，故 final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "推断：视频 82–84 s，右夹爪提起此前内有蓝白奶盒的纸袋，纸袋承托奶盒；视频 234–238 s 提袋离开汽车。奶盒在持袋后的部分视角被遮挡，未凭夹爪开度认定直接抓住奶盒。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 234–276 s，底盘支承机器人、右手纸袋及所携食品，由汽车旁驶向车库木门并进入走廊。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，红色汽车后备厢盖抬起；视频 65–74 s 右臂执行一轮动作，右腕视角靠近车尾下沿，头部视角仍可见抬起的盖板及敞开黑色内腔。"
+     },
+     {
+      "t": 104,
+      "log_step": 168,
+      "text_zh": "观察：log step 134–136 记录 agent 脚本执行右臂关盖动作，log step 167–169 又执行一次向下推盖动作；视频 101–110 s 右臂再次下移、收回后，后备厢仍敞开。日志的“Latch push complete”仅是脚本动作执行报告，并不证明关上。"
+     },
+     {
+      "t": 238,
+      "log_step": null,
+      "text_zh": "观察：视频 234 s 和 238 s，机器人持物驶离汽车，后备厢盖依然明显抬起；之后没有返回汽车关盖。"
+     },
+     {
+      "t": 359.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0（live_matches_replay=1）进一步限定初始打开的汽车在终态未关闭；全程未见 oracle 视频 85 s 那样盖板贴回车身的完成外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 65–74 s、101–110 s，右臂确实尝试关盖，但腕视角与头部视角都未清楚露出右爪和活动盖板的完整接触面；无法确认是擦碰、顶推还是没有接触，不能把脚本宣称的推盖当作实际接触。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的已核对初态注明冰箱两门关闭；本次视频 0 s 机器人位于车库，随后全程仅在汽车、车库木门及走廊活动，直到视频 359.2 s 从未操作冰箱，故初始关闭状态保持至终态。该节点为 state，其 after 不门控初始成立；q_score=0.0 不否定从初态保持的冰箱关闭条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "car_closed",
+   "t": 68,
+   "log_step": 135,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 65–74 s，机器人右臂执行关盖动作却在车尾内腔及下沿附近下移，抬起的后备厢盖没有合拢；log step 134–136 明确这是 agent 脚本的关车尝试。视频 101–110 s 的再次推盖也未关上，视频 238 s 驶离时仍敞开，之后未返回修复；因此这是最早失败且未修复的步骤。视频 350–359.2 s 另出现持续倾斜，log step 432 的在线机器人服务状态最终报告 failure: the robot fell over，该后续终止不修复关车步骤。"
+  },
+  "unmet": {
+   "tomato_in_fridge": false,
+   "milk_in_fridge": false,
+   "car_closed": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 68,
+    "log_step": 135,
+    "evidence_zh": "观察：视频 65.2–68.4 s，右臂抬向车尾后下移；视频 69–74 s 右腕镜头已朝向后备厢内部及下沿，活动盖板仍保持抬起。视频 101–110 s 再次执行向下动作后仍露出完整敞口，右爪运动没有把盖带到关闭位置；不据此断言从未接触或接触力大小。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 68,
+    "log_step": 134,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 134 与 167 的 agent 脚本将固定笛卡尔关盖航点逐段求逆解，再按关节线性插值执行；视频 65–74 s、101–110 s 中右臂向车尾下部运动，而盖板没有随之合拢，说明该次末端操作未有效驱动关盖。现有证据只支持归入控制，不能进一步断定是接触几何、逆解轨迹还是跟踪误差。"
+   }
+  ],
+  "gap_zh": "无状态日志；关车时右爪与活动盖板的接触面被局部遮挡，无法判清具体接触方式、力或控制子类。冰箱未进入本次有效操作视野，其持续关闭由 DAG 已核对初态及全程未被操作推断；纸袋搬运后奶盒的部分位置被袋壁遮挡，终态未入冰箱另由评分器零增量分数限定。"
+ },
+ "summary_zh": "机器人拿起番茄、提起装食品的纸袋，并于视频约 267.5 s 推开车库内门进入走廊；终态达到2/6节点，其中冰箱关闭为初始保持状态，两件食品均未送入冰箱。最早未修复的失败是视频约 68 s 的关车操作：右臂下移动作未使后备厢盖合拢；此后未返回修复，机器人最终在走廊持续倾斜并被在线服务判倒地结束。没有状态日志，盖板接触方式和具体控制子类不明，冰箱持续关闭及奶盒终态部分依赖上下文与评分器推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、断点（视频约68 s关车失败且未修复）与现象/根因均与视频和日志一致；走廊门打开、冰箱从未操作、两食品未入冰箱、关车未完成都能由帧确认，q_score=0 支持终态。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:33:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--hd3xtuo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--hd3xtuo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d32d783aad82ea7df118637c3c220d84b3cef5d17482657ce5bfd6af0b64a44a",
+   "video_sha256": "6b0c7328f76d0725ca81ff8641ac2c7aba15300efeb9d76484efb5f62b720c8f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--oph64xe.json

@@ -0,0 +1,350 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-standard--oph64xe",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.25,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 9466,
+   "sim_steps": 9466,
+   "physics_steps": 37864,
+   "steps": 4972,
+   "elapsed_s": 3737.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.25,
+   "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-carrying-in-groceries-i00-standard--oph64xe/replay.mp4",
+  "duration_s": 315.533,
+  "fps": 30.0,
+  "frames": 9466,
+  "sha256": "2f2fcdae605912fd9bd5095d33d0e322fa7a465c532b45f059e65233e8e8138d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      287.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 270,
+      "log_step": 272,
+      "text_zh": "观察：视频 270–274 s，机器人左夹爪抵住车库内侧棕色木门，门仍基本贴着门框；视频 275.5–287 s，门板随左臂和底盘推进逐渐向走廊转开。"
+     },
+     {
+      "t": 287,
+      "log_step": 287,
+      "text_zh": "推断：视频约 287 s，门板已转离门框并留出通行开口；视频 292–295 s，机器人携番茄实际穿入木地板走廊，支持通道已经打开。首次形成足够开口的时刻约有 2 s 不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 275.5–292 s，左侧夹爪顶推木门面板及靠近门把手的区域，使门转开，未见夹住把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 250–265 s，底盘驶向内门；视频 275–293 s，底盘在左手推门期间逐段前移。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 315.5,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0–315.5 s，机器人始终在汽车旁、车库内门和相邻走廊活动；未见机器人到达厨房、接触冰箱或打开银灰色门露出搁架。本次末帧仍是倒地后的车库与走廊视野。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：成功参考视频约 140–170 s 可见银灰色冰箱门及转开后露出的搁架；本次既未进入该区域，也未发生这类开门动作，故本节点未达到。参考录像仅用于辨认完成外观。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54,
+      "log_step": null,
+      "text_zh": "观察：视频 46–54 s，左腕视图可见纸袋中的红番茄与蓝白牛奶盒；视频 54–64 s，袋子及内容物随左臂离开汽车后备厢。"
+     },
+     {
+      "t": 212,
+      "log_step": null,
+      "text_zh": "观察：视频 209–211 s，红番茄仍在车库地面；视频 212–215 s，番茄离开原地，出现在右夹爪两指之间并随右臂抬起。"
+     },
+     {
+      "t": 305,
+      "log_step": 295,
+      "text_zh": "观察：视频 295–305 s，机器人右夹爪仍持番茄穿过内门、沿走廊移动；视频 305–306 s，视野突然翻转。视频 315.5 s，右腕视图仍见夹爪夹着番茄，环境是车库及走廊，番茄未进入冰箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 54–64 s，左夹爪提着纸袋，袋体承托番茄并将其搬出后备厢；此接触链只记录纸袋对番茄的承托。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 212–215 s，右二指夹爪夹住地面的番茄并抬离原处；视频 235–315.5 s，右腕��图持续可见夹在两指之间的番茄。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人提袋时沿汽车周围移动；视频 235–305 s，底盘携右手番茄从汽车旁驶向并穿过内门，继续向厨房方向搬运。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54,
+      "log_step": null,
+      "text_zh": "观察：视频 50–54 s，左腕视图可见纸袋内的蓝白牛奶盒；视频 54–68 s，牛奶盒随左夹爪所提纸袋离开后备厢，汽车后备厢原有纸袋的位置已空。"
+     },
+     {
+      "t": 177,
+      "log_step": null,
+      "text_zh": "观察：视频 171–175 s，机器人左夹爪仍提着纸袋；视频 176–178 s，纸袋下降并留在车库地面附近，腕视图仍见蓝白盒。机器人随后松开袋子并离开，后续未搬该袋穿门。"
+     },
+     {
+      "t": 315.5,
+      "log_step": null,
+      "text_zh": "推断：视频 180–315.5 s，机器人转而拾取并搬运番茄，未把留在车库的牛奶袋送往厨房；全片未见牛奶进入冰箱。评分器 q_score=0.25 与只有关车这一新增目标成立相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 54–175 s，左夹爪提纸袋，袋体承托蓝白色牛奶盒；视频 176–178 s，机器人将袋子降至车库地面附近。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 64–90 s 及视频 145–150 s，底盘在提着牛奶纸袋时绕汽车移动、调整站位。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      134.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–20 s，红色汽车后备厢盖抬起，后部黑色内腔敞开。"
+     },
+     {
+      "t": 134,
+      "log_step": null,
+      "text_zh": "观察：视频 130–133.5 s，右夹爪推着后备厢盖下降；视频约 134 s，盖板落回车身，敞开的黑色内腔消失。视频 139–147.5 s，右手松开撤离后，盖板仍贴合车身，后续没有重新开车。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器报告 q_score=0.25，结合两件食品未入冰箱、冰箱初始关闭且未被操作，新增的一个目标文字对应汽车关闭；这支持可见的关盖结果满足评分器开度阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 120–134 s，机器人右夹爪沿后备厢盖上缘向下推，盖板逐步转回车身；视频 139 s 后撤手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 64–90 s，底盘从车后绕到汽车后侧，为右臂操作后备厢盖调整位置。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的 fridge_opened、fridge_closed 说明记载冰箱两门初始关闭；本次视频 0–315.5 s，机器人未到厨房、未操作冰箱，因此初始关闭状态一直保留，按 state 节点规则从视频 0 s 计入。"
+     },
+     {
+      "t": 315.5,
+      "log_step": 315,
+      "text_zh": "推断：视频末端机器人仍在车库通道附近倒地，两件食品均未送入冰箱，整段没有开冰箱动作；冰箱关闭终值据初态和未受操作推断，未由末帧直接看见。q_score 不累计从初态保留的目标，故 q_score=0.25 不排除本节点成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.25,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tomato_in_fridge",
+   "t": 305.0,
+   "log_step": 295,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 212–215 s，机器人已重新拾起地面的番茄；视频 292–304.5 s，机器人携右手番茄通过内门、在走廊行进，尚未到冰箱。视频约 305 s，机器人视野急剧侧转，视频 306–315.5 s 一直侧倒且未恢复；log step 315 的服务终态为 failure: the robot fell over。推断：终止的是仍在进行的番茄入冰箱搬运步骤，持物行进属于操作中。"
+  },
+  "unmet": {
+   "tomato_in_fridge": false,
+   "milk_in_fridge": false,
+   "car_closed": true,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 305.0,
+    "log_step": 297,
+    "evidence_zh": "观察：视频 304.5 s，持番茄的机器��视野尚接近直立；视频 305–306 s，头部视野大幅侧翻，随后车轮、墙面与地板在画面中转为侧向，直到视频 315.5 s 均未恢复。log step 297 记录机器人基座明显倾斜，log step 315 的服务状态报告因持续倒地而失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 38 定义的 move 将固定手臂姿态和恒定底盘增量铺成整段动作，函数内没有根据基座倾斜中止的反馈；log step 295 用它一次执行向前 1.30 m、持续 5 s 的行进。视频 304.5–306 s 显示机器人在该次门口附近行进中失稳，log step 297 才读到大幅倾斜，log step 298 及后续回退、撑地也未恢复。此段运动控制未保持本体支承稳定；无法从现有视角分清具体碰撞点或控制子类型。"
+   }
+  ],
+  "gap_zh": "未提供状态日志。冰箱全程未入镜，关闭区间依据 DAG 所记初态和机器人未到厨房推断；关车的精确关节开度由可见闭合及评分总量支持。相机没有覆盖底盘在门口的具体接触点，不能确定倒地是何处碰撞或支承变化触发，因此只标平衡与一般控制根因。车库门首次形成足够通行开口的时间约有 2 s 误差。"
+ },
+ "summary_zh": "观察：机器人从汽车取出装有食品的纸袋、关上后备厢，随后从地面重新拾起番茄并打开车库内门；最终节点为 3/6，包含从初态一直保留的冰箱关闭，两件食品均未入冰箱。推断：番茄搬运在视频约 305 s 因机器人失衡而中断，服务最终判定倒地失败，整段行进控制未保持稳定；无状态日志，冰箱关闭状态和具体失衡机制存在上述观测缺口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间、断点（tomato_in_fridge，视频约305 s 倒地）和平衡现象与帧一致；未发现需要改动的内容。根因「控制」较泛，但证据已说明无法细分，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:28:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--oph64xe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--oph64xe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9421c385b1e40c8520fbf915523d23ce88772390b77f2fe43cfca787762cd0da",
+   "video_sha256": "2f2fcdae605912fd9bd5095d33d0e322fa7a465c532b45f059e65233e8e8138d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--qrttmue.json

@@ -0,0 +1,281 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-standard--qrttmue",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 0,
+   "live_matches_replay": 0,
+   "finalized": 1,
+   "n_actions": 2838,
+   "sim_steps": 2837,
+   "physics_steps": 11348,
+   "steps": 2838,
+   "elapsed_s": 1032.1,
+   "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-carrying-in-groceries-i00-standard--qrttmue/replay.mp4",
+  "duration_s": 90.633,
+  "fps": 30.0,
+  "frames": 2719,
+  "sha256": "8e77778efa1a15202c29211efd57af2c820867d786904319c9448c8098648ba0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的车库外门为闭合木色面板；视频 0–90.6 s 的已检帧中，机器人始终在红色汽车旁及车库地面，没有出现门板转开、出口暴露或穿出车库的过程。"
+     },
+     {
+      "t": 73,
+      "log_step": null,
+      "text_zh": "观察：视频 70–74.5 s，车库外门仍封住开口，机器人在汽车旁调整身体；视频 89.6–90.6 s，腕部视图仍见车库中的汽车，未形成新的通道。"
+     },
+     {
+      "t": 90.6,
+      "log_step": null,
+      "text_zh": "推断：结合全程只在汽车旁接近、倾倒和翻滚，未见机器人操作任一出口，打开车库通道未达到；不以未走 oracle 的内门路线单独判失败。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.6,
+      "log_step": null,
+      "text_zh": "推断：视频 0–90.6 s 的机器人没有离开车库，未接近或操作厨房冰箱；没有出现 oracle 视频 175 s 可见的门扇转开和搁架内腔，因此打开冰箱未达到。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–6 s，机器人空手向汽车侧面接近；视频 10–23 s 的两路腕部视图未见夹爪持有番茄或纸袋，头部视图逐渐侧翻。"
+     },
+     {
+      "t": 90.6,
+      "log_step": null,
+      "text_zh": "观察：视频 70–90.6 s，机器人仍在车库地面调整、翻滚；未见番茄从汽车转移到夹爪或冰箱的过程，最后一秒的腕部视图仍见汽车和车库。"
+     },
+     {
+      "t": 90.6,
+      "log_step": null,
+      "text_zh": "推断：番茄入冰箱全程未达到；reward.q_score=0.0 对非初始满足的目标不容许新增的入冰箱关系成立，因此终值为 false。该总分来自在线局（live_matches_replay=0），只用来约束与视频未搬运现象一致的终值，不由零分反推没有尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–6 s，轮式底盘支承机器人并空手驶向装有两件食品的汽车；这是番茄与另一件食品共用的取物接近阶段，未见对番茄或纸袋的直接夹持，也未开始持物运输。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–6 s，机器人空手向汽车侧面接近；视频 10–23 s 的两路腕部视图未见夹爪持有牛奶或纸袋，头部视图逐渐侧翻。"
+     },
+     {
+      "t": 90.6,
+      "log_step": null,
+      "text_zh": "观察：视频 70–90.6 s，机器人仍在车库地面调整、翻滚；未见牛奶从汽车转移到夹爪或冰箱的过程，最后一秒的腕部视图仍见汽车和车库。"
+     },
+     {
+      "t": 90.6,
+      "log_step": null,
+      "text_zh": "推断：牛奶入冰箱全程未达到；reward.q_score=0.0 对非初始满足的目标不容许新增的入冰箱关系成立，因此终值为 false。该总分来自在线局（live_matches_replay=0），只用来约束与视频未搬运现象一致的终值，不由零分反推没有尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "���盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–6 s，轮式底盘支承机器人并空手驶向装有两件食品的汽车；这是牛奶与另一件食品共用的取物接近阶段，未见对牛奶或纸袋的直接夹持，也未开始持物运输。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，红色汽车后备厢盖高于车身并向上打开；视频 45–70.5 s 再次可见盖子仍抬起，没有落回车身。"
+     },
+     {
+      "t": 90.6,
+      "log_step": null,
+      "text_zh": "推断：视频中未见机器人有目的地压下或拉合后备厢盖，后续只在地面翻滚；结合 reward.q_score=0.0，非初始成立的汽车关闭关系终值为 false。该总分属于在线局（live_matches_replay=0），与视频中最近一次清楚可见的打开状态相符；最后一秒车尾局部被遮挡。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：task/task_dag.json 将厨房冰箱记为初始两门齐平关闭；视频 0 s 机器人在车库，视频 0–90.6 s 全程未到厨房，也没有执行冰箱开门动作，因此关闭状态从视频 0 s 保持到结束。该初始目标保留计为一步，不受 after 边门控；reward.q_score=0.0 不计仍保持的初始已满足条件。"
+     },
+     {
+      "t": 90.6,
+      "log_step": null,
+      "text_zh": "观察：视频 89.6–90.6 s，视图为车库内汽车与近处地面，没有厨房或冰箱画面；关闭状态依据已知初态和全程未操作的上下文推断，冰箱终态并非直接可见。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 14.0,
+   "log_step": 19,
+   "where": "转场",
+   "evidence_zh": "观察：视频 0–6 s，机器人空手驶向汽车，视频 6–13 s 停在汽车侧面近处，视频 14–23 s 视角持续倾斜直至车身近乎竖直，视频 36–57 s 主要仰视天花板；之后未完成任何食品搬运。推断：这是去汽车取食品的共同转场中失衡，而非开门、关车或放入冰箱时失败；两件食品在同一纸袋中，视频没有选取其中一件，log step 15、17、19 也只记录接近汽车和全景转向，无法唯一归到 tomato_in_fridge 或 milk_in_fridge，故 ref 为 unknown。视频时间均取自帧，没有用 agent 时间或控制步数换算。"
+  },
+  "unmet": {
+   "tomato_in_fridge": false,
+   "milk_in_fridge": false,
+   "car_closed": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 14.0,
+    "log_step": 27,
+    "evidence_zh": "观察：视频 14–23 s，汽车和墙面的水平线随机器人视角逐步旋转，视频 24–33 s 车轮位于近乎竖直的画面边缘，视频 36–57 s 头部相机朝向天花板；视频 75–90.6 s 又出现地面近景及倒置的汽车，最后一秒仍未恢复正常工作视角。log step 27 的在线本体读数为 roll=-2.92、pitch=-1.32，支持机器人倾倒的判断；因 live_matches_replay=0，不把该读数精确映射到回放时刻。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人接近汽车和原地转向时没有维持本体稳定，控制层问题阻断了取物。log step 14 的 home_arms 将躯干和双臂设为全零，并在每次底盘动作中写入；log step 17 的前进命令只使机器人从约(-4.42,5.19)移动到(-4.38,5.63)，随后 log step 19 仍连续执行十二段原地转向，循环未检查倾斜并中止，直到 log step 27、32 才检查到严重倾倒；视频 14–23 s 的持续侧翻及其后未能恢复与此相符。无法从现有材料区分姿态目标、近车转向和具体碰撞各自的因果贡献，故不细分为参数调试或接触设计，也不采信 agent 自述的限幅高速撞车作为已证实原因。"
+   }
+  ],
+  "gap_zh": "没有状态日志，手臂/底盘与汽车的具体碰撞接触部位及接触力不可见；食品共用的空手取物转场尚未选定单件目标，无法唯一定位到番茄或牛奶节点，两个食品节点仅记录同一接近阶段的底盘支撑，不虚构直接抓握。冰箱从未入镜，关闭终值由 DAG 初态与全程未操作推断。reward.deterministic=0、live_matches_replay=0，且在线服务在 log step 53–55 报告 NaN 四元数和 done=True/reason=error，而回放最后一秒只见车库地面与倒置汽车；不能断言回放重现了在线崩溃或按在线控制步数定位回放。agent 在 log step 65 自述以 0.15 米/控制步撞车，但 log step 14、17 的实际脚本为 1.8/(7×30)≈0.0086 米/控制步，该高速说法与代码不符；倾倒的精确力学原因仍缺证据。"
+ },
+ "summary_zh": "推断：六个节点中仅冰箱初始关闭状态保持，最终为 1/6；车库通道、冰箱打开、两件食品入冰箱及汽车关闭均未达到。观察：机器人空手接近汽车后在视频约 14–23 s 失衡，此后一直在车库内调整与翻滚，最后一秒仍未恢复工作；推断：控制未保持本体稳定，但共同取物转场无法唯一归到番茄或牛奶节点，断点记 unknown。观察：无状态日志且 live_matches_replay=0；冰箱终态、具体碰撞和在线 NaN 错误在回放中的对应关系缺少直接证据。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅冰箱初始关闭保持，1/6）、断点 unknown + 转场、平衡现象与控制根因均与视频帧一致：机器人在约 14–23 s 起持续倾倒、全程未取到食品；断点不能唯一归到番茄或牛奶，保留 unknown 合理。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:32:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--qrttmue/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--qrttmue/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4637a57949f5bf7289912022ba19ad4c661ff1ab5ed8e612fc8c11a71a7b2b47",
+   "video_sha256": "8e77778efa1a15202c29211efd57af2c820867d786904319c9448c8098648ba0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--txfqmhp.json

@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-standard--txfqmhp",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 9899,
+   "sim_steps": 9899,
+   "physics_steps": 39596,
+   "steps": 7238,
+   "elapsed_s": 5441.5,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-carrying-in-groceries-i00-standard--txfqmhp/replay.mp4",
+  "duration_s": 330.0,
+  "fps": 10.0,
+  "frames": 3300,
+  "sha256": "4fdd521b25bae34ff93326cbb61e722da35f85f785e633997c5dfe10665eb951"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 外侧木纹车库门关闭；视频全程每约5秒的抽帧及视频 98–103 s、243–273 s、315–329.9 s 的密集帧中，机器人始终在红色汽车旁操作，未见打开出口、露出走廊或驶离车库。"
+     },
+     {
+      "t": 329.9,
+      "log_step": null,
+      "text_zh": "推断：机器人未操作任何出口，未形成任务 DAG 要求的可通行车库出口；不是仅按未进入厨房判定。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 329.9,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 给定厨房冰箱初始关闭；视频 0–329.9 s 机器人始终在车库汽车旁，未接近或操作冰箱，故打开冰箱事件未发生。oracle 视频 155 s、200 s 可见开门后的搁架内腔，用于识别判据，本回合没有此场景。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 249,
+      "log_step": 635,
+      "text_zh": "观察：视频 243–250 s 右夹爪在车厢纸袋附近反复探入后撤，未见番茄随夹爪离开车厢；视频 269–272 s 纸袋口可见红色物，纸袋仍在汽车内，机器人未携食品离开车库。log step 635 的“orange object”是 agent 对其目标的描述，不作为已抓起的证据。"
+     },
+     {
+      "t": 329.9,
+      "log_step": null,
+      "text_zh": "推断：视频全程未出现向厨房冰箱的运输或放入；评分器 q_score=0.0，排除番茄入冰箱这一开局不成立的目标在终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪向纸袋口的红色物探入，接近中抵推袋口/车厢边沿，随后空手后撤；未见包夹番茄。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘移动到汽车后部及侧边，调整从纸袋取食品的站位；未实现持番茄运输。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 100,
+      "log_step": 308,
+      "text_zh": "观察：视频 98–100 s 右臂向车厢纸袋方向运动，腕部受后备厢盖/开口阻挡，未见夹爪带出蓝白牛奶盒；视频 100.5–103 s 右臂空手撤回。log step 307 的控制命令标为 right_grasp_carton_approach，log step 308 返回末端仍停在目标外。"
+     },
+     {
+      "t": 329.9,
+      "log_step": null,
+      "text_zh": "推断：此后机器人继续在汽车旁取袋和探入，直到视频 329.9 s 倒地结束，未见任何食品送入冰箱；评分器 q_score=0.0 也排除牛奶入冰箱这一开局不成立的目标在终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "取牛奶/食品纸袋的尝试中，右夹爪和腕部抵碰后备厢盖及车厢开口边缘后撤回；未观察到对牛奶盒的包夹。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘支承机器人并绕汽车反复前移、横移和转向以寻找取物入口，末段移动后倾倒。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 红色汽车后备厢盖抬起；视频 30–33 s、98–103 s、250–273 s、300–301 s、320.5 s 仍可见敞开的后部或抬起的盖，未见机器人完成关盖。"
+     },
+     {
+      "t": 329.9,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 排除关车这一初始未满足的目标在终态成立，与视频中后备厢始终未合拢一致。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 明确冰箱初始关闭；视频 0–329.9 s 机器人始终在车库，全部执行动作围绕汽车取物及恢复平衡，没有操作厨房冰箱，故沿用初始关闭状态至结束。此 state 节点不受食品入冰箱的 after 边门控；q_score=0.0 不计开局已成立并保持的冰箱关闭条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "milk_in_fridge",
+   "t": 99.0,
+   "log_step": 308,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 98–100 s 右臂向车厢内纸袋伸入，被抬起的后备厢盖/车厢边沿挡住，视频 100.5–103 s 空手撤回；此后直到视频 329.9 s 都未将食品搬离车库。推断：早期共用的取袋/取食品动作服务两件食品，按 log step 307 首次明确命名的 right_grasp_carton_approach 将未修复的失败归到牛奶入冰箱；后续改取袋、试番茄及恢复站姿均未完成这一节点。观察：视频 318–320 s 机器人侧倒，至视频 329.9 s 未恢复；log step 823 在线服务返回 done=true、reason=\"failure: the robot fell over\"，仅作为回合终止的证据。推断：在线服务 control_steps/30 对应视频秒，log step 308 的3004步约为视频100.13 s，与取物受阻后撤吻合；log step 801 的9559步约为视频318.63 s，与倾倒吻合，log step 823 的9899步约为视频329.97 s，与片尾一致。"
+  },
+  "unmet": {
+   "tomato_in_fridge": false,
+   "milk_in_fridge": false,
+   "car_closed": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 99.0,
+    "log_step": 308,
+    "evidence_zh": "观察：视频 98.5–100 s 右腕/夹爪在车厢盖与开口边缘处受阻偏转，没有沿向下伸入路线到达纸袋；视频 100.5–103 s 机器人收臂后纸袋仍在车厢中。视频 65–70 s 左臂尝试及视频 250–273 s 右臂尝试也出现碰到开口后偏转、撤回的动作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 307 将右末端目标设为世界坐标[-6.40,7.21,0.89]米，log step 308 的 IK 返回可解，但在线执行末端为[-6.423,6.750,1.157]米；视频 98–100 s 可见腕部在车盖/车厢开口受阻，随后空手撤回。视频 250–273 s 多次重新探入仍无食品带出。推断：取物动作未能在车盖和车厢几何限制下形成有效接近，归为控制问题；现有证据不足以进一步区分接触几何设计与轨迹/反馈实现。"
+   }
+  ],
+  "gap_zh": "无独立状态日志；腕部视角常被手臂、车盖及纸袋遮挡，不能逐次确定是否短暂触到食品，故不把夹爪关闭命令当作已抓握。早期取袋动作同时关联两件食品，牛奶断点身份依据控制命令中的 carton 命名推断；冰箱始终不在本回合视野中，其保持关闭由 DAG 初态及机器人未离开车库推断。"
+ },
+ "summary_zh": "机器人始终在车库汽车旁取袋/取食品，夹爪反复受车盖及车厢开口阻挡，两件食品均未搬入厨房，汽车也未关闭；仅冰箱初始关闭条件保持，终态为1/6，原生 q_score=0。断点按首次明确的纸盒接近动作归为牛奶入冰箱，取物控制未能在车盖和车厢开口的几何限制下形成有效接近，该失败始终未修复。无状态日志且食品常被遮挡，具体食品接触、早期共同取袋动作的单件归属及冰箱状态含推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值、断点(牛奶入冰箱, 视频约99 s)与时钟(control_steps/30, log 308 的 3004步≈100.1 s 与视频吻合)基本可接受；主要问题是把评分器据以终止本回合的倒地单列为现象，违反 S14/S15。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅 fridge_closed 保持，1/6，q_score=0）、牛奶入冰箱断点（视频约99 s，control_steps/30 时钟已核对）、被挡/碰撞现象与“控制”根因均有视频与 log 支持；第一轮意见（倒地不单列）已落实。未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:46:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--txfqmhp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--txfqmhp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--txfqmhp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--txfqmhp/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c11b4ad35868e69768fe853644ff52fdeee13bc253b598da8a0a6246c7a3b7d9",
+   "video_sha256": "4fdd521b25bae34ff93326cbb61e722da35f85f785e633997c5dfe10665eb951",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--vgmk2xd.json

@@ -0,0 +1,321 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-carrying-in-groceries-i00-standard--vgmk2xd",
+ "taskKey": "behavior-1k/carrying_in_groceries",
+ "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56",
+ "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": 4080,
+   "sim_steps": 4080,
+   "physics_steps": 16320,
+   "steps": 2985,
+   "elapsed_s": 1498.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 4,
+   "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-carrying-in-groceries-i00-standard--vgmk2xd/replay.mp4",
+  "duration_s": 136.0,
+  "fps": 30.0,
+  "frames": 4080,
+  "sha256": "69a4a0325e3a311b65f313028f2ae53a41b52d5d784d531b9c1380c89eaeb7c4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "garage_passage_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20,
+      "log_step": null,
+      "text_zh": "观察：视频 20 s 内侧棕色木门仍在门框内，外侧木质车库门也关闭；视频 108–125.5 s 机器人空手离开汽车向车库南侧行驶，内门仍未露出走廊开口。"
+     },
+     {
+      "t": 135.96,
+      "log_step": 248,
+      "text_zh": "观察：视频 126.25–135.96 s 头部画面越过墙面看到室外树木，但近处木质面板仍挡在机器人前方，没有显示可供机器人和食品通过的门洞；log step 248 服务反馈基座升高至约 0.79 m，log step 265 服务终止原因为机器人倾倒。"
+     },
+     {
+      "t": 126.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频 125.5–126.75 s 的墙面近景、镜头突变及末段持续倾斜，室外景物出现不能证明门已形成合法通道；对照 oracle 视频 120–124 s 木门离开门框、走廊显露的完成外观，本次未达到通道判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 108–126 s 轮式底盘驱动机器人从汽车旁驶向车库南侧；没有看到夹爪抓住门把手或成功推开门板。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 135.96,
+      "log_step": null,
+      "text_zh": "观察：视频 0–135.96 s 的已检查画面中，机器人始终在车库及末段外墙附近活动，没有进入厨房或操作冰箱；未出现 oracle 视频 160 s 所示的冰箱门转开及搁架内腔。"
+     },
+     {
+      "t": 135.96,
+      "log_step": null,
+      "text_zh": "推断：DAG 说明冰箱初始关闭，且本次没有到达或接触冰箱，故打开冰箱事件未发生。"
+     }
+    ]
+   },
+   "tomato_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 98,
+      "log_step": 202,
+      "text_zh": "观察：视频 94–96 s 番茄仍在汽车后备厢纸袋口，视频 96.5–98 s 左夹爪夹起红番茄并移离纸袋，视频 100–106.8 s 左腕视图显示番茄留在两指之间。"
+     },
+     {
+      "t": 107,
+      "log_step": 222,
+      "text_zh": "观察：视频约 106.9–107.4 s 左夹爪张开，红番茄脱离两指并落向车库地面；视频 108 s 左爪为空，后续视频至 135.96 s 没有拾回番茄或进入厨房。"
+     },
+     {
+      "t": 135.96,
+      "log_step": null,
+      "text_zh": "推断：番茄从未到达冰箱；评分器 reward.q_score=0、live_matches_replay=1 也与该最终关系为假一致，判定并非只依据零分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 96.5–106.8 s 左侧二指夹爪夹住番茄，提离纸袋并移到汽车外侧；视频约 106.9 s 张开后番茄落下。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–85 s 机器人驱动底盘调整到汽车后备厢旁以取番茄；未完成���番茄向厨房的搬运。"
+     }
+    ]
+   },
+   "milk_in_fridge": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 102,
+      "log_step": 222,
+      "text_zh": "观察：视频 100.5–104 s 右腕画面可见蓝白色牛奶盒仍在后备厢纸袋中，右夹爪向袋内下降；视频 105–108 s 袋壁遮挡夹爪与牛奶的接触区域。"
+     },
+     {
+      "t": 110,
+      "log_step": 224,
+      "text_zh": "观察：视频 108.5–111 s 右夹爪抬离纸袋，未见牛奶盒随夹爪离开后备厢；log step 224 机器人服务反馈左右夹爪开度均为 0，不能据此单独认定抓取，但与画面中没有带出牛奶一致。"
+     },
+     {
+      "t": 135.96,
+      "log_step": null,
+      "text_zh": "推断：机器人没有携牛奶进入厨房，最终也没有冰箱容纳关系；评分器 reward.q_score=0 且 live_matches_replay=1 将牛奶入冰箱的最终值限制为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 100.5–108 s 右夹爪探入纸袋尝试取牛奶，但接触部位被袋壁遮挡；未看到牛奶盒被夹住或提离，不能把日志的 GRABBED 自判当作实际抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–85 s 底盘将机器人调整到装有两件食品的汽车后备厢旁，随后机器人在原地以右夹爪探袋取牛奶。"
+     }
+    ]
+   },
+   "car_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 28 s 红色汽车后备厢盖抬起，黑色内腔与纸袋可见；视频 68、96、108、116、119 s 仍有敞开的后备厢内腔，未见机器人执行推合盖板动作。"
+     },
+     {
+      "t": 135.96,
+      "log_step": null,
+      "text_zh": "推断：机器人随后离开汽车并倾倒，没有关车动作；评分器 reward.q_score=0 且 live_matches_replay=1 进一步排除初始为假的关车目标在最终变真。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的初态说明冰箱关闭；视频 0–135.96 s 机器人始终未到厨房，也未触碰冰箱，故关闭状态从初始保留到结束。该厨房区域未直接入镜，区间依据初始条件和完整操作过程推断。"
+     },
+     {
+      "t": 135.96,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0 不否定这一初始即成立且未改变的目标；BEHAVIOR 的该进度分不计保持初始成立的文字目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "fraction",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tomato_in_fridge",
+   "t": 107.0,
+   "log_step": 222,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 96.5–98 s 机器人左夹爪已将番茄提离汽车纸袋；视频约 106.9–107.4 s 在右爪探袋取牛奶期间，左夹爪张开并使番茄掉到车库地面，后续至视频 135.96 s 没有拾回或送入冰箱。推断：这是最早未修复的食品搬运失败，故断点为番茄入冰箱；log step 265 记录的最终倾倒发生在这之后，不替换此断点。"
+  },
+  "unmet": {
+   "tomato_in_fridge": false,
+   "milk_in_fridge": false,
+   "car_closed": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 107.0,
+    "log_step": 222,
+    "evidence_zh": "观察：视频 100–106.8 s 番茄保持在机器人左夹爪两指间；视频约 106.9 s 两指分开，视频 107–107.4 s 番茄脱手并落在车库地面，尚未到达冰箱。推断：这是另一只手取物时意外解除已有抓握，属于搬运中没保持住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 107.0,
+    "log_step": 222,
+    "source_zh": "日志",
+    "note_zh": "控制代码错误：右爪闭合函数错误地同时张开持物的左爪。",
+    "evidence_zh": "观察：log step 200 定义的 close_grip 函数在 side=\"right\" 时设置 (gl, gr)=(0.07, 0.0)，同时向左爪发送张开目标；log step 222 在右爪探袋后调用 close_grip(S,1.3,\"right\")，服务反馈左爪开度由约 0.036 变为 0.100。视频约 106.9–107.4 s 同时显示左爪张开、番茄落地。推断：agent 的控制代码未保留另一只手的持物命令，直接造成番茄抓握丢失。"
+   }
+  ],
+  "gap_zh": "没有状态日志；冰箱全程在镜头外，关闭区间由 DAG 初态及机器人未入厨房的过程推断。右爪在纸袋内的具体接触被袋壁遮挡，未据日志自判补记牛奶抓握；末段镜头看到室外但没有可通行门洞，无法测量门的精确开度。"
+ },
+ "summary_zh": "机器人实际夹起番茄并以右爪探袋取牛奶，但视频约 106.9 s 因右爪闭合函数同时张开左爪而丢失番茄，此后未修复；最终仅保留初始冰箱关闭状态，节点终值为 1/6。机器人随后空手向车库南侧行驶并倾倒，服务在 log step 265 判定失败；无状态日志，冰箱关闭为初态与动作过程推断，袋内接触及末段门开度缺少直接测量。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "番茄在视频约 106.9–107.4 s 因右爪 close_grip 同时张开左爪而落地（log step 200/222 代码与反馈、视频帧一致），断点、现象、根因、节点终值 1/6 均有证据支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:25:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--vgmk2xd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-carrying-in-groceries-i00-standard--vgmk2xd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b3bb4f644ba76560645bcff0a3fca8622cd0c7e95434dd0009ec9356a2db7a1c",
+   "video_sha256": "69a4a0325e3a311b65f313028f2ae53a41b52d5d784d531b9c1380c89eaeb7c4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--cp6xrmy.json

@@ -0,0 +1,319 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-brisket-i00-privileged--cp6xrmy",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "dag_sha256": "2420bb0ca96a5b916c4a2000c68afbcd2d8aae9f0280c696b39a9f27293848b3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 15223,
+   "sim_steps": 15223,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 3416.6,
+   "replay_timeout_s": 8811.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 25,
+   "agent_resets": 0,
+   "agent_sim_steps": 16591,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 10.304,
+   "peak_memory_gb": 9.045,
+   "peak_processes": 20,
+   "peak_disk_gb": 14.362,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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--cp6xrmy/replay.mp4",
+  "duration_s": 507.433,
+  "fps": 30.0,
+  "frames": 15223,
+  "sha256": "d02fd276d7ce2197b5516f351c1ef2e439813bafd52daf3aadaa62224a9c3e80"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10,
+      "log_step": null,
+      "text_zh": "观察：视频 8–95 s，机器人夹爪在冰箱双门中缝附近反复接近和调整，门外面仍挡住内部，没有取肉通道。"
+     },
+     {
+      "t": 440,
+      "log_step": null,
+      "text_zh": "观察：视频 432–448 s，机器人一侧夹爪抵在中缝及把手附近，机械臂和底盘后移时门仍仅见窄缝；视频 453–465 s 仍见完整外门，未出现内部白色搁架。对照成功示例视频 10–15 s，打开后能清楚看到白色搁架及转出的门内侧；本次未出现该完成线索。"
+     },
+     {
+      "t": null,
+      "log_step": 361,
+      "text_zh": "观察：log step 295、361 记录另一次 task-531 会话测试开门后约114.6度；该测试随后在抓肉断言处退出。本次评分视频末段仍是关闭的冰箱外门，故该会话结果不计入本次节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 8–95 s、230–448 s，一侧夹爪指尖反复抵压、擦过冰箱门中缝及把手旁金属表面；近景能确认门面接触，不能确认形成了稳定的对向夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人驶近冰箱，并在视频 432–448 s 的拉门尝试中后移底盘。"
+     }
+    ]
+   },
+   "heat_source_enabled": {
+    "method": "visual",
+    "intervals": [
+     [
+      481.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 480.5,
+      "log_step": null,
+      "text_zh": "观察：视频 480.5 s，腕部相机可见灶台前缘开关标记仍为红色；机器人一侧夹爪随后压向该位置。"
+     },
+     {
+      "t": 481.0,
+      "log_step": null,
+      "text_zh": "观察：视频 481.0–482.25 s，同一开关标记变绿；视频 483–499 s 灶面出现黄色火焰。启动时间约为视频 481 s，误差约0.25秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 480–482 s，机器人一侧夹爪指尖按压灶台前缘开关，标记由红变绿。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 465–480 s，机器人底盘从冰箱前驶到灶台前，使夹爪接近热源开关。"
+     }
+    ]
+   },
+   "brisket_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 488,
+      "log_step": null,
+      "text_zh": "观察：视频 483–499 s，炉头已有黄色火焰，但操作夹爪的腕部视图没有成功示例视频 68–73 s 中随手运动的大块牛胸肉，也未见牛胸肉装到炉头上。"
+     },
+     {
+      "t": 507.4,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0；平底锅在台面是初始目标，不计新增得分，因此初始为假的熟化目标在终局不成立。结合本次未见肉被搬出或送到热源，且原生熟化按历史最高温度保持，整段不记做熟；此结论不取自会话中的代理自述。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：作为加热尝试的设备操作，机器人在视频 480–482 s 用一侧夹爪按开炉头，随后把空夹爪移到火焰附近等待；未观察到牛胸肉装载或抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 465–480 s，底盘驶往灶台，准备执行加热。"
+     }
+    ]
+   },
+   "brisket_on_board": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 455,
+      "log_step": null,
+      "text_zh": "观察：视频 453–464 s，机器人机械臂向冰箱门方向伸出后撤回，门外面仍挡住取肉区域，未见牛胸肉随夹爪离开冰箱。"
+     },
+     {
+      "t": 507.4,
+      "log_step": null,
+      "text_zh": "观察：视频 500–507.4 s，机器人从灶台转向放有砧板的台面；视频 506.5、507.0、507.4 s 的腕部视图可见橙棕色砧板及旁边的黑色平底锅，砧板上没有牛胸肉。"
+     },
+     {
+      "t": 507.4,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 也排除了终局新增牛胸肉上砧板关系；不能把日志里按计划执行的空手搬运或放置当作物体实际转移。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 453–461 s，为取得牛胸肉，机器人一侧夹爪伸向仍关闭的冰箱外门并抵压门面；未见牛胸肉进入夹爪。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在取肉尝试后空手驶离冰箱，并于视频 500–507.4 s 转向砧板所在台面。"
+     }
+    ]
+   },
+   "pan_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 4,
+      "text_zh": "观察：任务DAG明确该关系初始成立；log step 3 的实例说明和 log step 4 的初态条件也将平底锅列在台面上。"
+     },
+     {
+      "t": 507.4,
+      "log_step": null,
+      "text_zh": "观察：视频 506.5–507.4 s，黑色带柄平底锅位于砧板旁的灰色台面上，没有被夹爪夹持；整段已查阅画面中，机器人操作冰箱门、灶台和空夹爪，未见操作平底锅。"
+     },
+     {
+      "t": 507.4,
+      "log_step": null,
+      "text_zh": "推断：结合已知初态、末段锅仍在原台面及全程未见移锅，平底锅在台面的关系从视频 0 s 保持至视频结束；q_score=0.0 不否定保留初始目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 440.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 432–448 s，机器人在冰箱门中缝及把手附近接触并后移拉门，门没有转出足以取肉的通道，始终未露出白色搁架；视频 453–465 s 仍面对关闭的外门，随后驶向灶台。推断：打开冰箱是本次最早尝试后始终未完成的节点，后续点火并未修复它。"
+  },
+  "unmet": {
+   "brisket_cooked": false,
+   "brisket_on_board": false,
+   "pan_on_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 440.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 432–448 s，机器人夹爪抵在门中缝与把手旁，随机械臂和底盘运动尝试向外带门，门板仍近乎贴合柜体，未出现可取肉的开口；视频 465 s 再次可见关闭的冰箱。推断：可见接触没有产生所需的门板转动，按门未开到位归为接触力异常；不据此判断具体力值。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 440.0,
+    "log_step": null,
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 8–95 s、230–448 s，机器人已到达正确冰箱，夹爪在同一门缝与把手附近反复变换姿态并接触，末次后移拉门仍没有有效开门运动；困难出在将夹爪动作落实为门板转动的接触执行。画面支持控制层归因，但不足以区分夹持几何、拉门轨迹或反馈控制，故只标控制。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志、辅助抓握和接触力读数；近距离门板遮挡部分指尖，无法确认持续夹持及具体力学失效机制。牛胸肉在闭门后的精确位置和温度不可直接见，做熟终值由评分器 q_score=0.0 与空手加热画面共同限定。log step 295、361 的开门成功属于其他会话测试；日志没有足够的保存、回放对应记录将这些测试绑定到本次评分视频，不据此归因交付错误。"
+ },
+ "summary_zh": "本次仅保持初始的平��锅在台面，并在视频约481 s 开启灶台，最终达成2/5个节点；牛胸肉未做熟、未上砧板。机器人反复接触冰箱门却未打开取肉通道，最早未修复断点是打开冰箱，现象为门未开到位的接触力异常，根因仅能归到控制层。无状态与接触力日志，不能细分控制机制；会话中另一次开门成功不属于本次评分轨迹。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 5–507 s 多帧：冰箱外门全程关闭，灶台开关标记约 481 s 变绿，砧板上无牛胸肉，与节点值、断点（打开冰箱）一致；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:26:18Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-privileged--cp6xrmy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-privileged--cp6xrmy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ff40d42ea3e358ba0c1d947dcfdd60d10f20841d6a276766a3fb29a019003cb",
+   "video_sha256": "d02fd276d7ce2197b5516f351c1ef2e439813bafd52daf3aadaa62224a9c3e80",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--ony6v6c.json

@@ -0,0 +1,295 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-brisket-i00-privileged--ony6v6c",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "dag_sha256": "2420bb0ca96a5b916c4a2000c68afbcd2d8aae9f0280c696b39a9f27293848b3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 2008,
+   "sim_steps": 2008,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1065.3,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 0,
+   "agent_sim_steps": 3276,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-a-brisket-i00-privileged--ony6v6c/replay.mp4",
+  "duration_s": 66.933,
+  "fps": 30.0,
+  "frames": 2008,
+  "sha256": "4d68401829ed5ab4e1975eb173c1d7a13783752657fb647a8ae16c6f607dde1b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.5–4.5 s，机器人左夹爪向冰箱把手区域接近并合拢，门板仍贴着柜体，没有露出白色搁架或取肉通道。"
+     },
+     {
+      "t": 6.5,
+      "log_step": 277,
+      "text_zh": "观察：视频 5.0–7.0 s，机器人空手移开，冰箱两扇门仍关闭；视频 8–47 s 的厨房视图也未出现打开的冰箱。生成交付轨迹的 gen3 日志记录 door: None（log step 277），与本次视频一致。"
+     },
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "推断：成功参考视频 10–15 s 开门时可清楚看见白色内架，本次对应视图无此变化；此后机器人只操作灶台和台面，开门节点未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 2.5–4.5 s 左夹爪尝试夹冰箱门把手；手指与把手的接触点被腕部和门板遮住，无法判定是否有擦碰，不能把合爪动作记为实际抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0–7 s 轮式底盘驶近冰箱并在尝试抓把手后移动，支承机械臂。"
+     }
+    ]
+   },
+   "heat_source_enabled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15,
+      "log_step": null,
+      "text_zh": "观察：视频 9–47 s，机器人左夹爪多次下压灶台前缘控制区域，腕部视图中的开关标记保持红色，没有出现成功参考视频 65 s 的绿色启动标记。"
+     },
+     {
+      "t": 47,
+      "log_step": 279,
+      "text_zh": "观察：log step 277、279 的 gen3 输出中各次 burner_on 均为 False；视频 49 s 移开时灶台指示仍红，机器人没有转而操作其他热源。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频 9–47 s，左夹爪指端反复向灶台前缘开关区域下压、停留后抬起，未触发开启。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 7–10 s 底盘从冰箱移动至灶台，支承左臂按开关。"
+     }
+    ]
+   },
+   "brisket_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 47,
+      "log_step": null,
+      "text_zh": "推断：视频 0–47 s 冰箱未打开，机器人未取出牛胸肉，且灶台反复操作后仍显示红色；视频 49–66.9 s 只见空夹爪尝试抓锅，没有肉块移往任何热源的过程，未见熟化发生。"
+     },
+     {
+      "t": 66.9,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0；初始已成立的锅在台面关系不计入新增目标得分，因此总分也排除了末态新增的 cooked 目标。此判断结合未取肉、未开启热源的视频过程，不是单凭零分认定机器人没有操作。"
+     }
+    ]
+   },
+   "brisket_on_board": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 55,
+      "log_step": null,
+      "text_zh": "观察：视频 50–66.9 s 橙棕色砧板的板面持续可见且为空，没有牛胸肉被搬来或放落；最后一秒的连续画面仍为空板。"
+     },
+     {
+      "t": 66.9,
+      "log_step": null,
+      "text_zh": "推断：视频全程没有成功开冰箱和取肉的过程，评分器 q_score=0.0 亦与牛胸肉未放上砧板一致。"
+     }
+    ]
+   },
+   "pan_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确该关系在初态成立；本次视频初段相机主要朝向冰箱，随后视频 50–56 s 可见黑色带柄锅留在砧板旁的灰色台面上，没有此前搬离台面的过程。"
+     },
+     {
+      "t": 55,
+      "log_step": null,
+      "text_zh": "观察：视频 50–66.9 s 机器人左夹爪在锅附近多次开合和移动，锅未随夹爪升起或被搬运；末段腕部视图仍能看到台面上的锅。"
+     },
+     {
+      "t": 66.9,
+      "log_step": 279,
+      "text_zh": "观察：交付轨迹 gen3 的八次抓锅结果均为 None，随后 DONE 2008（log step 279）；log step 295 核对最终文件仍为 2008 行，故不采用其他测试中成功抓锅的自述。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频约 50–64 s 左夹爪尝试抓台面上的锅，夹爪未成功携锅移动；腕部遮挡了指尖接触点，无法确认夹爪是否碰到锅柄或锅沿，不记为实际抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 49–61 s 底盘从灶台移向锅所在台面，并调整抓锅站位。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 4.0,
+   "log_step": 277,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 3–5 s，机器人左夹爪在冰箱把手附近合拢后移开，门仍关闭；视频 5–7 s 也未露出内部搁架。log step 277 的交付生成日志记录 door: None；此后机器人转去按灶台和抓锅，直到视频 66.9 s 都未返回修复开门失败。"
+  },
+  "unmet": {
+   "brisket_cooked": false,
+   "brisket_on_board": false,
+   "pan_on_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 4.0,
+    "log_step": 277,
+    "evidence_zh": "观察：视频 2.5–5 s 左夹爪接近冰箱把手并合拢，但未带动门板开启，随后空手移开；log step 277 的 gen3 输出为 door: None。推断：此次没有建立可用于拉门的有效夹持接触，而非已经持门后丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 2.5–7 s 机器人已经把左夹爪送到正确的冰箱门区域并执行合爪，但未建立拉门所需的夹持；生成本次交付的 gen3 也读到 door: None（log step 277）。故可归入抓门执行的控制失败；现有证据不能进一步区分指尖接触几何、运动跟踪或辅助抓握触发问题。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志；冰箱抓取时和末段抓锅时，指尖与目标的接触点被遮挡，故这两处接触方式记未知。推断：能确定冰箱未开、锅未离台面及末态砧板为空，但无法据现有画面细分开门失败的控制子类，也不能读取牛胸肉的原生温度；熟化末态结合视频过程与评分器总分判断。log step 298 所称开门、抓锅成功来自会话其他测试，与交付 gen3 日志和回放不符，不计入进度。"
+ },
+ "summary_zh": "本次交付只保留了初始已成立的“平底锅在台面”，末态完成 1/5 个节点；冰箱未打开、热源未开启，牛胸肉未做熟也未放上砧板。首个未修复的失败是视频约 4 s 的开冰箱尝试：左夹爪未建立有效夹持，随后机器人转去按灶台和抓锅。没有状态日志且指尖接触点受遮挡，接触细节和控制子类无法确定；会话中其他测试的成功自述未用于本次节点判定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、日志一致：冰箱始终关闭，灶台指示灯保持红色，砧板为空，锅未离台面，进度1/5；断点在开冰箱，现象“没建立接触”和根因“控制”（停在大类）证据足够，未发现需要修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:20:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-privileged--ony6v6c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-privileged--ony6v6c/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "439ade285775f985023494f5dd0766d8ee517215ec7f617d46c51ddc885b6e49",
+   "video_sha256": "4d68401829ed5ab4e1975eb173c1d7a13783752657fb647a8ae16c6f607dde1b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--t2evava.json

@@ -0,0 +1,291 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-brisket-i00-privileged--t2evava",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "dag_sha256": "2420bb0ca96a5b916c4a2000c68afbcd2d8aae9f0280c696b39a9f27293848b3",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 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": [
+     [
+      9.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–7.5 s 机器人右夹爪夹住冰箱右门把手；视频 8.0–10.5 s 门板向外转开，视频 9.5 s 已露出白色搁架和明显取物通道，视频 12.0 s 门继续大幅打开。首次满足时间取视频约 9.5 s，误差约半秒。"
+     },
+     {
+      "t": 35.0,
+      "log_step": 73,
+      "text_zh": "推断：视频 33.0–35.5 s 右腕邻近右门、门板进一步转开；结合 log step 73 的右腕相机链接触门板记录，可判定机器人随后以右末端推门扩大开度。这不改变已经完成的开门事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.0–15.0 s 右二指夹爪夹住右门把手并随门移动，将门拉开。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 33.0–35.5 s 右末端贴近并推动门板继续外转；作用部位包括右腕相机外壳，依据视频门板运动及 log step 73 接触记录。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 8.0–15.5 s 机器人在拉门时移动底盘、改变与冰箱的距离。"
+     }
+    ]
+   },
+   "heat_source_enabled": {
+    "method": "visual",
+    "intervals": [
+     [
+      66.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 66.4,
+      "log_step": null,
+      "text_zh": "观察：视频 65.8–66.1 s 灶台开关仍为红色，机器人左夹爪指端抵住前缘开关；视频 66.2–66.4 s 开关由红变绿，视频 66.5 s 已清晰为绿色。右手同时持续夹持牛胸肉，未用右手操作开关。"
+     },
+     {
+      "t": 66.4,
+      "log_step": 111,
+      "text_zh": "观察：log step 111 的脚本输出记录灶台 burner True，且左夹爪两指接触 burner；它是交互会话中的记录，仅辅助解释与视频一致的按键动作，不把会话中曾恢复的失败分支算入本次视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 65.8–66.5 s 左夹爪指端按压灶台前缘开关，使指示由红变绿。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 57.0–63.0 s 底盘驶到灶台前，视频 63.0–65.0 s 调整按键位置。"
+     }
+    ]
+   },
+   "brisket_cooked": {
+    "method": "visual",
+    "intervals": [
+     [
+      71.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 71.7,
+      "log_step": null,
+      "text_zh": "观察：视频 70.8–71.6 s 右夹爪将肉块持在已启用的炉头上方，腕部视图中肉仍为棕色；视频 71.7 s 表面突变为深黑并带红斑，视频 72.0–77.167 s 保持这一外观。"
+     },
+     {
+      "t": 71.7,
+      "log_step": 112,
+      "text_zh": "推断：将受热前后材质突变与评分器 success=1、q_score=1.0 合并，判定原生 Cooked 已成立，时间取视频约 71.7 s（误差约半秒）；并非仅凭肉原本褐色判熟。log step 112 的交互输出另有 Cooked=True、温度158.7摄氏度，属于辅助会话证据，未以 agent 时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 49.0–54.0 s 右夹爪带肉离开冰箱，视频 69.0–71.7 s 右夹爪持续夹持肉块并送近炉头；加热由灶台完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 54.0–63.0 s 底盘携肉驶往灶台，视频 68.0–70.5 s 进一步横移调整受热位置。"
+     }
+    ]
+   },
+   "brisket_on_board": {
+    "method": "visual",
+    "intervals": [
+     [
+      77.167,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 77.167,
+      "log_step": null,
+      "text_zh": "观察：视频 74.0–76.0 s 机器人携带变黑的肉块到砧板前；视频 76.2–77.1 s 右夹爪逐渐下移至橙棕色砧板，视频 77.133–77.167 s 腕部近景显示肉块相对夹爪向下落到板面。头部视角中夹爪遮住肉与板的部分接触区，视频随即结束。"
+     },
+     {
+      "t": 77.167,
+      "log_step": 114,
+      "text_zh": "推断：评分器 success=1、all_success=1、deterministic=1，且视频末帧与肉块落板相符，按本次原始规则确认末态上砧板成立，首次时间约为视频 77.17 s。log step 114 的释放后输出为双手均不持物、ontop board True，log step 115 保存2316行动行；log step 123、135 的两次新进程回放均在2316步成功，支持交付确实包含该末态。未将交互调试的其他分支当作视频节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 49.0–54.0 s 右二指夹爪将牛胸肉带出冰箱，视频 72.0–77.167 s 持熟肉移至砧板并下放、松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 72.0–75.5 s 底盘携带右手中的肉从灶台驶向砧板所在台面。"
+     }
+    ]
+   },
+   "pan_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 77.167,
+      "log_step": null,
+      "text_zh": "观察：视频 74.0–77.167 s 黑色带柄平底锅在橙棕色砧板旁的灰色台面上，锅下有台面支承，未被夹爪握住；已查看的视频全程未见机器人抓取或移动平底锅。"
+     },
+     {
+      "t": 0,
+      "log_step": 114,
+      "text_zh": "推断：DAG 明确此关系初始成立，视频初段该台面未完整入镜；结合末段锅仍在台面、全程未见移锅以及评分器 success=1，标记从视频 0 s 一直保持至结束。log step 114 的 pan on counter True 仅作一致性支持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人拉开冰箱并用右夹爪取出牛胸肉，左指按亮灶台开关后持肉受热，在视频约 71.7 s 出现深黑红斑材质变化，随后于视频约 77.17 s 放到砧板；平底锅全程保持在台面，五个节点最终均成立，评分器 success=1、q_score=1.0。规则版本差异：本次 task_text 规定三个目标同时成立即结束，按 P19 采用当时规则，不要求补足当前 DAG 的全局离手静置30控制步窗口。无状态日志、无独立参考视频，肉板接触局部受夹爪遮挡且熟化外观变化可能滞后于原生状态，相关时刻为视觉近似并由交付回放成功结果支持。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行；已核对开门（约9.5 s）、灶台开关变绿（66.4 s）、肉变黑（71.7 s）、末帧落板（77.17 s），均与视频一致，contact_actual 合理，无遗漏。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:17:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/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": "4fb983dfa9e0133efd437a8e4bdb381160b158930c1e5e424a50f61e76f3bf13",
+   "video_sha256": "631ae0a0ad06cc7940d3b0666399a4976d54edca4e58496885a997b337fa03bb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--2ckjy4b.json

@@ -0,0 +1,280 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-brisket-i00-standard--2ckjy4b",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "dag_sha256": "2420bb0ca96a5b916c4a2000c68afbcd2d8aae9f0280c696b39a9f27293848b3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 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 10.0–14.0 s，机器人右夹爪围住冰箱门把手；视频 14.5–16.0 s 门板向外转开，到视频 16.0 s 已露出白色搁架和宽于门缝的取物通道。log step 82–83 记录右臂沿铰链弧线拉门。"
+     },
+     {
+      "t": 34.5,
+      "log_step": 104,
+      "text_zh": "观察：视频 24.0–27.5 s 右臂进一步拉开原门，视频 34.5–40.0 s 左臂再拉开另一扇门；视频 108.0–113.5 s 两门仍开着。此节点为首次开门后锁存的事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 10.0–17.0 s 右二指夹爪夹持门把手并外拉，视频 24.0–27.5 s 再次夹持拉宽；随后视频 34.5–40.0 s 左夹爪单独拉另一门，两臂并非同时协作拉门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0.0–8.0 s 轮式底盘驶至冰箱前，视频 28.0–34.0 s 又在两次开门操作间横移调位。"
+     }
+    ]
+   },
+   "heat_source_enabled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 98.0,
+      "log_step": 196,
+      "text_zh": "观察：视频 96.0–106.5 s，机器人在灶台、烤箱和微波炉前移位观察，灶台前缘、烤箱前面和微波炉按钮旁的标记仍呈红色，夹爪没有操作这些开关；全片未见机器人启动其他热源。成功参考视频约 65.0–70.0 s 的灶台标记变为绿色，本次未出现该变化。"
+     },
+     {
+      "t": 103.0,
+      "log_step": 218,
+      "text_zh": "推断：结合本次视频 98.0–103.0 s 的红色关闭标记和没有开关动作，log step 218 中 agent 自述灶头已激活且为 200 摄氏度不能作为开启热源的证据，未达到本节点。"
+     }
+    ]
+   },
+   "brisket_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.0,
+      "log_step": 155,
+      "text_zh": "观察：视频 28.0–94.0 s，机器人反复查看冰箱内部，右臂伸向抽屉区域并用腕相机扫视隔层；所检查的画面未见肉块被夹持带离冰箱，后续视频 96.0–113.5 s 两夹爪仍空着，也没有持肉靠近热源的动作。"
+     },
+     {
+      "t": 123.8,
+      "log_step": 214,
+      "text_zh": "推断：初态任务文字说明牛胸肉为生肉（log step 11），视频中没有取肉加热或成功参考视频约 70.0 s 的深黑红斑熟化变化，且评分器 q_score=0、live_matches_replay=1，故做熟目标末态为假；这一结论不是仅由零分反推未做。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 28.0–94.0 s 底盘在冰箱前移动，配合为烹熟牛胸肉而寻找和接近肉块；视频 96.0–114.0 s 又空手驶往台面并继续探索，随后倾倒。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 53.0–60.0 s 及后续找肉过程中右夹爪探入抽屉区域，指尖与抽屉唇缘的接触点被腕部和隔板遮挡；能见伸入、闭合与退回，不能确认实际抓握、勾拉或按压，也未见夹住牛胸肉。"
+     }
+    ]
+   },
+   "brisket_on_board": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 103.0,
+      "log_step": 197,
+      "text_zh": "观察：视频 28.0–94.0 s 的冰箱探查和视频 96.0–113.5 s 的台面巡视中，没有牛胸肉从冰箱移入夹爪、再搬到砧板并释放的过程，机器人始终空手巡视。"
+     },
+     {
+      "t": 123.8,
+      "log_step": null,
+      "text_zh": "推断：结合初态牛胸肉在冰箱内（log step 11）、所检视频无肉块转移以及评分器 q_score=0，该新目标末态不成立；不能把从初态保留的平底锅关系当作新增得分，亦不能因砧板末帧被遮挡就把本节点留作未知。"
+     }
+    ]
+   },
+   "pan_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 11,
+      "text_zh": "观察：log step 11 读取的服务任务文字明确平底锅与砧板初始都在台面。视频 0.0 s 起机器人驶向冰箱，视频 96.0–106.5 s 的台面巡视中夹爪未拿锅，也未见台面物品被碰落。"
+     },
+     {
+      "t": 123.8,
+      "log_step": null,
+      "text_zh": "推断：本次所检全片中没有平底锅被抓起或移出台面的过程，故沿用已知初始在台面的关系至末态，区间为视频 0.0 s 至结束。末尾视频 123.8 s 相机已随机器人倾倒，不能直接看清锅，末态保留是结合初始条件和未扰动操作的推断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brisket_cooked",
+   "t": 114.0,
+   "log_step": 211,
+   "where": "探索",
+   "evidence_zh": "观察：机器人打开冰箱后一直寻找牛胸肉，视频 28.0–94.0 s 反复探查隔层与抽屉，没有持肉出来；视频 96.0–113.5 s 空手巡视厨房台面，至视频约 114.0 s 整个头相机画面骤然侧转并降低，随后一直侧倒至视频 123.8 s。log step 211–212 记录继续驶向另一段台面检查，log step 214 的机器人服务状态为 done=True、reason=\"failure: the robot fell over\"。取肉是本次烹熟操作的准备，未完成的烹熟节点在探索中被跌倒中断，未以跌倒约束作为断点。"
+  },
+  "unmet": {
+   "brisket_cooked": false,
+   "brisket_on_board": false,
+   "pan_on_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 114.0,
+    "log_step": 214,
+    "evidence_zh": "观察：视频 113.5 s 场景尚近直立，视频 114.0–115.5 s 冰箱和地板在头相机中旋转到接近横置，视频 116.0–123.8 s 相机保持贴近地面的侧倒视角而未恢复。log step 214 中服务明确报告机器人跌倒并结束本局。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 211 的实际导航脚本按平面 x、y 和偏航误差每次提交一批底盘位移动作，且持续给定躯干目标；该循环没有基座倾斜检测、失稳停车或恢复分支。视频 114.0–123.8 s 表明机器人在这段空手导航中倾倒后未能恢复，log step 214 确认以跌倒终止，因此归于导航期间未维持全身稳定的控制失败；现有证据不足以细分为具体轨迹、反馈参数或某个碰撞。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志、原生温度或 Cooked 读数；未做熟及未放板由初始条件、视频未发生取肉加热/搬运和 q_score=0 共同判断。平底锅初始在台面由服务任务文字确认，末态位置在头/腕视野外，保留关系依赖全片未见扰动的推断。找肉时抽屉唇缘细部接触被遮挡，故不能把脚本闭爪或勾拉命令当作实际抓握；倾倒前的基座姿态、接触力和完整运动状态未记录，无法确定初始失稳机制。"
+ },
+ "summary_zh": "机器人约在视频 16.0 s 打开冰箱，初始平底锅在台面的关系保留，末态节点为 2/5；未启动热源，也未把牛胸肉取出加热或放到砧板。为烹熟牛胸肉反复找肉并巡视台面的探索在视频约 114.0 s 因机器人倾倒中断，服务明确以跌倒结束本局。无状态日志，锅的末态保留和肉目标未达含上下文推断，抽屉实际接触与具体失稳机制不能细定。",
+ "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、锅初始保留、热源/做熟/上板未达）、断点（brisket_cooked，探索，视频约114 s跌倒）与平衡/控制归��与视频和q_score=0一致；跌倒需连续300控制步（约10 s），与约114 s倾斜、123.8 s结束吻合。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:29:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/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": "c99be34939f1290ec0df287e5b69d0033c27983838d9a351a61a30b2dd3d2953",
+   "video_sha256": "bcb3c72ae51281368e63621d9b2928b71c490d7b7ca31910c3c5c0659ba2f925",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--9jcp7w7.json

@@ -0,0 +1,293 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-brisket-i00-standard--9jcp7w7",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "dag_sha256": "2420bb0ca96a5b916c4a2000c68afbcd2d8aae9f0280c696b39a9f27293848b3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 22631,
+   "sim_steps": 22781,
+   "physics_steps": 91124,
+   "steps": 9156,
+   "elapsed_s": 6748.7,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-a-brisket-i00-standard--9jcp7w7/replay.mp4",
+  "duration_s": 759.4,
+  "fps": 10.0,
+  "frames": 7594,
+  "sha256": "d0d217c90fde38bd6ee3b1ec186dfefd9074e0da1d3268c0ca65ad97e488dd67"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": 129,
+      "text_zh": "观察：视频 37–45 s 右夹爪夹住带出水口一侧的门把手并外拉；该门板离开柜体，但画面没有露出成功示例中带窗门板后面的取肉通道。"
+     },
+     {
+      "t": 395.0,
+      "log_step": 310,
+      "text_zh": "观察：视频 392.5–396.5 s 的宽视角中，露出的窄搁架在左侧，右侧带深色长窗的门板仍在原位；视频 575.0 s、视频 630.0 s 和视频 758.4–759.3 s 仍是这一布局。"
+     },
+     {
+      "t": 630.0,
+      "log_step": 372,
+      "text_zh": "推断：对照成功示例视频 5–15 s，成功时转开的是带深色窗的门板，随后在示例视频 40–45 s 从其后隔层取出肉。本次打开另一侧并反复伸向其中的前沿，未打开挡住牛胸肉的门；不能只因看见任何白色搁架就将本节点记为真。agent 在 log step 372 将相邻门板称作“内门板”，这是其判断，不作为开门达成的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪实际夹住带出水口一侧门板的竖直把手并外拉，后续左夹爪也在门把手、门边附近合拢和拉动；这些实际接触没有把挡肉的带窗门板抓开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在开门工作中接近冰箱、后退并绕门换位，例如视频 388–393 s 的后退；未能因此打开挡肉门板。"
+     }
+    ]
+   },
+   "heat_source_enabled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 158.0,
+      "log_step": null,
+      "text_zh": "观察：视频 158.0 s 可见灶台和微波炉前缘红色标记；全段抽查至视频 759.3 s，机器人一直在冰箱附近操作，没有前往热源开关按压或旋转，也未出现火焰或工作标记变绿。"
+     },
+     {
+      "t": 759.3,
+      "log_step": null,
+      "text_zh": "推断：结合视频全程的冰箱操作和运行日志中的动作，未发生启动可用热源的步骤；不能把靠近冰箱旁的微波炉算成启动设备。"
+     }
+    ]
+   },
+   "brisket_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 493.8,
+      "log_step": 396,
+      "text_zh": "观察：视频 488–509 s 左夹爪伸向下部隔层，合拢后再撤出，隔层内物体未跟随夹爪移出；视频 568–594 s 的再次合爪、后撤也没有带出肉块。"
+     },
+     {
+      "t": 632.9,
+      "log_step": 522,
+      "text_zh": "观察：log step 522 的服务反馈给出左夹爪开度约 0.00000066 m；视频 630–635 s 的夹爪和隔层视图没有显示肉随夹爪移动。开度读数仅作辅助，不能将合爪等同抓到肉。"
+     },
+     {
+      "t": 759.3,
+      "log_step": null,
+      "text_zh": "推断：视频始终没有肉移至热源或受热变材质的过程；评分字段 q_score=0，���熟化并非初态目标，因此终态 cooked 为假。没有状态日志或逐物体温度读数，不能仅凭冰箱内深色物体外观判熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "在为烹饪取肉的尝试中，左夹爪伸到白色隔层前沿并贴压该前沿，右夹爪随后也伸入隔层；合爪、后撤均未见肉块被夹住带走。此处记录可见的前沿接触，不把空合爪标成对肉的抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为伸入冰箱取原料多次前后移动并绕门换位，包括视频约 519–529 s 和视频约 628.9 s 的接近调整。"
+     }
+    ]
+   },
+   "brisket_on_board": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 759.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0–759.3 s 的抽帧序列中，机器人未携肉离开冰箱，也未向砧板放下物体；视频最后一秒仍停在冰箱隔层前。"
+     },
+     {
+      "t": 759.3,
+      "log_step": null,
+      "text_zh": "推断：评分字段 q_score=0，肉上砧板不是初始已成立的目标，因此终态该关系为假；结合没有取肉后搬运、放板的画面，本节点无达成区间。"
+     }
+    ]
+   },
+   "pan_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 明确给定平底锅初始已在台面；视频 0.0 s 的远景中台面部分较小，无法独立辨清锅底接触。结合后续机器人从未在平底锅处工作，按保留初态关系记自视频 0.0 s 成立。"
+     },
+     {
+      "t": 759.3,
+      "log_step": null,
+      "text_zh": "推断：已检查视频全程每 5 s 的画面，并密查开门、取物和末尾，机器人所有操作都在冰箱附近，未见移走平底锅或碰动其台面；故初态关系持续至视频 759.3 s。q_score 不计持续保持的初始目标，q_score=0 与本节点为真不冲突。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 40.0,
+   "log_step": 129,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 37–45 s 机器人右夹爪抓拉带出水口一侧的门板；视频 395.0 s、视频 575.0 s、视频 630.0 s 直到视频 759.3 s，另一侧带深色窗的门板仍未转开。推断：对照成功示例视频 5–15 s 的开门形态及示例视频 40–45 s 的取肉位置，本次开的是另一侧，挡肉门的开门步骤从未完成，后续对暴露隔层的取物动作没有修复此步。"
+  },
+  "unmet": {
+   "brisket_cooked": false,
+   "brisket_on_board": false,
+   "pan_on_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 40.0,
+    "log_step": 129,
+    "evidence_zh": "观察：视频 37–45 s 可见的有效把手抓拉发生在带出水口的一侧；视频 155–176 s 机器人在相邻门板附近伸手后，又回到原把手，视频 395–759.3 s 带窗门板始终未被拉开。推断：打开挡肉门所需的有效抓拉接触没有建立；不能把对另一扇门把手的抓握算成此步所需的接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志",
+    "evidence_zh": "观察：agent 在 log step 209 曾判断还有一块门板贴合框架，log step 372 却改称第二“门”是冰箱的“内门板”，随后把暴露隔层中的小包当作肉的候选并进行抓取（log step 394、446）。视频 395.0 s、视频 575.0 s、视频 630.0 s 的宽视角仍显示带窗门板在位，成功示例视频 5–15 s 则将该门板向外打开。推断：agent 对相邻门板及可取肉隔层的识别错误，使其在错误隔层反复抓取并未继续完成挡肉门的打开；不是由零分单独反推感知问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有门关节角、逐物体接触对及牛胸肉温度读数；近景常被门边和白色隔层前沿遮挡，不能确认每次合爪碰到哪个部件。开门判定依靠本次视频的两侧门板相对布局，并用成功示例比较挡肉通道的形态，门板和取物目标的身份包含视觉推断；不把 agent 自述“门已打开”当成达成。log step 41 给出控制频率 30 Hz，评分字段 sim_steps=22781 对应 759.37 s，与视频 759.4 s 一致；log step 396 的 control_steps=14815 对应视频 493.83 s，已与视频合爪事件核对，未用 agent 工作时间换算视频时间。"
+ },
+ "summary_zh": "机器人抓拉了冰箱带出水口一侧的门，并在露出的隔层反复合爪取物，但带深��窗的挡肉门板未按成功示例转开，首次未修复的失败是打开冰箱。热源未启动，肉未烹熟或放上砧板，只有平底锅保留初始在台面的关系，终态为 1/5 个节点；日志中对相邻门板的错误识别支持感知根因。无状态日志和门角读数，门板及肉所在隔层的身份依据视频布局与示例对照推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点（fridge_opened，操作中）与根因（感知：开了带出水口的一侧门，挡肉的带窗门板始终未开）与视频一致：对照成功示例视频 10 s（带窗右门转开露出右侧隔层），本次视频 500 s、630 s 的宽视角里带窗门板仍在原位。无状态日志，门身份依赖视频对照，conf 6 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": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:34:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-standard--9jcp7w7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-standard--9jcp7w7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1d88c917aa19dd93307e03cdb7b8927f9dda27340c4f93dbd5bd36f9a607e6b6",
+   "video_sha256": "d0d217c90fde38bd6ee3b1ec186dfefd9074e0da1d3268c0ca65ad97e488dd67",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--aqb2gxt.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-brisket-i00-standard--aqb2gxt",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "dag_sha256": "2420bb0ca96a5b916c4a2000c68afbcd2d8aae9f0280c696b39a9f27293848b3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 39986,
+   "sim_steps": 39986,
+   "physics_steps": 159944,
+   "steps": 5939,
+   "elapsed_s": 13875.6,
+   "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-cook-a-brisket-i00-standard--aqb2gxt/replay.mp4",
+  "duration_s": 1332.867,
+  "fps": 30.0,
+  "frames": 39986,
+  "sha256": "5024256c41a8ae0a036b37c3d04c03bd304d8f117a667a72a23898e39e161178"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      191.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 灰色冰箱双门关闭。视频 190.8 s 右夹爪夹着门把手，视频约 191–192 s 门板向外转开，内部白色搁架和取物通道露出；首次达到判据的时间约为视频 191.5 s，误差约半秒。"
+     },
+     {
+      "t": 200,
+      "log_step": null,
+      "text_zh": "观察：视频 196–206 s 可见白色冰箱内壁、多层搁架及转开的门内储物格；与成功参考视频 15–20 s 的开门形态一致。此节点为已发生事件，之后门板被反复操作不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪夹住冰箱竖直门把手并外拉，视频 190.8–192 s 门板随之转开；后续又多次夹拉另一侧门把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘驶到冰箱前，并在夹爪拉门时后退，支承开门动作；视频 190–194 s 可见机器人与冰箱间距离增大。"
+     }
+    ]
+   },
+   "heat_source_enabled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 55,
+      "log_step": null,
+      "text_zh": "观察：视频 55 s 灶台及微波炉的可见开关标记呈红色。全片粗查及视频 580–620 s、1275–1332.8 s 的加密查看中，机器人一直围绕冰箱找物、伸臂和移动，未见操作热源开关、点火或启动指示；成功参考视频 65–72 s 则能看到灶台开关变绿及持肉靠近炉头。"
+     },
+     {
+      "t": 1332.8,
+      "log_step": 305,
+      "text_zh": "推断：结合本次日志的全部动作均停留在导航、开门、扫描、取肉尝试及脱困阶段，没有热源启动动作，开启热源未达到。末段相机遮挡使部分开关不可见，结论不是由零分单独推出。"
+     }
+    ]
+   },
+   "brisket_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 590,
+      "log_step": null,
+      "text_zh": "观察：视频 584–595 s 机器人靠近敞开的冰箱；其后直到视频 1332.8 s，检查的各视图未呈现肉随夹爪搬到热源或受热变色的过程，腕部近景多为门体、机体和周围房间。"
+     },
+     {
+      "t": 1332.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；牛胸肉初始为生肉，做熟属于新增目标文字条件，零分排除了其终态成立。原生熟化按历史最高温度保持，因此结合没有加热过程，标为全程未做熟；不是仅凭肉的褐色判熟。"
+     }
+    ]
+   },
+   "brisket_on_board": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 590,
+      "log_step": 214,
+      "text_zh": "观察：视频 584–595 s 机器人推进到冰箱门口并伸臂，未见肉从搁架转移到夹爪；腕相机随后朝向地面、房间或被黑色机体结构遮挡。log step 214 的取肉脚本记录：目标预备位为 (4.85,-0.30,1.66)，返回右末端位置为 (4.335,-0.139,1.006)，下降后为 (4.382,-0.238,1.075)。"
+     },
+     {
+      "t": 1310,
+      "log_step": 303,
+      "text_zh": "观察：视频 1275–1332.8 s 加密检查中，没有可见肉块随手移动或落到砧板；log step 301、303 的“HOLDING”由 agent 脚本按夹爪开度自行打印，不是服务的物体抓握判定。"
+     },
+     {
+      "t": 1332.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 且 live_matches_replay=1；肉上砧板初始不成立，若终态成立则至少有一个新增目标文字条件得分，因此该节点 final=false。视频没有可支持中途放板的物体转移。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在取肉准备和尝试期间向冰箱开口推进、转向和后退，轮式底盘支承机械臂；该 DAG 将从冰箱取肉并入牛胸肉上砧板节点。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "右夹爪被用于向肉的候选位置靠近和闭合，但实际指垫与肉之间的区域没有清楚呈现；不能确认夹住、擦碰或未碰到肉，不能把脚本打印的 HOLDING 当成已发生抓握。"
+     }
+    ]
+   },
+   "pan_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 45,
+      "log_step": null,
+      "text_zh": "观察：视频 45 s 的头部视图可见黑色带柄平底锅位于橙棕色砧板左侧的灰色台面上；锅没有在夹爪中。砧板上没有肉。"
+     },
+     {
+      "t": 1332.8,
+      "log_step": null,
+      "text_zh": "推断：任务初态说明平底锅已经在台面上，视频 45 s 支持此关系；随后机器人围绕冰箱操作，未见接近、拿起或碰落该锅，运行日志也没有操作锅的动作，故保留初始关系至结尾。BEHAVIOR 的 q_score 不给仍然成立的初始目标计新增分，q_score=0 与保留平底锅关系相容。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brisket_on_board",
+   "t": 590.0,
+   "log_step": 214,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 584–595 s 机器人推进到敞开的冰箱口并伸臂取肉，未将肉带出；log step 214 的末端返回位置明显偏离脚本指定的肉上方位姿。之后机器人虽脱困并再次伸臂，直到视频 1332.8 s 仍没有取肉后放板的可见结果，评分器 q_score=0.0；按 DAG 将取出并入上砧板节点，这是首次未修复的取肉失败。"
+  },
+  "unmet": {
+   "brisket_cooked": false,
+   "brisket_on_board": false,
+   "pan_on_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 590.0,
+    "log_step": 214,
+    "evidence_zh": "推断：视频 588–595 s 机器人伸臂时腕相机转向地面及机体结构，没有成功参考视频 45–55 s 中肉块随夹爪移出的画面。log step 214 的预备目标 z=1.66 m、返回 z=1.006 m，下降目标 (4.85,-0.58,1.47) 而返回 (4.382,-0.238,1.075)，末端没有到达指定取肉位置；视频 1275–1332.8 s 的后续尝试也未显示肉被带出。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 210–211 的脚本先从基座 (5.387,1.540) 完成固定导航至 (4.874,0.372)，随后因 rpy_to_R 参数调用错误退出；log step 213 只修正姿态函数，log step 214 重跑整段脚本，再次执行同一固定前进量，使基座到 (4.811,0.153)，并出现取肉末端大幅不到位。log step 215 又把注释中总共约 5.1° 的修正作为每控制步 0.089 rad 重复 8 步，log step 217–221 多次后退仍几乎原位，符合视频 584–620 s 中逼近冰箱口后无法正常展开取肉动作；这些是实际命令编排和接口语义处理错误。",
+    "note_zh": "候选细分：控制脚本异常及重复位移命令；现有证据同时涉及脚本重跑和动作接口使用，保留在控制大类。"
+   }
+  ],
+  "gap_zh": "无状态日志或原生 Cooked、辅助抓握及接触对读数；牛胸肉与指垫的近景在关键尝试中被遮挡，不能判定是否发生短暂触碰或建立过抓握。视频约 596 s 后头部视图长期重复相近的冰箱画面，而腕部视图继续变化，不能用头部静止单独认定机器人始终卡住；具体阻挡接触体亦不能确定，因此不另标碰撞或滑脱。肉做熟与肉上砧板的终值由评分器 q_score=0.0 结合初态及视频约束判定；平底锅终值由初态、视频 45 s 和后续未操作的连续过程推断。"
+ },
+ "summary_zh": "机器人约在视频 191.5 s 打开冰箱，并保留初始的平底锅在台面关系，最终完成 2/5 个节点；没有完成牛胸肉做熟或上砧板。取肉尝试约在视频 590 s 因实际末端位姿偏离目标而失败，日志中的脚本重跑固定导航和重复每步转角命令支持控制层归因，后续尝试未修复该节点。关键指垫接触区受遮挡，未将脚本自报 HOLDING 当作取肉成功，肉的终态另受评分器零分��束。",
+ "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（开冰箱约191.5 s达成、其余未达成、平底锅初态保留）、断点（取肉上砧板节点，视频约590 s）与根因（控制·控制，候选控制脚本异常）都与帧和日志一致；未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:27:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-standard--aqb2gxt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-standard--aqb2gxt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b99994943ac56e371275351d343e68005fab8bf266f4749f5b8de23aa189c290",
+   "video_sha256": "5024256c41a8ae0a036b37c3d04c03bd304d8f117a667a72a23898e39e161178",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

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

@@ -0,0 +1,306 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-brisket-i00-standard--wsuimme",
+ "taskKey": "behavior-1k/cook_a_brisket",
+ "dag_sha256": "2420bb0ca96a5b916c4a2000c68afbcd2d8aae9f0280c696b39a9f27293848b3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3714,
+   "sim_steps": 3714,
+   "physics_steps": 14856,
+   "steps": 439,
+   "elapsed_s": 6734.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 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,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-a-brisket-i00-standard--wsuimme/replay.mp4",
+  "duration_s": 123.8,
+  "fps": 30.0,
+  "frames": 3714,
+  "sha256": "3465e925724702df01caabbd8fe73a58a540ccb3ba832e4a728ea9a68f998409"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      39.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 39.0,
+      "log_step": 86,
+      "text_zh": "观察：视频37.0–38.0 s右夹爪夹住冰箱右门竖把手；视频38.5 s门板开始外转，视频39.0–40.0 s已露出白色搁架及取肉通道。后续视频52–79 s双门进一步打开，末段仍可进入取肉；该节点为一次性事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频37–40 s右二指夹爪包夹右门把手后外拉；后续左夹爪另行夹拉另一扇门。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频49–50 s左夹爪抵住已打开门板的内侧，继续向外推展门板；未据双臂指令认定两手同时接触两扇门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约33–36 s底盘驶到冰箱前，约45–46 s再次调整开门位置。"
+     }
+    ]
+   },
+   "heat_source_enabled": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.2,
+      "log_step": 39,
+      "text_zh": "观察：视频16.0 s烤箱开关仍为红色；视频16.2 s左腕相机显示左夹爪顶住的开关已变绿，视频16.6–18.0 s头部视图也显示烤箱绿灯。"
+     },
+     {
+      "t": 32.0,
+      "log_step": 74,
+      "text_zh": "观察：视频约32 s灶台开关亦已变绿，炉头出现黄色火焰；此前机器人持续用左夹爪指端按压。开启任一可烹饪热源即满足本事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频12.5–18 s左夹爪指端顶压烤箱开关，后续又按压灶台开关。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约6–12 s轮式底盘驶近并对准烤箱及灶台前方。"
+     }
+    ]
+   },
+   "brisket_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 84.5,
+      "log_step": 233,
+      "text_zh": "观察：视频79–86 s右夹爪在冰箱顶部搁架向牛胸肉前缘推进并闭合，随后空手退回；肉留在搁架上。视频89–123.7 s又反复接近、闭合和撤回，未把肉带到热源。"
+     },
+     {
+      "t": 122.0,
+      "log_step": null,
+      "text_zh": "推断：视频122.0 s仍可见肉留在冰箱白色搁架上，外观与此前一致，未见成功参照视频68–73 s受热后的黑红材质变化。评分器q_score=0且live_matches_replay=1；平底锅在台面为初始目标、不计新增得分，因此总分也排除终态熟化成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频83.8–84.6 s及后续取肉尝试中，右夹爪指端触推肉的前缘，使肉向搁架深处移动，未形成可带走肉的包夹；这是给热源装载肉的准备操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约78–80 s及115–117 s底盘前移，调整右夹爪取肉的工作位置。"
+     }
+    ]
+   },
+   "brisket_on_board": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频2.0 s黑色平底锅旁的橙棕色砧板为空；全片未出现把肉搬向该台面并释放到砧板的动作。"
+     },
+     {
+      "t": 122.0,
+      "log_step": null,
+      "text_zh": "观察：视频122.0 s肉仍在冰箱搁架上；视频122.8–123.7 s右夹爪退开，未携带肉离开冰箱。"
+     },
+     {
+      "t": 123.7,
+      "log_step": null,
+      "text_zh": "推断：肉未离开冰箱，故没有建立肉在砧板上的关系；评分器q_score=0、live_matches_replay=1也排除该新增目标在终态成立。"
+     }
+    ]
+   },
+   "pan_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频2.0 s黑色带柄平底锅放在灰色台面上，旁边是橙棕色砧板。"
+     },
+     {
+      "t": 123.7,
+      "log_step": null,
+      "text_zh": "推断：DAG确认平底锅在台面为初始关系；视频全程机器人只在热源和冰箱处操作，从未接近或移动平底锅，故该关系自视频0 s保持至结束。末段台面离开视野，终态由初始可见关系及全程未操作推断；q_score=0不否定初始目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brisket_cooked",
+   "t": 84.5,
+   "log_step": 233,
+   "where": "操作中",
+   "evidence_zh": "观察：视频83.8–85.0 s机器人右夹爪在牛胸肉前缘闭合，肉被推向搁架里面，视频85–86 s夹爪空手撤出；视频89–123.7 s的多次取肉重试均未带走肉。推断：热源已经开启，机器人正在为烹熟装载肉而取肉，首个未修复的失败归入牛胸肉做熟；并未进入向砧板搬运的操作。"
+  },
+  "unmet": {
+   "brisket_cooked": false,
+   "brisket_on_board": false,
+   "pan_on_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 84.5,
+    "log_step": 233,
+    "evidence_zh": "观察：视频83.8–84.6 s右夹爪触推牛胸肉，但闭合后肉仍在搁架上，视频85–86 s抬起和退回的夹爪中没有肉；视频93–96 s、101–104 s、112–114 s及122–123.7 s重复空手撤回。所需的双指夹持接触未建立，触推本身不构成成功抓握。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：视频83.8–84.6 s夹爪从肉的前缘推进，肉先被推向深处，闭指时未被两指包夹；后续改变夹爪朝向仍重复这一结果。log step 233的脚本将接近、闭合、抬升、撤回串成固定取肉轨迹；log step 237打印的首轮末端位置到达所设目标且两指闭合到0，但视频85–86 s显示肉未随夹爪移动，支持接触位置与包夹几何不适配。无接触对或力读数，不能进一步确定具体指面与搁架干涉。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志、原生Cooked/温度或接触对记录；熟化终值结合未离冰箱的画面及评分器总分判断。部分指面和搁架接触被腕部遮挡，无法精确区分每次闭指的接触点或排查辅助抓握未触发的内部原因；平底锅末段不在视野内，其保持关系根据初始画面与全程未操作推断。"
+ },
+ "summary_zh": "机器人开启了烤箱及灶台并打开冰箱，平底锅保持初始台面关系，最终完成3/5个节点；牛胸肉未做熟，也未放上砧板。视频约84.5 s开始的取肉空夹始终未修复，右夹爪只触推肉而未建立可搬运的夹持，断在牛胸肉做熟的装载准备阶段。无状态日志，具体指面接触和辅助抓握内部原因不可核实；熟化终值另受q_score=0约束。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间与断点基本与视频一致：烤箱开关约16.5–17.5 s变绿，冰箱门约39 s打开，牛胸肉全程留在冰箱搁架上；断点和没建立接触/抓取和接触设计的归因有证据支持，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:17:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-standard--wsuimme/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-brisket-i00-standard--wsuimme/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6ace223bdf436220629b007f533f9a9e3c56ee29ebb0af483ca48d823b2bdfde",
+   "video_sha256": "3465e925724702df01caabbd8fe73a58a540ccb3ba832e4a728ea9a68f998409",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--28adrdg.json

@@ -0,0 +1,363 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-privileged--28adrdg",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 10529,
+   "sim_steps": 10529,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 3509.7,
+   "replay_timeout_s": 6464.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "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-cook-cabbage-i00-privileged--28adrdg/replay.mp4",
+  "duration_s": 350.967,
+  "fps": 30.0,
+  "frames": 10529,
+  "sha256": "cdc6c54113c7edbbfe50e7092678458eb22462d4cf39eed809c3fa3043ffdceb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      223.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 222.5,
+      "log_step": null,
+      "text_zh": "观察：视频222.0–222.5 s，左腕视角可见冰箱门边与箱体拉开间隙；视频223.0–224.5 s可见内壁和搁架，门已离开封闭位置。机器人随后继续在门旁调整位置。"
+     },
+     {
+      "t": 250,
+      "log_step": null,
+      "text_zh": "观察：视频250 s左腕视角仍可见冰箱内部搁架；本节点记录曾打开，不要求最后保持开门。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左侧二指夹爪夹住冰箱门把手附近并拉动门板；腕部视角可见门随夹爪拉开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人驶向冰箱，并在开门期间前后调整底盘位置。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 339,
+      "log_step": null,
+      "text_zh": "观察：视频334–340 s，机器人回到灶台旁，右夹爪向控制区域移动；视频340–350.5 s控制件仍呈红色，灶眼未出现火焰或其他启动指示。"
+     },
+     {
+      "t": 350.9,
+      "log_step": null,
+      "text_zh": "观察：视频350.5 s至视频最后一帧350.93 s，画面保持同一灶具与空夹爪姿态，没有出现热源启动后的变化。"
+     },
+     {
+      "t": null,
+      "log_step": 384,
+      "text_zh": "观察：log step 384是交付生成轮的结束输出，报告 toggled: False，并保存10529行动；其动作总数与评分器 n_actions=10529 相符。此输出辅助核对视频中的未启动状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "右夹爪已向灶具控制区尝试操作，但三路画面不能确认指尖是否实际压到控制件，不能把接近直接记为按压。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人从冰箱区域驶回灶台，并靠近控制区调整位置。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26,
+      "log_step": null,
+      "text_zh": "观察：视频20–30 s，煎锅从原台面位置离开，出现在左夹爪前并随左臂移动；这证明抓锅与搬运发生，但尚未放到灶眼。"
+     },
+     {
+      "t": 184,
+      "log_step": null,
+      "text_zh": "观察：视频182–189 s，机器人将煎锅移到灶具上方；视频183.5–186.5 s锅体大幅倾斜，视频188.5–190 s松爪后锅口接近竖直、锅体靠在灶台后侧，锅底没有平置对准灶眼。"
+     },
+     {
+      "t": 330,
+      "log_step": null,
+      "text_zh": "观察：视频230、290及330 s远景中，锅仍以竖起的姿态留在灶台后侧；未见机器人之后重新摆正锅底。推断：搬到灶台附近不满足本节点的有效加热位置判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左侧二指夹爪夹住煎锅锅沿搬动，在��具旁张爪释放；未把该接触写成抓锅把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘靠近台面取锅，携锅移动到灶具旁并调整位置。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 100,
+      "log_step": null,
+      "text_zh": "观察：视频100 s可见细长刀具仍在台面上，左夹爪夹着煎锅；视频110–160 s机器人反复改变锅的高度和倾角，右臂在台面附近配合，未见形成持刀切菜或刀在锅内的配置。"
+     },
+     {
+      "t": 310,
+      "log_step": null,
+      "text_zh": "观察：视频242–310 s机器人在冰箱旁多次伸臂、调整，视频315–334 s离开时两爪未见夹着卷心菜，台面与锅内未见新增卷心菜小丁。"
+     },
+     {
+      "t": null,
+      "log_step": 380,
+      "text_zh": "观察：log step 380的交付生成轮输出中，刀具最后位置高度约0.006米；log step 384保存10529行动且报告q_score=0。推断：结合视频中未取得可用刀具、未见卷心菜转移或切丁，卷心菜切丁事件未达成；零分本身不用于否定切丁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "准备刀具时左夹爪夹着煎锅作为承接容器，右臂同时在台面刀具附近配合；可见的抓握是左爪对锅沿，未见任一夹爪夹住刀或卷心菜。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "右爪与刀具的实际接触点及随后冰箱内夹爪与卷心菜的接触被遮挡；不能确认推刀或抓菜的具体接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在刀具准备阶段携锅调整底盘，之后驶向冰箱为取卷心菜调整位置。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 310,
+      "log_step": null,
+      "text_zh": "观察：视频242–310 s机器人在冰箱区域调整与伸臂，离开冰箱后的视频315–334 s没有夹持或搬回辣椒，也未见台面或锅内出现辣椒颗粒。"
+     },
+     {
+      "t": null,
+      "log_step": 382,
+      "text_zh": "观察：log step 354及交付前补丁保留的生成脚本依次尝试head_cabbage和chili；log step 382报告两次base for veg，而log step 384直接进入热源操作并结束，未报告任何成功取菜。推断：配合视频中空爪离开及没有切割动作，辣椒切丁事件未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人在冰箱旁为取辣椒伸臂准备切丁，但食材所在深处遮挡，无法确认夹爪是否接触辣椒或接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在冰箱旁调整取菜位置；未见携带辣椒驶离。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 350.9,
+      "log_step": null,
+      "text_zh": "观察：视频348–350.93 s未见活动热源、锅内食材加热或熟丁生成；之前巡视灶台的画面也没有出现卷心菜小丁装入锅中的动作。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0，DAG对应的熟丁real与contains目标文字在初态均不成立，因而终态不能满足“卷心菜熟丁存在且在锅内”的节点；结合全过程未见烹饪转化，区间记为空。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 350.9,
+      "log_step": null,
+      "text_zh": "观察：视频348–350.93 s未见活动热源、锅内食材加热或熟丁生成；之前巡视灶台的画面也没有出现辣椒小丁装入锅中的动作。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0，DAG对应的熟丁real与contains目标文字在初态均不成立，因而终态不能满足“辣椒熟丁存在且在锅内”的节点；结合全过程未见烹饪转化，区间记为空。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabbage_diced",
+   "t": 150.0,
+   "log_step": 380,
+   "where": "操作中",
+   "evidence_zh": "推断：最早未修复的问题出现在视频约100–166 s的共用刀具准备中：机器人左爪持锅、右臂在台面刀具附近操作，未得到可供切菜的刀具配置；之后去开冰箱并未修复刀具准备。log step 371的交付脚本补丁明确采用推刀入手持锅的方案，log step 380最终输出刀具高度约0.006米；log step 384保存的10529行动与评分视频一致。按脚本先处理卷心菜的顺序，将此共同准备失败归入卷心菜切丁；视频150 s为操作阶段的粗略导航锚点，不是已看清的落刀瞬间。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 150.0,
+    "log_step": 380,
+    "evidence_zh": "推断：视频100 s刀具仍平放台面，视频110–160 s左爪持锅时锅的高度、倾角反复改变，未见刀进入锅内；log step 371设定由右爪推刀、左爪持锅承接，log step 380随后报告刀具落至接近地面的高度。结合视频中接刀配置未建立、后续空爪去开冰箱，判断刀与承接锅的相对位置未到位；不将其记为已经放入目标后不稳。"
+   }
+  ],
+  "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30–180 s可见左爪夹锅沿后锅体反复摆转；log step 371的交付脚本用这只夹持中的锅承接右爪从台面推出的刀，随后log step 378、380给出的锅高度与位置变化很大，而刀最后在接近地面处。该承接布局未稳定约束锅口朝向和接刀位置，导致刀具准备失败。未验证其他抓法是否可行；不采用log step 395关于刀厚和夹爪尺寸的自述来断言所有合法抓法均不可能。"
+   }
+  ],
+  "gap_zh": "无状态日志，成功oracle也无视频可比较。推刀瞬间刀刃、锅口及刀落地过程不在清晰视野内，故落刀位置、断点时刻和具体控制归因有推断成分；冰箱深处的取菜接触及灶具指尖接触也无法确认。锅在灶台后侧竖起的终态可见；日志中其他调试轮关于大幅开门、锅放稳等结果不当作本评分轨迹进度。"
+ },
+ "summary_zh": "评分轨迹只确认打开冰箱（约视频223 s），最终达到1/7节点；煎锅虽被搬到灶台，却竖起靠在后侧，热源未启动，两种食材均未见切丁或烹熟。最早未修复的问题归入卷心菜切丁的刀具准备：左爪持锅承接、右臂推刀的配置未到位，接触与承载布局控制不足；随后开门和取菜尝试没有修复它。无状态日志且关键刀具接触被遮挡，刀具落下与根因部分依赖交付轮日志和前后画面推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅冰箱打开，其余未达成）、断点（卷心菜切丁，刀具准备）与根因与视频及交付轮日志相符；未发现需改动内容的错误。冰箱开门有log step 380/382（door th=0.68/0.62）佐证，视频约223 s与之相容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:48:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--28adrdg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--28adrdg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7232b1883d0ae9256535aeb6d70b465fb50d6ea39e42f420457ae12d92f03046",
+   "video_sha256": "cdc6c54113c7edbbfe50e7092678458eb22462d4cf39eed809c3fa3043ffdceb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--hulwzps.json

@@ -0,0 +1,393 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-privileged--hulwzps",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 2685,
+   "sim_steps": 2685,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1676.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 32,
+   "agent_resets": 0,
+   "agent_sim_steps": 5552,
+   "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-cook-cabbage-i00-privileged--hulwzps/replay.mp4",
+  "duration_s": 89.5,
+  "fps": 30.0,
+  "frames": 2685,
+  "sha256": "73d183eec3e83f6af779e6dde564e431942fad07f7b0009d4934adcd0b959968"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      34.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 34.2,
+      "log_step": null,
+      "text_zh": "观察：视频 32.7–34.2 s，机器人左夹爪拉动冰箱门把手，门板向外转开；视频 34.2 s 已露出装有绿色卷心菜和红色辣椒的隔层，视频 36.2–38.5 s 门继续保持敞开，开口足以进行取料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频约 32.7–34.2 s，左侧二指夹爪夹住冰箱门竖直把手并拉开门板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 23–31 s，轮式底盘从灶台区域行驶至冰箱前，为开门调整位置。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 6.6–6.9 s，机器人左夹爪前端压向灶具前面的红色控制标记，标记在视频约 6.8 s 变绿；视频 7.5 s 及视频 89.4 s 仍能看见绿色开启指示。此节点记录曾开启。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频 6.6–6.9 s，左夹爪前端按压灶具控制件，未抓握旋钮。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0–4.5 s，轮式底盘载机器人从厨房初始位置行驶至灶具前。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 10.7 s，煎锅仍在灶具左侧台面；视频 12.2–15.7 s，机器人左夹爪夹住锅柄并搬动煎锅，腕部相机可见锅柄保持在两指之间。"
+     },
+     {
+      "t": 19.5,
+      "log_step": null,
+      "text_zh": "观察：视频 16.2–19.2 s，煎锅随左臂处在灶台前沿外侧，未见锅底平放或对准灶眼；视频约 19.5 s 左夹爪张开，视频 20.5–22.7 s 煎锅翻转下落到柜体前方低处，灶面上没有留下该煎锅。"
+     },
+     {
+      "t": 76.5,
+      "log_step": null,
+      "text_zh": "观察：视频 74.5–77.5 s，煎锅仍在灶台前方低处，机器人没有将它重新搬到灶眼；视频 78.5–89.4 s 的灶面视图同样没有该煎锅。"
+     },
+     {
+      "t": 22.1,
+      "log_step": 411,
+      "text_zh": "推断：结合视频 12.2–22.7 s 的搬运、释放和下落，锅体没有达到有效加热位置，不能把曾靠近灶台算作“煎锅放上热源”。log step 411 的“Pan placed. Heated: True”来自更早的 task-734 调试执行；log step 424–426 又修改并启动了脚本，前次输出不能替代本次回放画面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 12.2–19.2 s，左侧二指夹爪夹住煎锅把手搬运；视频约 19.5 s 张开释放，未完成灶眼放置。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 9–16 s，轮式底盘��靠近台面煎锅，再在左夹爪持锅时移向灶具。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.5,
+      "log_step": null,
+      "text_zh": "观察：视频 38.5–49.5 s，机器人在敞开的冰箱前进行取料动作；视频 46.5、47.5、49.5 s 的头部画面仍清楚显示完整绿色卷心菜留在原隔层，未见其被带离或变成两半、小丁。"
+     },
+     {
+      "t": 89.4,
+      "log_step": null,
+      "text_zh": "观察：视频 50.5–61.5 s，机器人返回灶台并作下放动作，没有卷心菜随夹爪到达灶台；视频 78.5–89.4 s，左臂在灶面上方反复升降，但该处没有卷心菜，也未出现卷心菜丁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 38.5–49.5 s，底盘为冰箱内取料调整位置；视频 50.5–55.5 s 和视频 74.5–79.5 s 行驶至后续操作位置。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频约 46–49.5 s，左夹爪伸向卷心菜隔层；指尖与食材之间的局部被遮挡，无法确认是否发生短暂轻触。卷心菜留在原位，不能标为已抓握，也未确认刀刃接触卷心菜。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.5,
+      "log_step": null,
+      "text_zh": "观察：视频 38.5 s，完整红色辣椒位于冰箱下层；视频 39.5–44.5 s 机器人向下层伸臂取料，随后视频 45.5–49.5 s 仍能看见完整辣椒留在原隔层，没有生成辣椒丁。"
+     },
+     {
+      "t": 89.4,
+      "log_step": null,
+      "text_zh": "观察：视频 50.5–61.5 s，机器人返回灶台作下放动作，没有红色辣椒随夹爪到达；视频 78.5–89.4 s 的灶面操作也未出现辣椒或辣椒丁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 38.5–44.5 s，底盘在冰箱前配合下层取料定位；视频 50.5–55.5 s 和视频 74.5–79.5 s 行驶至后续操作位置。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 39.5–44.5 s，右臂向辣椒所在下层伸入，指尖附近被机器人结构与隔层遮挡；不能确认是否短暂碰到辣椒。辣椒未离开原位，不能记抓握或刀刃切割接触。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.5,
+      "log_step": null,
+      "text_zh": "观察：视频 49.5 s，完整卷心菜仍在冰箱内，未被切丁；视频 55.5–61.5 s 的机器人装载动作没有将该食材送入煎锅，视频 74.5–77.5 s 煎锅仍在灶台前方低处。"
+     },
+     {
+      "t": 89.4,
+      "log_step": null,
+      "text_zh": "推断：回放中未见卷心菜切丁、入锅或熟化，且评分器 reward.q_score=0.0。DAG 的该节点需熟丁物质存在并在锅内，初始画面没有已完成的熟丁目标；得分为零排除终态成立，因此本节点 final=false。锅内终态细节无法仅凭视频 89.4 s 的灶面视角判断，终值同时依据评分器总量约束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 50.5–55.5 s，轮式底盘返回灶台进行预定的卷心菜装载和烹饪操作；画面没有显示夹爪携带该食材，不据此虚构抓持、装料接触或设备已完成烹饪。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.5,
+      "log_step": null,
+      "text_zh": "观察：视频 49.5 s，完整辣椒仍在冰箱内，未被切丁；视频 55.5–61.5 s 的机器人装载动作没有将该食材送入煎锅，视频 74.5–77.5 s 煎锅仍在灶台前方低处。"
+     },
+     {
+      "t": 89.4,
+      "log_step": null,
+      "text_zh": "推断：回放中未见辣椒切丁、入锅或熟化，且评分器 reward.q_score=0.0。DAG 的该节点需熟丁物质存在并在锅内，初始画面没有已完成的熟丁目标；得分为零排除终态成立，因此本节点 final=false。锅内终态细节无法仅凭视频 89.4 s 的灶面视角判断，终值同时依据评分器总量约束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 50.5–55.5 s，轮式底盘返回灶台进行预定的辣椒装载和烹饪操作；画面没有显示夹爪携带该食材，不据此虚构抓持、装料接触或设备已完成烹饪。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pan_at_heat_source",
+   "t": 19.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 12.2–19.2 s，机器人左夹爪持锅向灶具搬运，锅体留在灶台前沿外侧；视频约 19.5 s 夹爪张开放开锅柄，视频 20.5–22.7 s 煎锅翻落到柜体前方低处。视频 74.5–77.5 s 仍可见该锅没有放回灶眼；这是视频中早于后续取料失败、且未修复的搬锅步骤失败。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 19.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 16.2–19.2 s，机器人没有把煎锅锅底放到灶眼上，而是在灶台前沿外侧张开左夹爪；视频 20.5–22.7 s 可见煎锅翻转下落。释放前锅体没有到达目标加热位置，后续也未补放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 19.5,
+    "log_step": null,
+    "evidence_zh": "推断：视频 12.2–19.2 s 显示机器人已夹住锅柄并朝正确的灶具搬运，但搬运末端的锅体位置与姿态没有对准灶眼，左夹爪在视频约 19.5 s 仍执行释放，导致视频 20.5–22.7 s 的翻落。证据支持搬运和放置执行控制不足；没有逐帧末端目标、逆解结果或接触力，不能细分为抓取设计、逆解或反馈控制。",
+    "source_zh": "视频"
+   },
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "t": null,
+    "log_step": 425,
+    "evidence_zh": "观察：inputs/run.json 的 reward.agent_records=1、agent_replays=0、deterministic=1；log step 407 启动 task-734，log step 411 的该会话输出为“Pan placed. Heated: True, Temp: 629.0”，但评分回放视频约 19.5–22.7 s 显示煎锅在灶台外侧释放后翻落。log step 424 改写 gen.py，包含 record_start、record_stop 和 save_trajectory；log step 425 再次启动 task-768，log step 426 仅自述将等待完成，此后没有完整执行输出、保存回执或回放验证记录。推断：交付轨迹未经回放验收，较早会话的放锅结果没有在评分回放中实现，按 docs/DECISIONS.md N10 记交付操作出错；不能据此证明同一动作序列发生重放分歧，也不能证明多个脚本版本被拼接。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，oracle.json 也明确成功参考没有视频。锅体在搬运中部分被手臂和画面边缘遮挡；依据释放前后连续画面判断未到灶眼，但不能测定具体位姿误差、受力或控制子类。冰箱取料时指尖局部被遮挡，不能确认两种原料是否曾受轻触，故相关接触记未知，不记成功抓握。log step 411 是较早 task-734 的执行输出，log step 424–426 又修改并启动 task-768；未提供后一次完整执行输出与最终保存回执，因此节点和视频时刻均由本次回放判断，不沿用前次自检。 评分器虽记录已有交付轨迹及 agent_records=1、agent_replays=0，但日志不足以确定最终文件来自 task-734 还是 task-768，或是否发生跨版本拼接；交付根因限于未经回放验收，不把具体拼接机制当作事实。"
+ },
+ "summary_zh": "本次评分回放完成开启热源和打开冰箱，共 2/7 个节点；卷心菜与辣椒未取出或切丁，两种熟丁在锅的目标均不成立，评分器 q_score=0。最早未修复的断点是煎锅放上热源：机器人在灶台前沿外侧释放煎锅并使其翻落，表现为位姿不准，根因支持控制执行不足；另据 log step 411、424–426 及 reward.agent_replays=0，按 N10 增记交付操作出错，交付轨迹未经回放验收。没有状态日志或成功参考视频，局部指尖接触、控制子类及最终交付脚本版本无法核实，较早会话输出不作为本次回放进度。",
+ "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（2/7：冰箱、热源已开；锅未到灶眼；食材未取）、时间和断点与视频一致，未发现节点或时间错误。问题在根因：log 411 的会话执行显示放锅成功，而评分回放中锅翻落，交付文件从未回放验证（agent_replays=0），根因缺少交付一项。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（2/7）、时间、断点（pan_at_heat_source，锅在灶台前沿释放后翻落）、位姿不准、控制和交付根因均与视频及日志一致；第一轮意见已被采纳，未发现新问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:47:37Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--hulwzps/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--hulwzps/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--hulwzps/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--hulwzps/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e53085c75047de410ca77b7e005d26079489b19da8bf713eebf30ffa8759ad2c",
+   "video_sha256": "73d183eec3e83f6af779e6dde564e431942fad07f7b0009d4934adcd0b959968",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--qmxm6of.json

@@ -0,0 +1,377 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-privileged--qmxm6of",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 6964,
+   "sim_steps": 6964,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 3276.9,
+   "replay_timeout_s": 4682.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 6,
+   "agent_sim_steps": 16354,
+   "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-cook-cabbage-i00-privileged--qmxm6of/replay.mp4",
+  "duration_s": 232.133,
+  "fps": 30.0,
+  "frames": 6964,
+  "sha256": "b98467c5832a9e20fa7109ff16e88804bb849e776c41179d94f953b65ee94491"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–12.0 s，机器人左夹爪夹着冰箱把手向外拉，门板与箱体分离，门后隔层已露出；视频 33.0–36.0 s 再次扩大开口，视频 48.0–52.0 s 卷心菜实际离开隔层。首次达到按视频约 11.0 s 标记，误差约 0.5 s；这是曾打开的事件，之后门板回摆不撤销。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–28.0 s，左夹爪仍在把手处，右臂也向门板附近调整；右爪是否确实压住门板在腕部画面中不能确认，未另记压门接触。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 7.0–12.0 s 及约 31.0–33.0 s，左侧二指夹爪包夹冰箱门把手并拉动门板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘先驶到冰箱前，并在视频约 31.0–38.0 s 随拉门、退出和绕门调整位置。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 200.0,
+      "log_step": null,
+      "text_zh": "观察：视频 192.0–216.0 s，机器人空手移向灶面，在红色控制标记附近多次下探和停留，标记始终没有变绿，灶眼没有出现火焰。"
+     },
+     {
+      "t": 232.1,
+      "log_step": 260,
+      "text_zh": "观察：视频 231.2 s 和 232.1 s 的最后一秒画面，左腕视角仍可见红色灶具控制标记；未见本次评分轨迹启动其他兼容热源。日志 log step 260 的 TOGGLE=True 和 success=True 属于修改前的交互生成过程，不能覆盖此处视频中的未启动状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 199.0–200.0 s、208.0 s 及 232.1 s，左夹爪指尖与红色控制标记在图像上贴近或重叠；缺少深度或接触日志，不能确认是否真正碰到开关表面及施力方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 191.0–193.0 s 机器人底盘向灶台控制区调整位置，随后夹爪在控制件附近操作。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 190.5,
+      "log_step": null,
+      "text_zh": "观察：视频 188.0–190.5 s，左夹爪对着台面上煎锅把手下降、闭合并抬起，煎锅仍留在卷心菜半份和散落菜丁旁，未随手抬起。"
+     },
+     {
+      "t": 196.0,
+      "log_step": null,
+      "text_zh": "观察：视频 191.5–198.0 s，左腕画面转向灶眼时夹爪为空，头部画面中灶眼上也没有煎锅；视频 199.0–232.1 s 后续只有控制区操作，没有重新取锅搬锅。该次搬锅未达到有效加热位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 189.0–190.5 s，左夹爪在煎锅把手末端贴靠并闭合；指尖触及把手区域，但未见对向包夹并带起锅，故不记成功抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 186.0–193.0 s，机器人底盘调整到煎锅把手旁，随后空手移向灶面，煎锅没有随底盘搬运。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "visual",
+    "intervals": [
+     [
+      64.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 60.5,
+      "log_step": null,
+      "text_zh": "观察：视频 48.0–59.5 s 左夹爪夹持完整卷心菜离开冰箱并搬至台面；视频约 60.5 s，完整卷心菜变为半份，落在煎锅旁的刀具区域。"
+     },
+     {
+      "t": 64.5,
+      "log_step": null,
+      "text_zh": "观察：视频 64.5–68.0 s 的左腕视角清楚出现散落在台面上的离散浅绿色小方块，同时仍有一块卷心菜半份；至少一部分已经切丁，符合本节点无需处理全部半份的判据。首次可确认的小丁按视频约 64.5 s 标记；视频 75.0 s、93.0 s 和 188.0 s 仍能看见台面菜丁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 48.0–60.5 s，左侧二指夹爪夹住卷心菜，把它搬至台面刀具附近；切半、随后生成部分菜丁。视频 77.0–91.0 s 还夹起刀具下探，但未看到台面剩余半份被该次持刀动作切掉，不把这一动作补记为已证实的刀刃切菜接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 52.0–59.0 s，机器人底盘在左夹爪携带卷心菜时从冰箱驶向备菜台面。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "visual",
+    "intervals": [
+     [
+      165.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 154.0,
+      "log_step": null,
+      "text_zh": "观察：视频 146.0–154.0 s 左夹爪调整抓取辣椒，随后红辣椒离开冰箱下层，并随机器人返回台面；视频 164.0 s 左腕画面中可见辣椒位于煎锅内、横放的刀刃上方。"
+     },
+     {
+      "t": 165.5,
+      "log_step": null,
+      "text_zh": "观察：视频 164.5–165.0 s 辣椒已分成两段，视频 165.25–165.5 s 其中一段消失并在原刀刃附近出现一簇离散小颗粒，另一段红色半份仍在；视频 168.0–185.0 s 锅内仍有颗粒。按首次清楚确认的颗粒生成时刻视频约 165.5 s 记切丁事件，不要求全部半份消失。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 146.0–164.5 s，左侧二指夹爪夹住辣椒、取出并送到锅内刀刃附近后松开；视频 165.5 s 生成颗粒时刀已躺在锅中，未见机器人持刀切割辣椒。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 154.0–161.0 s，机器人底盘在左夹爪持辣椒时从冰箱移向煎锅所在台面。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 93.0,
+      "log_step": null,
+      "text_zh": "观察：视频 64.5–93.0 s，部分卷心菜成为台面菜丁，另一个半份留在锅旁；机器人又做了抓取半份、持刀下探动作，视频 93.0 s 仍能看到锅旁半份和散落菜丁。未见卷心菜加热转化的视觉变化。"
+     },
+     {
+      "t": 232.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0；任务将熟卷心菜丁声明为初始不存在的 future 物质，因此本节点若最终成立，必有新增的熟丁存在和入锅目标文字成立，与零分不相容，故 final=false。视频 188.0–216.0 s 又显示搬锅未成功、热源未启动，支持未曾完成烹熟；此判断并非仅用零分否定取菜或切丁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 48.0–60.5 s 左夹爪抓持卷心菜搬往煎锅所在台面，属于食材装载过程；视频 68.0–75.0 s 后续抓取没有使剩余半份进入锅。此处记录装载接触，未声称机器人直接接触熟丁。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 52.0–59.0 s 底盘携带左手所持卷心菜从冰箱驶向煎锅旁。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 165.5,
+      "log_step": null,
+      "text_zh": "观察：视频 164.0–166.5 s，机器人将辣椒送至台面上的煎锅，刀刃附近生成生颗粒，锅仍在备菜台面；视频 184.0–185.0 s 仍能看到锅内颗粒和红色半份，没有加热转化的证据。"
+     },
+     {
+      "t": 232.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，熟辣椒丁是初始不存在的 future 物质，最终若同时熟丁存在且在锅内，必贡献新增目标文字，与零分不相容，因此 final=false；视频 191.5–232.1 s 空手向灶面操作、红色开关及无火焰也支持本次未烹熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 146.0–164.5 s，左夹爪夹持辣椒从冰箱移至煎锅并松开，记录设备烹饪之前的装载接触；未观察到熟丁生成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 154.0–161.0 s 底盘携带左手所持辣椒移向锅所在台面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pan_at_heat_source",
+   "t": 190.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：两种切丁事件在视频约 64.5 s 和 165.5 s 已经达到；随后视频 188.0–190.5 s 机器人对煎锅把手闭合夹爪并上抬，锅没有跟随。视频 191.5–198.0 s 机器人空手做向灶眼搬放的动作，之后未再取锅，煎锅放上热源这一未达步骤没有修复；后续视频 199.0–232.1 s 的红色开关也始终未启动。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 190.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 189.0–190.5 s 左夹爪在煎锅把手处闭合，但抬手时没有带起煎锅；视频 191.5 s 起腕部画面已转向灶面，夹爪内没有锅。所需的有效抓持没有建立；虽有指尖贴靠把手区域的接触，未观察到先持锅再滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志",
+    "log_step": 303,
+    "evidence_zh": "推断：log step 260–265 的交互生成记录为 6999 行且返回 success=True；log step 294–299 显示该原文件的新进程试放并未重现取菜结果。agent 在 log step 303 直接把原数组的 [1063:1199] 段替换为预设底盘动作，保留其余后续动作，log step 304 确认交付 6964 行，log step 305 明记 final_revision_replayed=false，log step 306 也承认修订未验证。交付了未经完整新进程验证的拼接修订，后续抓锅未重现生成过程中的有效抓持（视频 188.0–191.5 s），这是有记录的轨迹修改与验收失误；不把原文件试放中的关门归作本视频的失败现象。"
+   }
+  ],
+  "gap_zh": "没有状态日志，oracle.json 也明确没有参考视频；无法逐帧读取锅内颗粒类别、熟化状态及夹爪接触对。两种熟丁节点的终值由评分器 q_score=0 和可见的搬锅、开热源失败共同判定；开关是否有物理接触及抓锅失效的具体力学或控制器子因不能确定。原生成、原文件试放与最终修订的日志是不同尝试，节点时间全部取自最终修订的视频，不能将 log step 260 的成功或 log step 299 的关门描述套入该视频。"
+ },
+ "summary_zh": "评分轨迹完成开冰箱、卷心菜切丁和辣椒切丁，共 3/7 个节点，切丁分别在视频约 64.5 s、165.5 s 可确认；部分卷心菜及菜丁仍留在锅旁。视频约 190.5 s 的搬锅未建立有效抓持，机器人随后空手转向灶眼，热源直到视频 232.1 s 仍未启动，两种熟丁入锅目标均未达到；日志记录最终交付是未经新进程验证的底盘路径拼接修订。缺少状态日志，熟丁终值受零分总量约束，不能从交互生成过程的成功记录补记评分轨迹进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值与时间、断点（pan_at_heat_source，搬锅未带起）、现象与根因均有视频帧支持；抽查未见需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:39:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--qmxm6of/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--qmxm6of/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a5f692fc1dec07aa78cf4dea78db6ed3d6f7710aeb1081e47bf30c541d0ac373",
+   "video_sha256": "b98467c5832a9e20fa7109ff16e88804bb849e776c41179d94f953b65ee94491",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--xr2mt2g.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-privileged--xr2mt2g",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 2358,
+   "sim_steps": 2358,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1855.0,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 1,
+   "agent_sim_steps": 2358,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-cabbage-i00-privileged--xr2mt2g/replay.mp4",
+  "duration_s": 78.6,
+  "fps": 30.0,
+  "frames": 2358,
+  "sha256": "c6512541726b97926be2309d0239d54e37731df3c32706107442c9ed171024f3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.0,
+      "log_step": null,
+      "text_zh": "推断：视频 15.0–24.8 s，机器人左夹爪带着冰箱门板向外转动，约视频 23.0 s 门板已让开取料方向；此时头部随躯干转向，首次足够开度只能近似定位，误差约数秒。"
+     },
+     {
+      "t": 53.0,
+      "log_step": null,
+      "text_zh": "观察：视频 52.5–60.0 s 头部视角重新正对冰箱，门板大幅敞开，卷心菜及下层辣椒所在隔层均暴露；视频 78.57 s 门仍开着。"
+     },
+     {
+      "t": null,
+      "log_step": 229,
+      "text_zh": "观察：log step 229 是录制并保存最终 2358 行动作的脚本，其输出先报告两根左夹爪手指接触门板 link_0，随后报告 DOOR jval 1.9258；视频中的开门、退臂、取料顺序与该交付脚本一致。此处不将 agent 时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左侧二指夹爪夹持冰箱门把手并拉动门板；视频 15.0–24.8 s 腕部视角显示夹爪与门板共同运动，交付录制日志 log step 229 有双指门板接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在视频 0.0–约 6.0 s 驱动轮式底盘靠近并对准冰箱，之后由左臂开门。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 可见台面的黑色灶面，未见火焰或加热发光；全片机器人驶向冰箱，随后只操作冰箱门并向卷心菜伸手，未见触碰灶具或其他热源控制件。"
+     },
+     {
+      "t": 78.57,
+      "log_step": 229,
+      "text_zh": "推断：结合初始灶面没有加热线索及视频 0.0–78.57 s 未执行热源开关动作，开启烹饪热源未达到；log step 229 保存的交付脚本也只有开门、退臂和卷心菜取料动作。开关细节受距离限制，判定为结合全程动作的推断。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 229,
+      "text_zh": "推断：任务初态说明煎锅在台面；视频 0.0–78.57 s 机器人从台面一侧驶向冰箱，双臂未搬运煎锅，也未返回灶面放锅。结合 log step 229 交付脚本无煎锅操作，煎锅放上热源未达到；远处锅底与灶眼关系不能逐帧辨认。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：视频 53.0–62.0 s 冰箱中层仍是一颗完整绿色卷心菜，机器人左夹爪随后向其上方及隔层前沿伸入。"
+     },
+     {
+      "t": 65.0,
+      "log_step": null,
+      "text_zh": "观察：视频 62.5–73.5 s 左夹爪及腕部在隔层开口处推进、停滞并闭合，卷心菜没有随夹爪离开隔层；视频 77.6–78.57 s 末段仍可见完整卷心菜，机器人没有持刀切割，也没有生成小丁。"
+     },
+     {
+      "t": null,
+      "log_step": 229,
+      "text_zh": "观察：log step 229 的最终交付录制在下降及闭爪后返回 IN HAND: None，随即保存 2358 行动作；此结果与视频末段卷心菜仍在原处一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/���",
+      "note_zh": "取料属于卷心菜切丁的准备过程：视频 63.0–73.5 s 左夹爪掌部在冰箱隔层开口前沿受阻、抵压，未见对卷心菜建立包围夹持，未发生刀刃接触。"
+     },
+     {
+      "who": "其他",
+      "how": "压/擦",
+      "note_zh": "候选作用端：机械臂腕部。视频 62.5–73.5 s 左腕/末端连杆抵靠冰箱开口，log step 229 有 left_arm_link7.base_link 接触；它不是手指、工具或腿/躯干，现有谁碰枚举没有单独的机械臂连杆。缩略接触名未保留对象身份，冰箱边沿的判断结合视频。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 53.0–60.0 s 轮式底盘继续驶近敞开的冰箱，为左臂取卷心菜调整位置；此后原地伸手。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：视频 53.0–62.0 s 冰箱下层可见完整红色辣椒，机器人左手伸向上方的卷心菜；没有取辣椒或持刀切辣椒的动作。"
+     },
+     {
+      "t": 78.57,
+      "log_step": 229,
+      "text_zh": "推断：视频 0.0–78.57 s 取料尝试始终停在卷心菜，交付脚本 log step 229 也没有辣椒或刀具操作，未形成辣椒切丁事件；末段下层局部被前臂遮挡，不能仅凭末帧辨认辣椒。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 78.57,
+      "log_step": null,
+      "text_zh": "推断：视频 53.0–78.57 s 卷心菜始终是冰箱隔层中的完整原料，未切丁、未运至煎锅；因此本片没有卷心菜熟丁在锅的阶段。评分器 reward.q_score=0.0，四个目标文字初态均不成立，故最终也不可能同时满足该节点所需的熟丁存在与在锅两个文字；这不是仅由零分推断未切或未取。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：视频 53.0–62.0 s 红色辣椒仍在冰箱下层，机器人没有搬运或切割它，后续动作仍只围绕中层卷心菜。"
+     },
+     {
+      "t": 78.57,
+      "log_step": null,
+      "text_zh": "推断：全片未见辣椒切丁、入锅或加热过程；评分器 reward.q_score=0.0，且目标熟丁不是初态已有物质，因此该节点所需的熟丁存在与在锅不可能在终态同时为真。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabbage_diced",
+   "t": 65.0,
+   "log_step": 229,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 62.5–73.5 s，机器人为准备切丁而向冰箱内卷心菜伸入左夹爪，末端停在隔层开口前沿，闭爪后卷心菜仍留在原处；视频 78.57 s 该失败未被修复。log step 229 保存的交付轨迹止于这一取料尝试，输出 IN HAND: None，之后没有持刀或切丁动作。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 65.0,
+    "log_step": 229,
+    "evidence_zh": "观察：视频 63.0–73.5 s，机器人左夹爪掌部及腕端抵在冰箱隔层开口边沿，向内推进后停住，卷心菜仍在其下方/后方的原隔层。log step 229 的交付录制同时打印 left_arm_link7.base_link、left_gripper_link.base_link 接触，连续向内/向下目标的误差增至约 0.30 米，最终未持物；结合画面，阻挡处为冰箱开口而不是卷心菜被提起后滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 65.0,
+    "log_step": 229,
+    "evidence_zh": "推断：视频 62.5–73.5 s 的取料动作让机器人掌部/腕部先占据冰箱开口边沿，夹爪未进入能够包住卷心菜的位置。log step 229 的实际交付脚本采用朝下的夹爪姿态，先沿固定高度向冰箱深处平移，再下降闭爪；其输出显示从无接触转为腕/夹爪壳体接触并持续有位置误差。这支持局部接近姿态与接触几何不合适，而非任务顺序错误；agent 在 log step 239 所称斜向抓法没有得到验证，不能认定存在已验证替代方案。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；inputs/oracle/oracle.json 说明成功参考也没有视频。开门过程中头部转离、腕部近景遮住隔层，首次达到可取料开度约标在视频 23.0 s，存在数秒不确定性；热源开关细节和远处锅底关系不能逐帧看清��相应未达判定结合初态、全程动作及实际交付脚本作推断。接触日志的 base_link 缩略名没有保留对象身份，冰箱边沿阻挡由前后画面共同定位；替代抓法是否可行未知。"
+ },
+ "summary_zh": "交付轨迹完成打开冰箱，7 个节点最终达到 1 个；卷心菜和辣椒均未切丁，煎锅上热源及两种熟丁在锅均未达到，原生 q_score 为 0。断在卷心菜切丁的取料阶段：左夹爪/腕部在冰箱开口受挡，卷心菜未被取出，证据支持接近姿态与接触几何不合适。无逐帧状态和可用成功参考视频，开门首次达标时刻及远处热源、锅的位置关系含推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（仅开冰箱达到、其余未达）、断点 cabbage_diced 与「被挡/碰撞 + 抓取和接触设计」均有视频和 log step 229 支撑：输出显示 left_arm_link7/left_gripper_link 与冰箱 base_link 接触、误差增至约 0.3 m、IN HAND: None；视频 62–77 s 卷心菜原位未动。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:23:01Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--xr2mt2g/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-privileged--xr2mt2g/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8c03ebf81c767cc3d131167da4ba271408b5528442a8c4333ee5766d69470144",
+   "video_sha256": "c6512541726b97926be2309d0239d54e37731df3c32706107442c9ed171024f3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--9ivqjsw.json

@@ -0,0 +1,323 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-standard--9ivqjsw",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "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": 6857,
+   "sim_steps": 6857,
+   "physics_steps": 27428,
+   "steps": 3285,
+   "elapsed_s": 3711.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-cabbage-i00-standard--9ivqjsw/replay.mp4",
+  "duration_s": 228.567,
+  "fps": 30.0,
+  "frames": 6857,
+  "sha256": "b2a3037563c1e46ea3cab11d87d8a15c5dd965304245bfce0a1192eee588df5f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": 10,
+      "text_zh": "观察：视频 4–5 s 扫视经过厨房尽端的高大冰箱，门板封住箱体；机器人未抓拉门板。"
+     },
+     {
+      "t": 218.5,
+      "log_step": 174,
+      "text_zh": "观察：视频 214–218 s 机器人收臂、空手退离灶台，视频 218.5–219.5 s 原地转向时画面急剧倾斜；此前全段操作集中在灶台和落地煎锅，没有冰箱门打开或原料取出的画面。log step 174 的脚本刚开始向冰箱方向行驶，服务即报告机器人倾倒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 218–219.5 s 轮式底盘承载空手机器人转向，准备驶向冰箱；尚未与冰箱门或把手建立接触。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      71.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 71.8,
+      "log_step": 81,
+      "text_zh": "观察：视频 70.5–71.5 s 灶具控制标记仍为红色；机器人右夹爪随收臂动作向下经过控制件，视频 71.8 s 标记变绿，视频 72.2–74 s 相应灶眼出现黄色火焰。log step 81 执行躯干和双臂返回姿态；不能把此前 log step 75、77 的按压尝试直接当作开机。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右侧闭合夹爪先接近并下压灶具控制标记，最终在视频约 71.8 s 收臂下行时触发开关；右腕视角可见指尖经过标记，未抓住旋钮。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "visual",
+    "intervals": [
+     [
+      49.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 49.0,
+      "log_step": 71,
+      "text_zh": "推断：视频 38–42 s 左夹爪持锅向灶具移动，视频 47–50 s 下放并张开夹爪；视频 54–70 s 可见锅体对着灶具左侧灶眼。结合 log step 71 的下放、释放操作，首次放到可用灶眼的时刻约为视频 49 s，锅底受左臂遮挡，时间约有 1 s 不确定性；此节点不要求热源已开启。"
+     },
+     {
+      "t": 72.2,
+      "log_step": 81,
+      "text_zh": "观察：视频 71–72.5 s 左臂下降时带动锅体翻出灶台，视频 76–88 s 可见煎锅落在灶台前地面；视频 152–160 s 右夹爪夹着锅柄将锅从地面提起，随后搬运并翻正。该节点为曾完成即锁存的事件，后续掉落不结束区间。"
+     },
+     {
+      "t": 202.0,
+      "log_step": 167,
+      "text_zh": "观察：视频 198–202 s 右夹爪将已翻正的空煎锅降低到有火焰的右侧灶眼，随后松手、撤离；视频 204–218 s 锅仍留在该灶眼。早期落地失误已经修复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：先由左侧二指夹爪夹住锅柄并搬到灶具；锅落地后改用右侧二指夹爪夹住锅柄拾起、翻正、搬回灶眼并释放。两只手依次作��，未共同抓持煎锅。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 71–72.5 s 左臂收回、下降时碰动锅体，锅随手臂翻落到灶台前地面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：底盘在左夹爪持锅时沿灶台调整位置；右夹爪拾起落地煎锅后，底盘又后退、转向并携锅接近目标灶眼。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 218.0,
+      "log_step": 174,
+      "text_zh": "观察：视频 0–218 s 机器人只扫视、操作灶具和搬动煎锅，刀始终留在灶台左侧台面，没有取出或切割卷心菜、生成小丁的动作；视频 218.5–228.53 s 机器人倾倒后未再操作食材。"
+     },
+     {
+      "t": 228.53,
+      "log_step": 179,
+      "text_zh": "推断：开局任务说明将卷心菜原料置于冰箱内，而完整视频中机器人未打开冰箱、未将食材送到刀刃；因此本次未生成卷心菜丁。log step 179 中 agent 也自述尚未处理食材，此自述仅作旁证。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 218.0,
+      "log_step": 174,
+      "text_zh": "观察：视频 0–218 s 机器人只扫视、操作灶具和搬动煎锅，刀始终留在灶台左侧台面，没有取出或切割辣椒、生成小丁的动作；视频 218.5–228.53 s 机器人倾倒后未再操作食材。"
+     },
+     {
+      "t": 228.53,
+      "log_step": 179,
+      "text_zh": "推断：开局任务说明将辣椒原料置于冰箱内，而完整视频中机器人未打开冰箱、未将食材送到刀刃；因此本次未生成辣椒丁。log step 179 中 agent 也自述尚未处理食材，此自述仅作旁证。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 204.0,
+      "log_step": 167,
+      "text_zh": "观察：视频 198–218 s 煎锅内部为裸露的空锅底，没有可见的卷心菜丁或装料动作；整个视频没有切丁、向锅内加入食材或食材加热转化。"
+     },
+     {
+      "t": 228.53,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且两种熟丁按 task_text 均非初始存在的物质，因此最终没有满足任何熟丁存在或在锅内的目标文字，卷心菜熟丁在锅节点最终为假；该结论也与视频中的空锅一致。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 204.0,
+      "log_step": 167,
+      "text_zh": "观察：视频 198–218 s 煎锅内部为裸露的空锅底，没有可见的辣椒丁或装料动作；整个视频没有切丁、向锅内加入食材或食材加热转化。"
+     },
+     {
+      "t": 228.53,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且两种熟丁按 task_text 均非初始存在的物质，因此最终没有满足任何熟丁存在或在锅内的目标文字，辣椒熟丁在锅节点最终为假；该结论也与视频中的空锅一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 218.5,
+   "log_step": 174,
+   "where": "转场",
+   "evidence_zh": "观察：视频 204–218 s 煎锅已重新放稳在灶眼，机器人空手退离灶台；视频 218.5 s 开始向侧面翻倒，视频 219.5–228.53 s 头部和腕部视角持续倾斜、贴近机身及地面。log step 174 的脚本正调用 goto 前往冰箱方向，服务返回 failure: the robot fell over，未再开门。此前煎锅落地已修复，故断在打开冰箱的转场。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 218.5,
+    "log_step": 174,
+    "evidence_zh": "观察：视频 218 s 机器人仍直立面对灶台，视频 218.5–219.5 s 转向时相机视野迅速侧翻，随后一直倒伏至视频 228.53 s。log step 174 的本体读数 tilt=-0.110，服务 done=True、reason=failure: the robot fell over；log step 175 确认同一局已终止。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 27 定义的 base_move 将转向位移预先生成并成批提交，躯干和双臂保持固定关节目标；log step 173 机器人尚直立，log step 174 使用该控制器前往冰箱时，在底座位置几乎不变的情况下从 yaw=-3.141 转到 -2.451，tilt 从 1.000 变为 -0.110。结合视频 218.5–219.5 s 转向中侧翻，可确定该转场运动执行未维持全身支撑，归为控制；不足以细分成参数调试或某一接触设计问题。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；inputs/oracle/oracle.json 明确参考运行也没有视频。首次放锅的锅底被左臂部分遮挡，视频约 49 s 的达成时刻由前后帧和下放、释放日志共同推断，约有 1 s 不确定性；视频 202–218 s 的重新放置清楚可见。最后倾倒有视频与服务终止读数共同支持，但缺少倾倒过程的接触、重心及逐帧关节受力，不能确定具体触发机制；agent 在 log step 179 对转速和手臂摆动的猜测不作为已证实原因。"
+ },
+ "summary_zh": "本次完成开启热源、煎锅放上热源两个节点，最终进度为 2/7；煎锅曾被左臂碰落，后由右夹爪拾回并放到有火焰的灶眼。机器人在视频约 218.5 s 空手转向、准备前往冰箱时倾倒，打开冰箱及两种食材的切丁、烹熟均未完成，失败现象为平衡，根因仅能归到控制。无状态日志或可用参考视频，首次放锅时间和倾倒的具体触发机制存在证据缺口。",
+ "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（热源开启71.8 s、煎锅在灶眼、冰箱及四个食材节点未达）、断点（fridge_opened，转场，约218.5 s）、平衡现象与控制根因均与视频、log step 173-175和q_score=0相符，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:38:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--9ivqjsw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--9ivqjsw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fb156843578b95ceac11c94ab015c8462ec4196f042ba80555ccbcd2bf7d6a92",
+   "video_sha256": "b2a3037563c1e46ea3cab11d87d8a15c5dd965304245bfce0a1192eee588df5f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--9sysfmy.json

@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-standard--9sysfmy",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 0,
+   "live_matches_replay": 0,
+   "finalized": 1,
+   "n_actions": 3707,
+   "sim_steps": 3706,
+   "physics_steps": 14824,
+   "steps": 3707,
+   "elapsed_s": 1819.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-cabbage-i00-standard--9sysfmy/replay.mp4",
+  "duration_s": 121.567,
+  "fps": 30.0,
+  "frames": 3647,
+  "sha256": "00393b798b8f8171d06a9f60ba818e5afb84c2657e39853b5e196251251a514d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 可见高柜及相邻厨房通道；视频 0–38.0 s 机器人主要转向、前后移动观察场景，未见夹爪抓拉冰箱门或露出原料隔层。视频约 38.5–48.0 s 机器人持续倾斜，视频 48.5–51.0 s 进一步翻倒，之后直至视频 121.53 s 也未出现开门、取料过程。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 55,
+      "text_zh": "推断：结合机器人在厨房反复扫描、接近高柜的画面，以及 log step 22、32、36 的寻找冰箱和 log step 51、55 的移动扫描代码，本次仍处于为开冰箱寻找接近位置的阶段；未达到门打开足以取出原料的判据。日志用于确认探索目的，不据其在线位姿推定视频进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–38.0 s 轮式机器人由底盘移动、原地转向，在厨房扫描并寻找冰箱接近位置；视频约 38.5 s 起持续倾斜，视频 48.5–51.0 s 进一步翻倒。没有可确认的夹爪与冰箱把手接触，不标抓握。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 和视频 10.0 s 的灶面没有可辨认的火焰或加热亮光，机器人随后在厨房转向、移动，没有伸手操作灶具开关；视频 50.6 s 后机器人侧倒并在末段翻转，未见热源启动过程。"
+     },
+     {
+      "t": 121.53,
+      "log_step": null,
+      "text_zh": "推断：全片未见机器人操作任何兼容热源，也未出现烹饪加热线索，按可见过程判定该开启事件未达到；相机不能读取设备内部开关数值。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、视频 10.0 s 可见灶具左侧台面上的盘状厨具与灶面分开，未见锅体覆盖灶眼；视频 0–121.53 s 没有机器人抓持、搬运或把锅放上热源的过程。"
+     },
+     {
+      "t": 121.53,
+      "log_step": null,
+      "text_zh": "推断：锅未由台面转移到可加热位置，未达到煎锅放上热源的事件判据。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–38.0 s 机器人在厨房观察和移动，视频约 38.5–48.0 s 持续倾斜，视频 48.5–51.0 s 进一步翻倒，未见卷心菜被取出、夹爪持菜或刀刃切菜；视频 51.0–98.0 s 机器人保持侧倒，视频 98.0–121.53 s 主要为机体与手臂翻转，未出现切丁过程。"
+     },
+     {
+      "t": 121.53,
+      "log_step": null,
+      "text_zh": "推断：开冰箱前置事件未达到，画面亦无切割或离散菜丁生成，卷心菜切丁事件未达到；并非仅从零评分推定没有切菜。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 51.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–51.0 s 未见机器人取出或切割辣椒；视频 51.0–98.0 s 机器人侧倒，视频 98.0–121.53 s 未见夹爪持刀或食材、也没有辣椒小丁生成的可见过���。"
+     },
+     {
+      "t": 121.53,
+      "log_step": null,
+      "text_zh": "推断：开冰箱前置事件未达到，且全片无辣椒切割过程，辣椒切丁事件未达到。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的台面和灶面没有可辨认的熟菜丁烹饪结果；视频 0–121.53 s 未见机器人把原料或菜丁装锅、把锅放上热源或执行加热，末帧仅见天空背景及机器人自身部件。"
+     },
+     {
+      "t": 121.53,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 q_score=0.0；本任务熟丁在初态尚不存在，卷心菜熟丁存在且在锅内会至少满足相应目标文字，因此终值为 false。live_matches_replay=0，分数属于在线局；视频无备料、装锅或加热过程，与此终值相容，不能由该分数定位中途时刻。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 未见锅内熟辣椒丁；视频 0–121.53 s 未出现机器人处理辣椒、装锅或加热过程，机器人在导航后侧倒，末段翻滚并离开厨房视野。"
+     },
+     {
+      "t": 121.53,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 q_score=0.0；辣椒熟丁初态不存在，熟丁存在且在锅内需满足非初始目标文字，所以该目标终值为 false。live_matches_replay=0，在线评分只约束与视频不矛盾的终值，不据此编造视频中的烹熟时刻。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 39.0,
+   "log_step": null,
+   "where": "探索",
+   "evidence_zh": "观察：视频 36.0 s 头部画面仍大致水平；视频 38.5–40.0 s 机器人头部视野转向天花板，头部及两腕画面明显倾斜；视频 41.0–48.0 s 保持几乎不动的倾斜视野，视频 48.5–51.0 s 又大幅翻转，视频 52.0 s 已呈侧倒视野。推断：机器人此前在厨房扫描寻找接近冰箱的位置，尚未抓拉门；从约视频 39.0 s 的持续失衡起，直至视频 121.53 s 都未完成打开冰箱，所以断点属于打开冰箱的探索阶段。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 39.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 38.5–40.0 s 头部和两腕相机画面明显倾斜，视频 41.0–48.0 s 保持同一倾斜角几乎不动；视频 48.5–51.0 s 进一步剧烈翻倒，视频 52.0–98.0 s 持续呈侧倒视野。视频 118.8–121.53 s 机体再次连续翻转，视频 121.40 s 后场景突变为天空和自身部件，没有恢复并完成取料。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 39.0,
+    "log_step": 51,
+    "evidence_zh": "推断：log step 51 的 goto 控制代码按平面方位转向，再用头部局部深度决定前进，转向分支不查障碍，也没有底座倾斜或失稳停止条件；log step 55 只修改深度裁剪区域，仍连续执行移动和整圈扫描。视频约 39.0 s 导航过程中机体明显倾斜，视频 41.0–48.0 s 保持倾斜静止，视频 48.5–51.0 s 进一步侧倒，随后未恢复有效作业；这些记录支持导航及姿态控制失效，但不足以确定是何处接触或哪一关节先失稳。",
+    "source_zh": "日志 / 视频",
+    "note_zh": "停留在控制大类：没有可信状态日志或可对应回放的接触力数据，不能进一步区分碰撞几何、轨迹执行与姿态反馈机制。"
+   }
+  ],
+  "gap_zh": "没有状态日志，oracle.json 明确成功参考没有视频，无法核实具体轮地/柜体接触及热源内部开关状态。评分器 deterministic=0、live_matches_replay=0；在线日志 log step 58–68 记录的倾倒、恢复及 NaN 错误不能逐时刻移植到视频，本文所有视频锚点均来自实际帧，未将 agent 工作时间或在线 control_steps 换算为回放时间。机体侧倒可直接观察，但其最初接触点被自身和台面遮挡，根因仅判到控制大类；末段天空画面不单独证明在线日志所报的具体高度。"
+ },
+ "summary_zh": "观察：评分回放中机器人只进行了厨房导航和扫描，约视频 39.0 s 开始持续倾斜，视频 48.5–51.0 s 进一步侧倒，未完成开冰箱；七个节点均未达到，最终进度 0/7，原生 q_score=0.0。推断：断点为打开冰箱的探索阶段，导航及姿态控制失效使其无法继续取料���切丁和烹饪；视频 121.40–121.53 s 场景突变为天空。在线局与回放不一致，且无状态日志及参考视频，具体碰撞位置和失稳机制无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "七个节点均未达成、final 全 false 与视频和 q_score=0 相符；但失衡起点标错：视频约 38.5 s 起三路相机已明显倾斜，41–48 s 一直保持倾斜静止画面，48.5–50.5 s 才是最后的大幅翻倒，文件把 50.0 s 当作失衡起点并称 0–49.8 s 为正常转向移动。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "七个节点均未达成、final 全 false 与视频及 q_score=0 相符；第 1 轮指出的失衡起点已修正为约视频 39.0 s（36 s 水平，38.5–40 s 起倾斜，41–48 s 静止倾斜，48.5–51 s 翻倒）。断点 fridge_opened/探索、平衡现象和控制大类根因均有帧与日志支持，未发现需改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:49:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--9sysfmy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--9sysfmy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--9sysfmy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--9sysfmy/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "48e49286d72f015034f8cb9c3baf934fa89e370681b09f4acc4eaeedc173b835",
+   "video_sha256": "00393b798b8f8171d06a9f60ba818e5afb84c2657e39853b5e196251251a514d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--jfrprlt.json

@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-standard--jfrprlt",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "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": 645,
+   "sim_steps": 645,
+   "physics_steps": 2580,
+   "steps": 215,
+   "elapsed_s": 513.1,
+   "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": 0.224,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-cabbage-i00-standard--jfrprlt/replay.mp4",
+  "duration_s": 21.5,
+  "fps": 30.0,
+  "frames": 645,
+  "sha256": "17066f074eea5c56bd95a9ebda48e7de49edead8f817f5bde0962aec753ec0b5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0 s、8.0–8.8 s 可见走道旁冰箱门板仍贴合箱体，未露出原料隔层；机器人空手转向并接近，随后倾倒，直到视频 21.47 s 未见夹爪拉门或门板打开。"
+     },
+     {
+      "t": 9.0,
+      "log_step": 63,
+      "text_zh": "观察：log step 57 的实际导航脚本先直行再转向冰箱；log step 63 的执行输出在转向阶段返回机器人摔倒。视频 8.8–11.0 s 的视角上仰、翻转与该过程一致，没有进入开门操作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 7.5–8.8 s，轮式底盘支承机器人空手沿厨房走道接近冰箱并调整朝向；未见夹爪接触冰箱把手，之后机体失稳翻倒。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的灶面没有可见火焰或开启指示，视频 5.0–6.5 s 再次扫过时也未出现加热线索；整段视频机器人只转向、移动及倾倒，未见操作灶具或其他热源控制件。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 可见煎锅留在灶面左侧台面，未对准灶眼；视频 6.0 s 再次看向该区域时锅仍在原处。机器人全程未抓取或搬动煎锅。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.8,
+      "log_step": 57,
+      "text_zh": "观察：视频 0.0–8.8 s 机器人只旋转观察厨房并空手接近冰箱，随后视频 9.0–21.47 s 倾倒、翻转并停在低处；未见取出卷心菜、刀刃切割或离散菜丁生成。"
+     },
+     {
+      "t": 21.47,
+      "log_step": null,
+      "text_zh": "推断：初始原料仍在未打开的冰箱内，整个视频没有食材处理动作，且切丁事件的前置打开冰箱未达成，因此卷心菜切丁事件未达到；并非仅凭 q_score=0 判断切丁。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.8,
+      "log_step": 57,
+      "text_zh": "观察：视频 0.0–8.8 s 的厨房观察和空手移动中未见机器人拿取辣椒或操作刀具；视频 9.0–21.47 s 机器人失稳翻倒，未见辣椒切丁物质生成。"
+     },
+     {
+      "t": 21.47,
+      "log_step": null,
+      "text_zh": "推断：原料隔层没有打开，视频全程没有辣椒处理，且前置打开冰箱未达成，辣椒切丁事件未达到；q_score=0 不单独作为切丁未做的证据。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、6.0 s 煎锅仍在灶具旁台面，机器人没有装入卷心菜或开火；之后��发生接近冰箱及翻倒，没有可见的烹饪过程。"
+     },
+     {
+      "t": 21.47,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 q_score=0、live_matches_replay=1；结合初态是冰箱内的生原料、视频未见备料加热，最终不能满足卷心菜熟丁存在且在锅内的目标。该节点需要新增熟丁目标文字成立，与零目标总分不相容，因此 final=false。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、6.0 s 煎锅仍在灶具旁台面，机器人没有装入辣椒或开火；之后只发生接近冰箱及翻倒，没有可见的烹饪过程。"
+     },
+     {
+      "t": 21.47,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 q_score=0、live_matches_replay=1；结合初态是冰箱内的生原料、视频未见备料加热，最终不能满足辣椒熟丁存在且在锅内的目标。该节点需要新增熟丁目标文字成立，与零目标总分不相容，因此 final=false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 9.0,
+   "log_step": 63,
+   "where": "转场",
+   "evidence_zh": "观察：视频 8.0–8.8 s 机器人空手沿走道接近冰箱，门仍闭合；视频约 9.0 s 开始视角明显上仰，视频 10.1–11.0 s 继续侧翻，未能执行开门，至视频 21.47 s 仍未恢复。log step 57、63 显示实际脚本在直行后转向冰箱时被服务以 failure: the robot fell over 终止，故断点归入打开冰箱的转场。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 9.0,
+    "log_step": 65,
+    "evidence_zh": "观察：视频 8.8–9.5 s 相机从正常走道视角向天花板仰起，视频 10.1–14.5 s 场景连续大幅翻转，视频 20.5–21.47 s 仍侧倒在台面下方附近。log step 65 读取同一未重置回合的本体反馈 cos(rx)*cos(ry)=-0.8896，log step 61 的服务状态明确以机器人摔倒结束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 57 的已执行脚本以固定底盘位移接近冰箱，转向循环只根据平面 yaw 误差继续发指令，保持原躯干和手臂关节位置，没有倾斜检测或稳定恢复分支；log step 63 确认该循环一直运行至摔倒终止。结合视频 9.0–14.5 s 持续失稳翻转，支持移动及转向控制未能维持本体稳定；缺少接触和跟踪数据，不细分失稳的最初触发机制。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "本运行没有状态日志，oracle.json 所指成功示例也没有视频或状态日志。腕部视角多数被机体遮挡，不能确认倾倒最初是否由底盘、手臂或橱柜接触触发；log step 72 的 agent 自述“接触相邻橱柜”未获画面中的接触点核实，故不另标被挡/碰撞，也不推定具体力或参数错误。最终锅内物质不可直接细看，两种熟丁目标的终值结合评分器零总分与全程无备料加热动作判断。"
+ },
+ "summary_zh": "机器人在厨房旋转观察后空手接近冰箱，未打开冰箱，也未搬锅、启用热源或处理食材，最终达到 0/7 个节点。视频约 9.0 s 开始倾倒，打开冰箱的转场未能完成，服务随后以机器人摔倒结束回合；已执行脚本缺少倾斜与稳定恢复处理，支持控制层归因。没有状态日志和可用成功示例视频，倾倒的具体碰撞触发机制无法确认，烹饪目标的最终否定同时依据评分器 q_score=0。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频抽帧确认：机器人空手接近冰箱，冰箱门始终闭合，约 9 s 起视角翻转并倒地；0/7 节点、断点 fridge_opened、全身·平衡、控制归因均有证据支持，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:45:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--jfrprlt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--jfrprlt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e6b645b9841f489af592b3943fdb6842b9a24cdc06e535619a341523530100bd",
+   "video_sha256": "17066f074eea5c56bd95a9ebda48e7de49edead8f817f5bde0962aec753ec0b5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--mpemfsx.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-standard--mpemfsx",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 13798,
+   "sim_steps": 13948,
+   "physics_steps": 55792,
+   "steps": 9157,
+   "elapsed_s": 6600.5,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-cabbage-i00-standard--mpemfsx/replay.mp4",
+  "duration_s": 465.0,
+  "fps": 10.0,
+  "frames": 4650,
+  "sha256": "05c2422cbc6054fd8033110fcd3c2a4b92f49436a584718614ae6b0da4a1d88b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17,
+      "log_step": null,
+      "text_zh": "观察：视频 15–30 s，机器人在黑色带玻璃门电器前伸右臂，未出现冰箱原料隔层的开口。"
+     },
+     {
+      "t": 98,
+      "log_step": 165,
+      "text_zh": "观察：视频 96–101 s，右夹爪在黑色电器前闭合、回撤；画面没有随之露出可取料的冰箱隔层。log step 164–165 的动作名为 fridge_pull_1，但动作名不构成开门证据。"
+     },
+     {
+      "t": 414,
+      "log_step": 673,
+      "text_zh": "观察：视频 400–425 s，左夹爪反复靠向白色面板旁的竖直窄边并回拉；腕部可见窄边，头部仍见电器正面，没有达到足以从隔层取料的开口。全片粗采样及这些开门动作的密集帧均未见原料从冰箱取出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频 23–28 s、400–415 s，右、左夹爪先后抵压黑色电器表面或白色面板旁的窄边；两手并非同时合作。闭爪及回拉可见，但不能确认夹住了冰箱门把手，不标为成功抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在寻找冰箱和多次伸手前后沿厨房通道行驶、转向，并在电器旁调整站位（如视频 0–15 s、120–260 s、425–435 s）。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 464.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0–460 s 的全片粗采样中未见机器人完成热源开关操作或灶眼出现火焰；视频 464.0 s、464.9 s 可见右侧灶面，未见活动火焰或对应开启指示。此前对黑色电器面板的摸索也未显示热源启动，因此本事件未达到。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 464.9,
+      "log_step": null,
+      "text_zh": "观察：机器人全程主要搜寻电器并伸手试拉面板；视频 450–464.9 s，煎锅仍在转角台面上，位于可见灶面左侧，锅体没有被搬到灶眼上。没有观察到煎锅到达其他兼容热源。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 464.9,
+      "log_step": null,
+      "text_zh": "观察：全片粗采样及开门尝试的密集帧未见机器人取出卷心菜、持刀切割或生成卷心菜颗粒；视频 460 s、464.9 s 的末段工作台也未见被处理的卷心菜。日志中反复执行的是导航、伸手和闭爪，未见切丁动作。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 440.5,
+      "log_step": 710,
+      "text_zh": "观察：视频 438–446.5 s，右夹爪接近水槽龙头旁的红色球形控制件，��后闭爪、抬起及移向旁边台面；头部画面中的红色件仍留在龙头原处，没有辣椒随手离开。log step 710、716、721 将这些动作分别命名为 chili_counter_approach、lift_chili、place_chili_board，画面不支持已取到辣椒。"
+     },
+     {
+      "t": 464.9,
+      "log_step": null,
+      "text_zh": "观察：截至视频 464.9 s，未见辣椒接触刀刃、切成半份或生成小丁；全片没有可见的持刀切割过程，故辣椒切丁事件未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "准备辣椒时实际接触目标错误：视频 440.0–441.0 s，右夹爪指尖抵到龙头旁红色球形控制件的两侧后闭合；红色件仍在原处，未见食材被抓起或刀刃接触食材。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 428–438 s，轮式底盘沿通道驶到水槽旁，为随后被命名为取辣椒的伸手动作调整位置。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 464.9,
+      "log_step": null,
+      "text_zh": "观察：视频 450–464.9 s，煎锅留在台面，未见装入或加热卷心菜丁；全片也未见对应切丁转化。评分器 reward.q_score=0.0、success=0。"
+     },
+     {
+      "t": 464.9,
+      "log_step": null,
+      "text_zh": "推断：评分器的四个熟丁存在／在锅目标文字在初态均不成立，q_score=0.0 因而排除终态有卷心菜熟丁存在且在锅；结合未切丁、未装锅及未加热的画面，本节点没有达到区间，终态为 false。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 464.9,
+      "log_step": null,
+      "text_zh": "观察：视频 450–464.9 s，煎锅留在台面，未见装入或加热辣椒丁；全片也未见对应切丁转化。评分器 reward.q_score=0.0、success=0。"
+     },
+     {
+      "t": 464.9,
+      "log_step": null,
+      "text_zh": "推断：评分器的四个熟丁存在／在锅目标文字在初态均不成立，q_score=0.0 因而排除终态有辣椒熟丁存在且在锅；结合未切丁、未装锅及未加热的画面，本节点没有达到区间，终态为 false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 96.5,
+   "log_step": 165,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 96–101 s，机器人对黑色电器做闭爪、回拉，却没有打开可取原料的冰箱隔层；视频 260–425 s 之后的多次面板伸手、闭爪和回拉也没有完成此步。推断：打开冰箱是最早启动但一直未修复的失败步骤；视频 438–446.5 s 对水槽红色件的后续操作不修复开门。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 96.5,
+    "log_step": 165,
+    "evidence_zh": "观察：视频 96–101 s，右夹爪在黑色带玻璃门电器前闭合和回拉；视频 400–425 s，左夹爪在电器侧边／白色面板旁反复靠近、闭合和后撤，原料隔层始终没有可取料的开口。推断：开门操作的末端目标落在错误电器或面板边缘，未到能打开冰箱原料隔层的位置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 60、89、115、151 将黑色电器附近当作冰箱及把手来定位和伸手；log step 251 才明确改口称黑色单元是有控制件和玻璃门的灶具。视频 15–30 s、90–101 s 可见机器人实际操作的黑色电器；log step 511、608 又承认后续白色面板不动、实际冰箱尚未确认，视频 260–425 s 与这些反复试拉相符。推断：对电器身份及开门作用位置的错误识别，使机器人长期对错误目标伸手，打开冰箱一直未完成。"
+   }
+  ],
+  "gap_zh": "没有状态日志，成功参考也没有视频，无法读取冰箱门关节、辅助抓持状态及接触力。腕部相机能见指尖贴近／抵压面板与窄边，但部分接触面被夹爪遮住，不能确认每次闭爪是否夹住把手，因此不进一步归因为抓持丢失或某一种力控故障；节点按可见隔层开口、切丁和加热线索判断。"
+ },
+ "summary_zh": "本次实时评分回合未完成 DAG 的任何节点，终态为 0/7；视频末段煎锅仍在台面，未见切丁或烹饪，评分器 q_score=0.0。最早未修复的断点是打开冰箱：机器人把黑色灶具及相邻面板当作冰箱目标，多次伸手和回��均未建立可取料的开口，末段又对龙头红色控制件执行了被命名为取辣椒的动作。没有状态日志及成功参考视频，具体夹持和接触力机制无法确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "所有节点为 false、终态 0/7 与 q_score=0 一致；断点 fridge_opened 与「感知」根因在抽查帧和全片缩略图中未见矛盾。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:47:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--mpemfsx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--mpemfsx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b86af8b569de2cedd91f9ff786d048b3cfe97e943ef2ef210195534a3322475a",
+   "video_sha256": "05c2422cbc6054fd8033110fcd3c2a4b92f49436a584718614ae6b0da4a1d88b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--pge4jqt.json

@@ -0,0 +1,279 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-cabbage-i00-standard--pge4jqt",
+ "taskKey": "behavior-1k/cook_cabbage",
+ "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd",
+ "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": 344,
+   "sim_steps": 344,
+   "physics_steps": 1376,
+   "steps": 339,
+   "elapsed_s": 436.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-cabbage-i00-standard--pge4jqt/replay.mp4",
+  "duration_s": 11.467,
+  "fps": 30.0,
+  "frames": 344,
+  "sha256": "6d63e3175d9749638e23eea34aa2c43ebc3a533a60a337598fcbfce939109dae"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s 的头部视角可见厨房高冰箱的门板仍贴合箱体，没有露出可取原料的隔层；视频全程至 11.43 s 未见机器人夹爪抓拉冰箱门。"
+     },
+     {
+      "t": 1.3,
+      "log_step": 53,
+      "text_zh": "观察：log step 45、50、53、55、74 的实际运动请求依次为底盘后退、前移和旋转扫描；log step 83 的服务状态为 control_steps=344、done=true、reason=\"failure: the robot fell over\"，没有执行开门动作。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 能看到灶面格栅，未见火焰或加热指示；机器人此后只移动底盘、扫描厨房，没有夹爪操作热源控制件，视频 11.43 s 结束前也未出现热源启动过程。"
+     }
+    ]
+   },
+   "pan_at_heat_source": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的头部视角中，台面上的灶具格栅上没有煎锅；机器人在视频 0.0–11.43 s 没有抓取或搬运煎锅。"
+     },
+     {
+      "t": 11.43,
+      "log_step": 83,
+      "text_zh": "推断：结合任务初始说明“煎锅在台面”、视频初始空灶面及整段只有底盘运动的画面，煎锅没有进入有效加热位置。"
+     }
+    ]
+   },
+   "cabbage_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.43,
+      "log_step": 83,
+      "text_zh": "推断：任务说明规定卷心菜原料初始在冰箱内、切丁物质初始不存在；视频 0.0–11.43 s 只见机器人底盘移动及失衡旋转，未见开冰箱、取出卷心菜或刀刃接触食材。结合 log step 45、50、53、55、74 的运动请求及 log step 83 的回合结束状态，本回合没有生成卷心菜丁。"
+     }
+    ]
+   },
+   "chili_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.43,
+      "log_step": 83,
+      "text_zh": "推断：任务说明规定辣椒原料初始在冰箱内、切丁物质初始不存在；视频 0.0–11.43 s 只见机器人底盘移动及失衡旋转，未见开冰箱、取出辣椒或刀刃接触食材。结合 log step 45、50、53、55、74 的运动请求及 log step 83 的回合结束状态，本回合没有生成辣椒丁。"
+     }
+    ]
+   },
+   "cabbage_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.43,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1；任务说明规定熟丁物质初始不存在，该节点需要同时满足熟丁存在与在锅内两个目标文字，零总量排除其终态成立。视频 0.0–11.43 s 也没有卷心菜处理、装锅或烹饪动作，故未形成达成区间。"
+     }
+    ]
+   },
+   "chili_cooked_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.43,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1；任务说明规定熟丁物质初始不存在，该节点需要同时满足熟丁存在与在锅内两个目标文字，零总量排除其终态成立。视频 0.0–11.43 s 也没有辣椒处理、装锅或烹饪动作，故未形成达成区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 1.3,
+   "log_step": 53,
+   "where": "探索",
+   "evidence_zh": "观察：视频 0.0 s 头部视角可见正常朝向的厨房台面；视频约 0.17–0.33 s 视角已明显偏转、倾斜，早于旋转扫描。log step 45 为离开台面一次提交 13 个控制步的后退，返回底座高度 0.104 米、四元数 xyzw=(0.254,-0.006,-0.967,0.021)；log step 50 随后前移 8 步，返回高度 0.039 米、四元数 (0.051,-0.025,-0.998,0.037)。视频约 1.17–1.5 s 画面进一步大幅翻斜，后续至视频 11.43 s 持续出现异常朝向；log step 83 的服务终态为 control_steps=344、done=true、reason=\"failure: the robot fell over\"。推断：按 log step 30、42 的 xyzw 定义，由上轴竖直分量 1-2(qx²+qy²) 得到上述两次读数约为 0.871、0.994，倾角约 29°、6.5°，说明后退已出现失衡、前移曾改善姿态，不能把早期倾斜直接等同于此后全程倒地。保留视频约 1.3 s 作为后续持续翻倒的粗略定位点，不把扫描称为首次失衡的起因；具体越过持续判负阈值的瞬间未确定。机器人当时仍在初始场景探索，尚无可归属于某一 DAG 节点的定向操作，故 ref 保留 unknown。"
+  },
+  "unmet": {
+   "cabbage_cooked_in_pan": false,
+   "chili_cooked_in_pan": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 1.3,
+    "log_step": 83,
+    "evidence_zh": "观察：视频约 0.17–0.33 s 已出现异常视角倾斜；视频约 1.17–1.5 s 画面进一步大幅翻斜，之后地面、柜体和天花板在异常朝向中轮转，视频 10.5–11.43 s 仍未恢复正常视角。log step 45、50 的本体读数显示后退后倾斜、前移后姿态曾改善；log step 83 的服务终态明确为“failure: the robot fell over”，control_steps=344，resumes=0。推断：平衡失败成立，视频约 1.3 s 是持续翻倒的粗略定位点，早期倾斜不能单独证明当时已不可恢复地倒地。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 45 的脚本一次性提交 13 个控制步的后退（每步 -0.075 米），整批内没有读取姿态并中止的分支；返回底座高度 0.104 米、四元数 xyzw=(0.254,-0.006,-0.967,0.021)。log step 50 确实执行了 8 步前移恢复尝试，返回高度 0.039 米、四元数 (0.051,-0.025,-0.998,0.037)。随后 log step 53、55 各一次性提交 126 个控制步的旋转（每步 0.05 弧度），同样没有批次内姿态监测或中止，log step 74 继续旋转。视频约 0.17–0.33 s 已出现异常倾斜，视频约 1.17–1.5 s 后出现持续大幅翻斜；log step 102 对已记录 pan1 本体读数的事后检查给出 up_z 从 0.007 到 -0.977，服务终态在 log step 83 判为倾倒失败。推断：后退阶段已经失衡，前移曾改善姿态（两次四元数对应上轴竖直分量约 0.871、0.994），但后退及后续扫描均采用无批次内姿态中止的控制，恢复尝试之后也未形成能在再次失衡时停止或恢复的反馈闭环，支持反馈控制失败。扫描不是首次失衡的原因，事后 pan1 读数只支持后续严重倾倒；不可据此确定最初碰撞对象或把某个速度参数判为唯一原因。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有覆盖后退与首次扫描全过程的逐控制步本体姿态记录；底盘与障碍物的具体接触位置不可见，无法独立确认 agent 所称的“爬上竖直障碍物”，后退失衡的具体接触起因未定。审查意见把视频约 0.3 s 的倾斜等同于此后始终倒地，但 log step 50 前移后的四元数按 xyzw 计算上轴竖直分量约 0.994，支持姿态曾改善，故不采纳此前移与扫描全程已倒地的解释。视频与日志支持早期失衡、尝试恢复、后续持续翻倒的顺序，无法精确确定触发持续判负的首次阈值越界；断点视频约 1.3 s 仅作粗略定位。初始探索没有指向某一明确 DAG 步骤，故 breakpoint.ref 为 unknown；热源判定依据可见灶面及全程没有启动动作，未获得所有替代热源的逐设备状态。oracle.json 明确没有参考视频，无法用成功画面对照设备细节。"
+ },
+ "summary_zh": "本回合未达成���何 DAG 节点，终态为 0/7；两种熟丁在锅内的目标也被 q_score=0 排除。机器人在视频约 0.2–0.4 s 的后退阶段已出现失衡，log step 50 前移曾改善姿态，随后无批次内姿态中止的旋转扫描中出现持续翻倒，视频约 1.3 s 为粗略定位点，最终由服务判定倾倒失败。尚无能定位到某一具体 DAG 节点的操作，故断点步骤保留 unknown。置信度由 7 降为 6：具体接触起因不可见，缺少早期连续姿态记录，不能精确区分初次倾斜与持续判负阈值越界的时刻。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点全 false、终态 0/7 与 q_score=0 一致，无异议；但失衡起点被写成视频 1.1–1.5 s 的扫描阶段，帧和 log 显示倾倒在 0.2–0.4 s 的后退阶段（log step 45）就已发生，根因把倾倒归于后来的旋转扫描不成立。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "七个节点全 false、终态 0/7 与 q_score=0 及整段视频无开门/加热/锅操作一致；倾倒起点已按第 1 轮意见改为后退阶段（视频约 0.2–0.4 s 头部视角已翻斜，约 1 s 后持续异常），平衡现象与反馈控制根因有 log step 45/50/83 支撑，推断部分已标注，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:50:15Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--pge4jqt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--pge4jqt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--pge4jqt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-cabbage-i00-standard--pge4jqt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c7dfd85deb1e66c48327c6eecd84862da3f1c69729a5beda843b3c8017ba6314",
+   "video_sha256": "6d63e3175d9749638e23eea34aa2c43ebc3a533a60a337598fcbfce939109dae",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--baxabmu.json

@@ -0,0 +1,286 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-pies-i00-privileged--baxabmu",
+ "taskKey": "behavior-1k/freeze_pies",
+ "dag_sha256": "304775bc54bb720c13e7e74f48179397d88f154515e0e603e4648939f4240574",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 588,
+   "sim_steps": 588,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1057.8,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 22,
+   "agent_sim_steps": 2797,
+   "agent_records": 6,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-pies-i00-privileged--baxabmu/replay.mp4",
+  "duration_s": 19.6,
+  "fps": 30.0,
+  "frames": 588,
+  "sha256": "a6c363c0c955a3d5b105757feec1ea2cbe0f54efa21280a559a745036b463f2c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": 503,
+      "text_zh": "观察：视频 5.5–12.5 s 机器人左夹爪靠近面板并执行闭合、外移，左腕近景被夹爪和近处面板占据，头部画面朝向对侧灶台，未提供可辨认柜内取盒通道的视角。log step 503 的交付录制包含开柜圆弧动作，但没有成功读取本次柜门关节，不能用此前重置前的开门读数认定本次达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人左夹爪执行开柜动作，但画面不能确认它与柜把手的实际接触及夹持方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0–3.5 s 轮式底盘移动到开柜操作位置，支撑机器人完成接近。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.55,
+      "log_step": 510,
+      "text_zh": "推断：视频 0–19.55 s 的机器人活动局限于橱柜附近，未见靠近冰箱或拉开冰箱门；交付录制的 log steps 498、503、506 也仅包含接近橱柜、开柜及取盒，随后 log step 510 保存结束。因此从 DAG 确认的冰箱初始关闭状态判断，开冰箱事件未发生；会话中 log step 157 的冰箱开门测试不属于交付。"
+     }
+    ]
+   },
+   "pies_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.55,
+      "log_step": 508,
+      "text_zh": "观察：视频 13–19.55 s 机器人左臂改向、伸出并闭合夹爪，末尾未见夹爪带出保鲜盒，也没有派从盘上移入盒内的画面；交付录制 log step 508 返回 hand None，log step 510 在此之后保存 588 行动作。"
+     },
+     {
+      "t": 19.55,
+      "log_step": null,
+      "text_zh": "推断：交付止于取盒准备，未执行装派；评分器 q_score=0.0 也排除了终态新增任一派入盒目标。结合派初始在盘上、该段没有装派动作，判定本节点全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人在本步准备阶段用左夹爪尝试取得装派用保鲜盒；视频中盒及指尖接触区域受遮挡，不能确认实际碰触方式，不能按计划补记抓握。"
+     }
+    ]
+   },
+   "pies_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.55,
+      "log_step": 510,
+      "text_zh": "推断：视频 0–19.55 s 未见机器人搬动任何派或完成装派；交付录制 log steps 498–510 在第一次取盒尝试后即停止，没有第二个装派动作。评分器 q_score=0.0 排除终态形成两个派与两个盒的互异配对，故全程未达成。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.55,
+      "log_step": 510,
+      "text_zh": "推断：视频 0–19.55 s 未见机器人携盒前往冰箱或把盒送入箱内；交付录制 log steps 498–510 也止于橱柜前取盒，没有搬盒入冰箱动作。盒初始在橱柜内，评分器 q_score=0.0 排除终态新增盒入冰箱目标，因此至少一盒入冰箱的条件全程未达成。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.55,
+      "log_step": 510,
+      "text_zh": "推断：视频 0–19.55 s 未见机器人携盒前往冰箱或��盒送入箱内；交付录制 log steps 498–510 也止于橱柜前取盒，没有搬盒入冰箱动作。盒初始在橱柜内，评分器 q_score=0.0 排除终态新增盒入冰箱目标，因此两盒入冰箱的条件全程未达成。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的初始目标位串说明冰箱起始关闭；视频 0–19.55 s 机器人只在橱柜附近活动，未见操作冰箱，交付录制 log steps 498–510 也没有冰箱动作，故关闭状态从视频 0 s 保留到结束。此初始已成立条件不增加 BEHAVIOR 的 q_score，终态 q_score=0.0 不否定它。"
+     }
+    ]
+   },
+   "pies_frozen_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.55,
+      "log_step": null,
+      "text_zh": "推断：DAG 确认两个派初始未冻结，视频 0–19.55 s 与交付录制 log steps 498–510 均未显示派被送入冰箱或接触冷源，无法由外观直接读温度；评分器 q_score=0.0 排除终态新增 Frozen 目标，因此至少一个派冷冻的终值为假。结合派始终未被送入冷却设备，推断该段无达标区间。"
+     }
+    ]
+   },
+   "pies_frozen_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.55,
+      "log_step": null,
+      "text_zh": "推断：DAG 确认两个派初始未冻结，视频 0–19.55 s 与交付录制 log steps 498–510 均未显示派被送入冰箱或接触冷源，无法由外观直接读温度；评分器 q_score=0.0 排除终态新增 Frozen 目标，因此两个派冷冻的终值为假。结合派始终未被送入冷却设备，推断该段无达标区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pies_in_boxes_1",
+   "t": 18.8,
+   "log_step": 508,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 16.5–19.55 s 机器人在取盒准备中伸出左夹爪并空合，随后没有持盒离柜或装派；与交付录制 log steps 506–510 一致：取盒命令后 hand None，随后保存并结束。故第1个派入盒停在取得容器的准备动作；开柜是否已达到取盒通道标准仍有遮挡缺口，无法据此另判一个更早的开柜失败。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 18.8,
+    "log_step": 508,
+    "evidence_zh": "观察：视频 18.6–19.55 s 左夹爪闭合，未见保鲜盒被夹住带出；交付录制 log step 508 输出 hand None，log step 509 输出夹爪接触集合及辅助抓取射线集合均为空。推断：此次取盒未建立所需的稳定夹持，而不是已拿住后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：交付录制 log step 506 命令左臂进入盒位并闭爪，log step 507 报告最后一次末端移动残差约0.061 m，log steps 508–509 却仍为 hand None、空接触和空射线集合；视频 18.6–19.55 s 也未见盒随爪带出。取盒控制没有形成有效夹持，且没有在本次交付中修复；缺少指尖与盒的可见几何及连续反馈，不能进一步区分接触设计与轨迹跟踪问题。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。头部画面朝向对侧灶台，腕部近景受夹爪及面板遮挡，无法确认本次柜门是否形成足够取盒开口，也无法精确区分取盒时的指尖碰触、盒移动和控制误差来源；开柜节点及两项已尝试节点的局部接触记未知。断点取可确认的最终取盒失败所服务的第1个派入盒，不能排除开柜前置也未达标。冷冻终值由评分总分约束并结合未入冷源推断，没有原生温度轨迹；会话早期测试进度不计入本次交付。",
+  "unmet": {
+   "pies_in_boxes_1": false,
+   "pies_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": true,
+   "pies_frozen_1": false,
+   "pies_frozen_2": false
+  }
+ },
+ "summary_zh": "评分交付共588步、视频19.6 s，终态确认1/9节点成立（冰箱从初始保持关闭）、1个开柜节点未知，其余7个节点为假。机器人在第1个派入盒的取盒准备阶段未建立夹持，交付录制返回 hand None 后结束，根因可定位到取盒控制，无法再分控制子类。柜门通道和指尖接触受遮挡，早期会话的开柜、取盒及搬盒测试不计入本次交付进度。",
+ "conf": 6,
+ "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、日志基本一致：交付为588步/19.6 s，取盒夹爪未带出盒（hand None、接触集为空），断点在第1个派入盒、冰箱相关节点为假、开柜节点因遮挡取未知均合理；未发现需要改变内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:10:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-pies-i00-privileged--baxabmu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-pies-i00-privileged--baxabmu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b1df4b097331c9b230fa01c77e666474c746b02064eb2b920344d2561fe14619",
+   "video_sha256": "a6c363c0c955a3d5b105757feec1ea2cbe0f54efa21280a559a745036b463f2c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--i4amhg6.json

@@ -0,0 +1,266 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-pies-i00-privileged--i4amhg6",
+ "taskKey": "behavior-1k/freeze_pies",
+ "dag_sha256": "304775bc54bb720c13e7e74f48179397d88f154515e0e603e4648939f4240574",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 20,
+   "sim_steps": 20,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1037.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 7,
+   "agent_resets": 0,
+   "agent_sim_steps": 250,
+   "agent_records": 0,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-pies-i00-privileged--i4amhg6/replay.mp4",
+  "duration_s": 0.667,
+  "fps": 30.0,
+  "frames": 20,
+  "sha256": "c71881fc0f88564652eada8625c2100c19ed9a0d1e7968c6c538a03d4d59d2cd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 197,
+      "text_zh": "观察：视频0.000–0.633 s的20帧中，机器人前方台面下可见的柜门未向外转开，未显露足以取盒的内腔；机器人没有伸手开门。log step 197的最终生成脚本仅执行20次hold_action，log step 201核对提交文件的20行动作完全相同、底盘分量均为0；这不是此前会话中的拉门测试。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.633,
+      "log_step": 201,
+      "text_zh": "推断：DAG记录冰箱初始关闭；视频0.000–0.633 s各视角基本不变，没有开门动作，冰箱本体不在视野内。log step 197、201确认最终提交仅含20步初始保持动作，故评测轨迹没有产生打开冰箱事件。"
+     }
+    ]
+   },
+   "pies_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.633,
+      "log_step": 205,
+      "text_zh": "推断：DAG初态为两个派各在台面上的盘中；视频0.000–0.633 s没有可见的取派或搬运动作，派和保鲜盒未进入视野。log step 197、201表明提交的是20步初始保持动作；评分器reward.q_score=0.0，log step 205对同一提交文件的精确回放也为0.0，排除了最终新增任何派入盒目标，因此本计数节点未成立。"
+     }
+    ]
+   },
+   "pies_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.633,
+      "log_step": 205,
+      "text_zh": "推断：DAG初态为两个派各在台面上的盘中；视频0.000–0.633 s没有可见的取派或搬运动作，派和保鲜盒未进入视野。log step 197、201表明提交的是20步初始保持动作；评分器reward.q_score=0.0，log step 205对同一提交文件的精确回放也为0.0，排除了最终新增任何派入盒目标，因此本计数节点未成立。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.633,
+      "log_step": 205,
+      "text_zh": "推断：DAG初态为两个保鲜盒在橱柜中；视频0.000–0.633 s没有可见的取盒或搬运动作，盒和冰箱内腔未进入视野。log step 197、201确认提交仅含20步初始保持动作；评分器reward.q_score=0.0且log step 205的精确回放结果相同，排除了最终新增任何盒入冰箱目标，因此本计数节点未成立。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.633,
+      "log_step": 205,
+      "text_zh": "推断：DAG初态为两个保鲜盒在橱柜中；视频0.000–0.633 s没有可见的取盒或搬运动作，盒和冰箱内腔未进入视野。log step 197、201确认提交仅含20步初始保持动作；评分器reward.q_score=0.0且log step 205的精确回放结果相同，排除了最终新增任何盒入冰箱目标，因此本计数节点未成立。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 201,
+      "text_zh": "推断：DAG由初始目标位串000000100确认冰箱从起点关闭；视频0.000–0.633 s没有可见的操作或底盘移动，log step 197、201核对最终文件为20步初始保持动作，故此初始状态保留至结束。冰箱本体不在镜头中；BEHAVIOR的q_score不计持续保持的初始真目标，因此reward.q_score=0.0与该节点为真相容。"
+     }
+    ]
+   },
+   "pies_frozen_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.633,
+      "log_step": 205,
+      "text_zh": "推断：DAG初态为两个派均未冷冻，最终提交仅执行20步初始保持动作（log step 197、201）；视频0.000–0.633 s没有装入冰箱的动作。虽然画面不能显示原生Frozen或温度，评分器reward.q_score=0.0及log step 205的精确回放结果排除了最终新增任何冷冻目标，故本计数节点终值为假；结合未搬动的初态推断期间未达成。"
+     }
+    ]
+   },
+   "pies_frozen_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.633,
+      "log_step": 205,
+      "text_zh": "推断：DAG初态为两个派均未冷冻，最终提交仅执行20步初始保持动作（log step 197、201）；视频0.000–0.633 s没有装入冰箱的动作。虽然画面不能显示原生Frozen或温度，评分器reward.q_score=0.0及log step 205的精确回放结果排除了最终新增任何冷冻目标，故本计数节点终值为假；结合未搬动的初态推断期间未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 0.0,
+   "log_step": 197,
+   "where": "首步前",
+   "evidence_zh": "观察：视频0.000–0.633 s的20帧中机器人未启动开柜或取盒动作，台面下可见柜门没有打开。log step 197的最终脚本只生成20步hold_action；log step 201确认提交文件为20行完全相同的保持命令，log step 205确认其回放失败。首个需要启动的打开橱柜步骤始终没有开始；此前会话的拉门、抓派测试未包含在交付轨迹中。"
+  },
+  "unmet": {
+   "pies_in_boxes_1": false,
+   "pies_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": true,
+   "pies_frozen_1": false,
+   "pies_frozen_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 197,
+    "evidence_zh": "观察：视频0.000–0.633 s全段画面基本静止，没有朝柜门伸手、抓门或拉门。log step 197写出的最终脚本仅执行20次初始保持动作；log step 201输出actions shape=(20,25)、all equal=True且底盘三分量为0，表明评测轨迹从未启动打开橱柜。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 153,
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话调试未建立可用的开柜抓取，因而最终仅提交初始保持轨迹。依据是log step 69的门面按压诊断中两指位置为[0.043,0.0]、辅助抓取对象均为None；log step 151–153改用门缘夹取并扫描按压深度，虽记录到橱柜接触，射线候选仍为空、in_hand仍为None。log step 170随后明确转为提交保持动作，log step 197、201落实并核对该交付；这些会话记录仅支持抓取接触方案未奏效这一根因，不作为评测视频中发生抓取的证据。",
+    "note_zh": "未验证可行的替代抓取；不把agent关于所有合法抓法或环境不可解的说法当作已证事实。"
+   }
+  ],
+  "gap_zh": "观察：inputs/只有评测视频和运行记录等文件，没有状态日志或成功参考视频；已检查评测视频全部20帧（视频0.000–0.633 s，包括末帧）。镜头未覆盖派、盒、冰箱及橱柜全部开口，无法直接读出容纳关系或Frozen；这些节点由DAG初态、已核对的最终保持动作和评分器q_score约束推断，不能给出独立温度读数。抓取设计根因来自此前会话的诊断，不是评测局的接触现象，替代方案可行性未知。log step 200生成进程的退出崩溃发生在文件保存之后，log step 201已核对文件且log step 205回放完成，故没有把这次已交付评测当作外因中断。"
+ },
+ "summary_zh": "推断：评测视频仅0.667 s，最终提交为20步初始保持动作，9个节点中仅初始就成立的“关上冰箱”持续为真，装派、放盒及冷冻均未达成。观察：机器人未启动打开橱柜，断点为该步首步前；此前会话的门面按压和门缘夹取反复未建立有效抓取，支持抓取和接触设计根因。推断：目标物和冰箱不在视频视野内，相关终值依靠初态、交付动作与q_score=0.0共同判断，没有状态日志支持精确温度或接触细节。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与证据一致：评测视频���20帧（0.667 s）静止，提交为20步保持动作（log 197/201），q_score=0，断点打开橱柜/首步前/没尝试，根因按FAIL-22写成会话抓取证据的控制类，并在gap_zh中说明非评测局现象；未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:12:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-pies-i00-privileged--i4amhg6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-pies-i00-privileged--i4amhg6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3169ced3890499ac2d38de818d4a70ce128d33b71254fee1bbdc73d5e2ada3d4",
+   "video_sha256": "c71881fc0f88564652eada8625c2100c19ed9a0d1e7968c6c538a03d4d59d2cd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}