diff --git a/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--gyqmbkw.json b/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--gyqmbkw.json new file mode 100644 index 0000000000000000000000000000000000000000..bb173c48120bc3319ab1d3896f2569901ecfe5b0 --- /dev/null +++ b/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 左夹爪持紫色圆形图案书，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" + } + } +} diff --git a/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--hutfum2.json b/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--hutfum2.json new file mode 100644 index 0000000000000000000000000000000000000000..02d5a8817ea28e0022411a04a5597c791a8dda20 --- /dev/null +++ b/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交付基线轨迹，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" + } + } +} diff --git a/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--qo7preu.json b/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--qo7preu.json new file mode 100644 index 0000000000000000000000000000000000000000..ebf95f22cfe1f25fbff7691e3a5768caf197d073 --- /dev/null +++ b/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）有证据且表述克制，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" + } + } +} diff --git a/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--wdu5yoe.json b/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--wdu5yoe.json new file mode 100644 index 0000000000000000000000000000000000000000..34594d175b06dfcf43cef4673b4705fca9f9543b --- /dev/null +++ b/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，结合评分器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" + } + } +} diff --git a/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--dkupvnh.json b/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--dkupvnh.json new file mode 100644 index 0000000000000000000000000000000000000000..6a2aefc767e88e2379b4d6a74222b698b1d4b5fb --- /dev/null +++ b/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逆解，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" + } + } +} diff --git a/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--fjjaetc.json b/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--fjjaetc.json new file mode 100644 index 0000000000000000000000000000000000000000..55c6abb49e77f9ad1dd1262748c1887653e1ada4 --- /dev/null +++ b/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，腕部视角紧贴白色格板，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" + } + } +} diff --git a/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--grtqedt.json b/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--grtqedt.json new file mode 100644 index 0000000000000000000000000000000000000000..0d6fc4c2d0557d3113b424479cb0f1a92d538307 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--pbqvuwa.json b/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--pbqvuwa.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb4dbcbf361f613cfeb36bdd164e0617d31c9b1 --- /dev/null +++ b/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接视图，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" + } + } +} diff --git a/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--qgqfvsy.json b/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--qgqfvsy.json new file mode 100644 index 0000000000000000000000000000000000000000..aad9624e05403a939f921a56a5d6db5bc5e4eb60 --- /dev/null +++ b/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/腕部接触隔板并明显偏转，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" + } + } +} diff --git a/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--x5r9byw.json b/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--x5r9byw.json new file mode 100644 index 0000000000000000000000000000000000000000..28c469469642a5c6424391227513669719a0080a --- /dev/null +++ b/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；因此终态箱内书数为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": "没有状态日志或成功示范视频。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" + } + } +} diff --git a/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--yft7vjh.json b/phase2/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--yft7vjh.json new file mode 100644 index 0000000000000000000000000000000000000000..7fbf24405de631e253a9a8f44082fe3bd161e1de --- /dev/null +++ b/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，未见连续装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。节点全程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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--nrusehv.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--nrusehv.json new file mode 100644 index 0000000000000000000000000000000000000000..8fdb8ef0a780993af8eb32504599fcb3777b670b --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--tminh5s.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--tminh5s.json new file mode 100644 index 0000000000000000000000000000000000000000..7066c509276deddda9d3edd7057861a16400244f --- /dev/null +++ b/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面；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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--ubujtwv.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--ubujtwv.json new file mode 100644 index 0000000000000000000000000000000000000000..75ced564be53fad295ff88c98892ec03d4ea1ae3 --- /dev/null +++ b/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 把左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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--uvnxpkq.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--uvnxpkq.json new file mode 100644 index 0000000000000000000000000000000000000000..c8e6b49fee80cc9ec386b8e8a0e3e0b3ffe3d2cc --- /dev/null +++ b/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，将纸袋沿侧躺回收桶的开口送入；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，之后没有修复。" + }, + "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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--3pe3kb2.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--3pe3kb2.json new file mode 100644 index 0000000000000000000000000000000000000000..b295c29d6a50fe9e630331ff1535ccd88a72903c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--jpaqpv5.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--jpaqpv5.json new file mode 100644 index 0000000000000000000000000000000000000000..8409af2871379913ed72b49eac184ca10af4e783 --- /dev/null +++ b/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在左爪中，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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--jxnqgak.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--jxnqgak.json new file mode 100644 index 0000000000000000000000000000000000000000..761b2fc3d900c171d696f0cd891a20c926bc2c8b --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--k6eyexb.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--k6eyexb.json new file mode 100644 index 0000000000000000000000000000000000000000..5e6a84f13810a629fb7d01882a12fd591bb93c21 --- /dev/null +++ b/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；最终五个节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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--qybxygp.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--qybxygp.json new file mode 100644 index 0000000000000000000000000000000000000000..752793816a6e26743e8821dfb70b8e1e4732c2c9 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--tdgggqp.json b/phase2/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--tdgggqp.json new file mode 100644 index 0000000000000000000000000000000000000000..3786eb079d189fa96b705f0ff7bcc9240b3f8162 --- /dev/null +++ b/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 未见恢复直立或完成报纸抓取、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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--3h88erv.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--3h88erv.json new file mode 100644 index 0000000000000000000000000000000000000000..9536885945014d470881a8fb14927710b22bd784 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--6relklx.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--6relklx.json new file mode 100644 index 0000000000000000000000000000000000000000..9326799de98598c27b1ab04dd52bc796a4d3c6f1 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--fvru4jr.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--fvru4jr.json new file mode 100644 index 0000000000000000000000000000000000000000..cc6452f64c4a3e29bb312b25708517c2e7d907a4 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--mk67rnr.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--mk67rnr.json new file mode 100644 index 0000000000000000000000000000000000000000..c37187c89bf827cd5e5104a5617952b12c0be613 --- /dev/null +++ b/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 保留未知。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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--2ytmaqg.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--2ytmaqg.json new file mode 100644 index 0000000000000000000000000000000000000000..c8941cd0dda45049610bf40d7f5f256a2730954f --- /dev/null +++ b/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，持续出现在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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--3smcxer.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--3smcxer.json new file mode 100644 index 0000000000000000000000000000000000000000..4a52b1dce8b3e2078c2977f3f6fe3cb61f38d406 --- /dev/null +++ b/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，从袋中取出、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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--hd3xtuo.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--hd3xtuo.json new file mode 100644 index 0000000000000000000000000000000000000000..27e08a81d951a310cda256175a3e627540f78c34 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--oph64xe.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--oph64xe.json new file mode 100644 index 0000000000000000000000000000000000000000..5571696ae70543e95c843a58f45fce5ad9dcb1ef --- /dev/null +++ b/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，右腕视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，持番茄的机器人视野尚接近直立；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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--qrttmue.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--qrttmue.json new file mode 100644 index 0000000000000000000000000000000000000000..600a6bb6a1ce84f510c1a3610ca389d3e917e557 --- /dev/null +++ b/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": "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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--txfqmhp.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--txfqmhp.json new file mode 100644 index 0000000000000000000000000000000000000000..28256575d05ecf3b3e7ed2ca2f1eec14a5516914 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--vgmk2xd.json b/phase2/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--vgmk2xd.json new file mode 100644 index 0000000000000000000000000000000000000000..95dcdd82d71b9d58c419f49f8d1cc1b83fbed163 --- /dev/null +++ b/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；未完成携番茄向厨房的搬运。" + } + ] + }, + "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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--cp6xrmy.json b/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--cp6xrmy.json new file mode 100644 index 0000000000000000000000000000000000000000..b2f15a53ec8288347689ae571ab3632d383dbf24 --- /dev/null +++ b/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底锅在台面，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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--ony6v6c.json b/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--ony6v6c.json new file mode 100644 index 0000000000000000000000000000000000000000..10e94eec1d5449984f4583ec12a3c1f92dbbed96 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--t2evava.json b/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--t2evava.json new file mode 100644 index 0000000000000000000000000000000000000000..3caea22391f98326a9e7824811bf8b2ff37ee118 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--2ckjy4b.json b/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--2ckjy4b.json new file mode 100644 index 0000000000000000000000000000000000000000..bbe9a0f9300cebcd0078f88a1729758c07013ea1 --- /dev/null +++ b/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/控制归因与视频和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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--9jcp7w7.json b/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--9jcp7w7.json new file mode 100644 index 0000000000000000000000000000000000000000..6e1dc9fb7ab3f93679ed59807f15f21c6862ebb9 --- /dev/null +++ b/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，且熟化并非初态目标，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，但带深色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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--aqb2gxt.json b/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--aqb2gxt.json new file mode 100644 index 0000000000000000000000000000000000000000..98b0c17c41fcb1e96f95bd0d47e9d72af9308d82 --- /dev/null +++ b/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约束。", + "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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--wsuimme.json b/phase2/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--wsuimme.json new file mode 100644 index 0000000000000000000000000000000000000000..5d8f6df6aef708c489c16be8994fe10c80460efa --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--28adrdg.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--28adrdg.json new file mode 100644 index 0000000000000000000000000000000000000000..8953a80817cb6bf75ac681c3b3f80bdbb7a66b0c --- /dev/null +++ b/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，在灶具旁张爪释放；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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--hulwzps.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--hulwzps.json new file mode 100644 index 0000000000000000000000000000000000000000..f893e4caaf3887e42530b8810fbbc61156be1df8 --- /dev/null +++ b/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，轮式底盘先靠近台面煎锅，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": 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"73d183eec3e83f6af779e6dde564e431942fad07f7b0009d4934adcd0b959968", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--qmxm6of.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--qmxm6of.json new file mode 100644 index 0000000000000000000000000000000000000000..d5b4d83e28357bda9ef90c3c63fede397e1f31f7 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--xr2mt2g.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--xr2mt2g.json new file mode 100644 index 0000000000000000000000000000000000000000..ed7dfd16f65c9ba9bd37f0c8dd39093ba7c7973a --- /dev/null +++ b/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/擦", + "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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--9ivqjsw.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--9ivqjsw.json new file mode 100644 index 0000000000000000000000000000000000000000..273dd301d362e98cec1c8d27dc72e78ee85d4554 --- /dev/null +++ b/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。两只手依次作业，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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--9sysfmy.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--9sysfmy.json new file mode 100644 index 0000000000000000000000000000000000000000..d881819467aefa3555bc7a2829fbf3a7920de2dc --- /dev/null +++ b/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程。" + }, + { + "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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--jfrprlt.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--jfrprlt.json new file mode 100644 index 0000000000000000000000000000000000000000..cd50bebdd46f4a3bd149fd3d47e13c0189c33048 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--mpemfsx.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--mpemfsx.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e67a4ba0d277ed00015d8ef17b482ce2562dae --- /dev/null +++ b/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，随后闭爪、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，多次伸手和回拉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" + } + } +} diff --git a/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--pge4jqt.json b/phase2/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--pge4jqt.json new file mode 100644 index 0000000000000000000000000000000000000000..d4aea79bb0aa5737117e0cba6cd5a30fde1fe5aa --- /dev/null +++ b/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": "本回合未达成任何 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" + } + } +} diff --git a/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--baxabmu.json b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--baxabmu.json new file mode 100644 index 0000000000000000000000000000000000000000..ff150f9137f3c23f8f8a5cafc20d30aab4c44b5a --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--i4amhg6.json b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--i4amhg6.json new file mode 100644 index 0000000000000000000000000000000000000000..1bb2edf56681b1b39f1fe1265a306d29917e1459 --- /dev/null +++ b/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：评测视频仅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" + } + } +} diff --git a/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--v2vp6ic.json b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--v2vp6ic.json new file mode 100644 index 0000000000000000000000000000000000000000..f84278fe59d621fd12ae7cb31ccb02d2020b7701 --- /dev/null +++ b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--v2vp6ic.json @@ -0,0 +1,332 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-pies-i00-privileged--v2vp6ic", + "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, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 2437, + "sim_steps": 2437, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1362.0, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 12, + "agent_sim_steps": 4874, + "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-freeze-pies-i00-privileged--v2vp6ic/replay.mp4", + "duration_s": 81.233, + "fps": 30.0, + "frames": 2437, + "sha256": "8c510404884a8e679b88a02a0d92df3be9ff76b3d62dc91f6a4f8a18a567d731" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": 2, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 14.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.0, + "log_step": 209, + "text_zh": "观察：视频 11.0–15.0 s，机器人右夹爪夹住台面下橱柜门的上沿并向外拉，视频 14.0 s 已露出柜内和取盒开口；视频 20.0–22.0 s 夹爪撤离后门仍开着。首次满足足够开口的时间约为视频 14.0 s，误差约0.5秒。" + }, + { + "t": 31.0, + "log_step": null, + "text_zh": "观察：视频 31.0–43.0 s，右腕画面可见柜内的空保鲜盒，机器人右夹爪进入开口取盒，后续柜门变化不撤销开门事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 11.0–18.0 s，机器人右侧二指夹爪夹住橱柜门上沿并拉开门。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 0.0–6.0 s，轮式底盘支撑机器人驶向橱柜的开门工作位置。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 24.0–30.0 s，远处厨房冰箱的黑色门板贴合箱体，未露出内腔；完整视频的右臂操作只发生在橱柜和取出的盒子上，没有拉开冰箱门的动作。" + }, + { + "t": 81.2, + "log_step": 209, + "text_zh": "观察：log step 209 的最终生成脚本仅开橱柜、取第一个盒并抬至携带位；视频 80.2–81.2 s 机器人仍停在橱柜旁持盒，没有执行开冰箱。" + } + ] + }, + "pies_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 43.0, + "log_step": null, + "text_zh": "观察：视频 31.0–43.0 s，右腕画面中的保鲜盒内没有派；机器人随后将盒拉出柜体并抬起，视频 76.0–81.2 s 仍持着该空盒，没有可见的派离盘或转入盒中的过程。" + }, + { + "t": 81.2, + "log_step": 219, + "text_zh": "推断：评分器 q_score=0.0，且评分视频没有派入盒的转移；派入盒不是初始成立的目标，因此最终连一个派入盒也未达成。log step 219 对交付文件的回放同样报告 q_score=0.0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "为第一个派准备接收盒：视频 37.0–44.0 s，右侧二指夹爪夹住空保鲜盒的侧壁；视频 44.0–57.0 s 向外提起，视频 76.0–81.2 s 仍持盒。没有抓派接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "为取第一个装派用盒，视频 23.0–30.0 s 底盘绕到已打开的柜门另一侧；视频约 58.0–67.0 s 持盒转向调整携带姿态。" + } + ] + }, + "pies_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 81.2, + "log_step": 219, + "text_zh": "推断：完整视频中机器人只取出一个空盒，没有进行任何派入盒动作，末秒仍持该盒；评分器 q_score=0.0 也排除最终形成两个互异派盒配对。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 24.0–30.0 s 冰箱门关闭；机器人随后只在橱柜处取盒、抬盒和调整携带姿态，没有走到冰箱内腔放盒的动作。" + }, + { + "t": 81.2, + "log_step": 219, + "text_zh": "推断：视频 80.2–81.2 s，第一个取出的盒仍在右夹爪处、冰箱外；评分器 q_score=0.0 排除任何非初始盒入冰箱目标在终态成立，故最终至少一盒入冰箱为假。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 81.2, + "log_step": 219, + "text_zh": "推断：完整视频只显示一个盒被取出，且末秒仍在机器人夹爪处；没有两个盒搬入冰箱的过程，评分器 q_score=0.0 排除最终有两个盒在冰箱内。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 25.0 s 的厨房远景中，黑色冰箱门保持贴合箱体，没有露出内腔；完整视频没有机器人接触、打开或关闭冰箱门的动作。" + }, + { + "t": 0, + "log_step": 26, + "text_zh": "推断：DAG 明确冰箱关闭在初态成立；log step 26 的会话初始检查也读到冰箱门关节接近零，结合视频中的关闭外观及全程未操作冰箱，判定关闭状态从视频 0.0 s 保持到结尾。q_score=0.0 不否定这个初始已成立的目标。" + } + ] + }, + "pies_frozen_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 81.2, + "log_step": 219, + "text_zh": "推断：评分器 q_score=0.0，DAG 中派初始未冻，冻结属于新增目标；故终态至少一个派冻结为假。log step 219 对最终交付文件的回放也报告 q_score=0.0，视频未出现把派送入冰箱的动作。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：本次输入没有状态日志，视频没有原生温度或 Frozen 状态显示；无法从外观恢复冻结状态在视频中的逐时区间，intervals 留空值，仅由评分总量确定 final=false。" + } + ] + }, + "pies_frozen_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 81.2, + "log_step": 219, + "text_zh": "推断：评分器 q_score=0.0，DAG 中派初始未冻，冻结属于新增目标；故终态两个派冻结为假。log step 219 对最终交付文件的回放也报告 q_score=0.0，视频未出现把派送入冰箱的动作。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：本次输入没有状态日志，视频没有原生温度或 Frozen 状态显示；无法从外观恢复冻结状态在视频中的逐时区间，intervals 留空值，仅由评分总量确定 final=false。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pies_in_boxes_1", + "t": null, + "log_step": 209, + "where": "操作中", + "evidence_zh": "推断：视频 31.0–57.0 s 机器人取出第一个空保鲜盒，视频 58.0–79.0 s 将盒调整到携带位，视频 80.2–81.2 s 仍持空盒；按任务的先装派方案，这是第一个派入盒的容器准备部分，尚未形成派盒关系。log step 209 的交付脚本明确止于取盒携带，未包含后续装派；因此将断点归到第1个派入盒的准备操作，无法定位独立的瞬时失败事件，t=null。" + }, + "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": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：会话测试记录显示 agent 未能把取盒后的装派动作控制成可交付序列：log step 173 在左臂达到派抓取姿态时，多组右臂持盒逆解均失败；log step 178 的试放盒在松手后落到低处；log step 186、201 的后续放盒测试又出现 follow IK fail。log step 220 自述这些持盒、摆放和双臂配合困难后提交部分轨迹，log step 209、218–219 确认最终只保留开柜和取盒。这些是停止推进装派的会话控制证据，未当作评分视频中的掉落或碰撞；证据不足以区分接触设计、逆解和跟踪的具体责任，停在“控制”。" + } + ], + "gap_zh": "观察：输入没有状态日志或成功示例视频，两个派的逐时温度/Frozen 无法直接判断；冻结终值由 q_score=0.0 限定。评分片段在取盒准备完成后结束，没有录入会话测试中的试放、掉落、双臂装派或冰箱操作；末秒未见失物或其他明确物理失败，故现象层留空，不能把会话失败移植为本次现象。推断：将取盒准备归到第1个派入盒依赖任务顺序及会话装派方案，确切失败时刻不可定位；控制根因来自会话测试，尚不能确认单一底层机制。" + }, + "summary_zh": "评分轨迹打开了橱柜并用右夹爪取出一个空保鲜盒，结束时仍持盒；9个节点中终态确认2个成立（打开橱柜、从初始保持的冰箱关闭），派入盒、盒入冰箱和冷冻均未达成。断点归于第1个派入盒的容器准备阶段，日志支持取盒后装派与摆放的控制困难，但交付片段未包含那些失败动作，故不标具体失败现象。无状态日志和温度显示，冻结终值由评分器 q_score=0.0 推定，逐时区间未知。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（开橱柜约视频14 s、冰箱始终关闭、其余未达成）与视频帧一致；断点归第1个派入盒、现象层留空并写 gap_zh、根因取会话证据的“控制”，符合 FAIL-22/FAIL-23，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": "2026-10-30T21:10:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-privileged--v2vp6ic/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-privileged--v2vp6ic/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1eab94c7906e4a25372f34da9bb204092b6f887505bb4e7c68040fb175af3141", + "video_sha256": "8c510404884a8e679b88a02a0d92df3be9ff76b3d62dc91f6a4f8a18a567d731", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--xc8qgzf.json b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--xc8qgzf.json new file mode 100644 index 0000000000000000000000000000000000000000..b640891a89d96a7662f916996474eca8bac2e605 --- /dev/null +++ b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--xc8qgzf.json @@ -0,0 +1,333 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-pies-i00-privileged--xc8qgzf", + "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, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 707, + "sim_steps": 707, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1093.7, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 6, + "agent_resets": 3, + "agent_sim_steps": 3482, + "agent_records": 2, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-pies-i00-privileged--xc8qgzf/replay.mp4", + "duration_s": 23.567, + "fps": 30.0, + "frames": 707, + "sha256": "f85056688fe4e5262bd984b802a25ee87dcb84232af9a29e0593730df9c76671" + }, + "state": null, + "progress": { + "method": "mixed", + "denominator": 9, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.5, + "log_step": null, + "text_zh": "观察：视频 9.5–10.4 s 机器人转向台面下的橱柜，视频 10.4–11.8 s 左腕画面近距离对着深色门板，夹爪向门面推进后停留；门板没有向外转开，也未露出柜内或取盒通道。视频约 12.0 s 机器人撤离，之后没有再次打开该柜。" + }, + { + "t": 11.0, + "log_step": 331, + "text_zh": "观察：log step 298 将最终生成脚本的橱柜段改成夹爪朝门板正面推进；log step 331 的最终707步录制输出记载柜门四个关节均约为0。该段与视频 10.4–11.8 s 的门面操作一致；较早会话中的门缘夹持试验和倒地未作为本次进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人左夹爪在视频约 10.4–11.8 s 向橱柜门板正面抵推，没有夹住门缘或把门拉开。此前视频约 4.5–8.8 s 的派、盘附近推动属于脚本为橱柜工具方案所做的准备，未形成持工具开门。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人以轮式底盘驶到台面及橱柜前，视频约 8.8–10.2 s 调整位置和朝向后进行推门。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.4, + "log_step": null, + "text_zh": "观察：视频约 14.5–17.2 s 机器人靠近冰箱，视频 17.2–20.6 s 左腕画面可见门面、竖直把手及运动的夹爪，但门未与箱体拉开成可见内腔；视频 22.5–23.533 s 仍保持该闭合门面。" + }, + { + "t": 20.6, + "log_step": 331, + "text_zh": "观察：log step 331 的最终录制输出为“fridge handle grasp -> None”；log step 260 的脚本在到达把手后闭爪并尝试拉动。视频 17.2–20.6 s 没有出现开门结果，故不把脚本中的抓取、拉动指令算成开门完成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人在视频约 12.0–17.0 s 驶离橱柜并靠近冰箱，为开门调整位置。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "视频 17.2–20.6 s 可见左夹爪靠近冰箱把手并运动，但接触部位被近距离门面及夹爪遮挡，无法确认是否实际触及把手、是否形成对向夹持；不据闭爪指令填写抓握。" + } + ] + }, + "pies_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.5, + "log_step": null, + "text_zh": "观察：视频约 4.5–8.8 s 左夹爪在台面、派及白色盘附近运动；视频 8.3–8.6 s 左腕仍可见派与盘在台面附近，没有出现保鲜盒或派被搬入盒口的画面。此后机器人操作柜门和冰箱，未取出保鲜盒。" + }, + { + "t": 23.533, + "log_step": 348, + "text_zh": "推断：视频全程没有建立可见的派入盒关系，且橱柜始终没有取盒开口；评分器终态 q_score=0.0 也排除了任何新增的派入盒目标字面量，故本节点终态为假。" + } + ] + }, + "pies_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.533, + "log_step": 348, + "text_zh": "推断：视频 0–23.533 s 没有保鲜盒取出及任何装派过程，台面操作之后是未成功的柜门、冰箱门操作；结合评分器 q_score=0.0，无法形成两个不同派各入不同盒的关系，本节点终态为假。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.6, + "log_step": null, + "text_zh": "观察：视频约 12.0–17.2 s 机器人移向冰箱，随后仅在闭合的冰箱门面、把手附近操作；夹爪未携带保鲜盒，未出现保鲜盒进入冰箱的过程。" + }, + { + "t": 23.533, + "log_step": 348, + "text_zh": "推断：橱柜未打开且未见取盒，冰箱也未形成开口；评分器终态 q_score=0.0 排除新增的盒入冰箱字面量，因此至少一盒入箱的条件终态为假。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.533, + "log_step": 348, + "text_zh": "推断：视频全程没有从橱柜取出两个盒或向冰箱装盒的画面，视频 22.5–23.533 s 机器人停留在闭合冰箱前；评分器 q_score=0.0 排除两个盒入冰箱的新增目标字面量，故本节点终态为假。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 的初始目标位串确认冰箱从起点关闭；视频 0–17.0 s 没有开冰箱过程，后续视频 17.2–20.6 s 的把手操作也未使门板打开。此状态从视频起点持续成立，不受 after 边限制。" + }, + { + "t": 23.533, + "log_step": null, + "text_zh": "观察：视频 22.5–23.533 s 密集末段帧中，左腕画面的门板与箱体边缘维持贴合，没有露出冰箱内腔；机器人保持在门前。" + }, + { + "t": 23.533, + "log_step": 348, + "text_zh": "推断：评分器 q_score=0.0 不否定此节点，因为 BEHAVIOR 的该指标不计持续保持的初始已真目标；冰箱关闭可与零新增目标同时成立。" + } + ] + }, + "pies_frozen_1": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 23.533, + "log_step": 348, + "text_zh": "推断：评分器终态 q_score=0.0（inputs/run.json.reward；log step 348 的707步验证结果一致），且 DAG 与初始谓词表明两个派起始均未冻结；若至少一个派终态 Frozen 为真，必有新增已满足目标字面量，与该总分不相容，因此 final=false。视频未显示温度，区间保留 null，不用外观或等待时长判断中途是否冻结。" + } + ] + }, + "pies_frozen_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 23.533, + "log_step": 348, + "text_zh": "推断：评分器终态 q_score=0.0（inputs/run.json.reward；log step 348 的707步验证结果一致），且 DAG 与初始谓词表明两个派起始均未冻结；若两个派终态 Frozen 为真，必有新增已满足目标字面量，与该总分不相容，因此 final=false。视频未显示温度，区间保留 null，不用外观或等待时长判断中途是否冻结。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 10.5, + "log_step": 331, + "where": "操作中", + "evidence_zh": "观察：视频约 10.4–11.8 s 机器人左夹爪在橱柜门正面推进、停留，柜门没有转开成取盒通道；视频约 12.0 s 机器人撤离，随后转到冰箱前，未修复开柜失败。log step 298 的最终脚本修改和 log step 331 的707步录制输出对应这段正面推门，柜门关节约为0；保鲜盒没有被取出。" + }, + "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": "接触", + "item": "接触力异常", + "t": 10.5, + "log_step": 331, + "evidence_zh": "观察：视频 10.4–11.8 s 左夹爪抵在橱柜门正面继续推进，但门板及门缝仍保持关闭，没有产生开门所需转动；机器人随后撤离。log step 331 与最终707步轨迹对应的输出中，推门后的四个柜门关节均约为0。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "log_step": 298, + "t": 10.5, + "source_zh": "日志", + "evidence_zh": "推断：log step 298 的最终脚本把柜门段设为从柜外朝门板正面推进，未安排夹住门缘、勾住门后侧或借工具建立外拉接触；视频 10.4–11.8 s 的实际动作与该段一致，门保持关闭。会话测试 log step 230 还记录同类正面推进时，目标继续向柜内而末端停在门面附近、柜门角度几乎不变；这些会话数据只用于解释接触方案。所选门面抵推无法在本次尝试中产生所需的开门作用，支持接触设计不适配；没有验证可行替代方案。" + } + ], + "gap_zh": "无状态日志及成功参考视频；柜门接触由腕部画面与最终生成脚本共同判断，缺少接触对和力传感记录，不能确定具体受力数值。冰箱把手处的实际接触方式被遮挡，已记未知。没有逐帧温度或 Frozen 观测，两个冷冻节点只由评分总分判定终态为假，过程区间未知。agent 在 log step 353 自述所有开柜方案均不可行，但现有证据未排除所有合法方案，故不据此归因为任务或环境。log step 331 的段错误出现在轨迹已保存、终态已打印之后，log step 348 随后成功验证707步文件，因此不把它视为中断评分的外因。" + }, + "summary_zh": "本次评分轨迹共707步：机器人在台面附近推动派、盘，随后尝试橱柜门和冰箱把手，未完成开柜、开冰箱、装派或装盒；终态仅保留初始已成立的冰箱关闭，9个节点中1个为真。最早未修复的失败是视频约 10.5 s 的打开橱柜，门面抵推未产生开门转动，日志与画面支持所选接触方案不适配。缺少状态日志、逐帧温度和成功参考，冷冻过程区间未知，但 q_score=0.0 排除了终态冻结；冰箱把手的接触方式也无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、断点（cabinet_opened）、冰箱关闭自 t=0 成立、冷冻节点由 q_score=0 约束为假均与视频及 log 一致；未发现需要修改的错误。柜门关节约为0与冰箱把手抓取为 None 的输出（log step 331）支持两个开门节点未达成。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": 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"9845250da4f0affd29e9797cb673552b8146a920148f26d194c5066c91bf3d01", + "video_sha256": "f85056688fe4e5262bd984b802a25ee87dcb84232af9a29e0593730df9c76671", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--zvhirp8.json b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--zvhirp8.json new file mode 100644 index 0000000000000000000000000000000000000000..e865a16e41834d0ddfaa1481a7ee2e692e01b2d5 --- /dev/null +++ b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--zvhirp8.json @@ -0,0 +1,308 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-pies-i00-privileged--zvhirp8", + "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, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 60, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 210, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 897.2, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 5, + "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-freeze-pies-i00-privileged--zvhirp8/replay.mp4", + "duration_s": 7.0, + "fps": 30.0, + "frames": 210, + "sha256": "331e7368d1a37f894d73cef842b3092361fbf62ce813fa72a0830e9c19898ca6" + }, + "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": null, + "text_zh": "观察：视频 0.00 s 头部画面中微波炉下方的橱柜门板贴合柜体，未露出取盒开口；视频 0.00–1.00 s 的逐帧检查只见视角和机械臂姿态变化，没有夹爪拉开柜门。" + }, + { + "t": 6.97, + "log_step": 62, + "text_zh": "推断：视频 1.0–6.97 s 各视角停留不变，未出现取盒或开柜动作；log step 62 的交付代码把当前 hold_action 重复60次并保存，log step 80 核验仍为60行，log step 82 明确自述为静止占位轨迹，故评分尝试未达成开柜事件。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.97, + "log_step": 62, + "text_zh": "推断：DAG记载冰箱初始关闭；视频 0.00–6.97 s 没有向冰箱伸手、抓门或开门的操作，末秒密集帧也未出现开门。log step 62 保存的是重复60次的 hold_action，后续会话开冰箱测试并非此交付轨迹，故开冰箱事件未达成。" + } + ] + }, + "pies_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.97, + "log_step": 62, + "text_zh": "推断：任务初态为两个派各在台面上的盘中；视频 0.00–6.97 s 没有机器人抓派、搬派或装盒的过程，log step 62 的实际交付仅重复 hold_action。评分器 reward.q_score=0.0，且该关系初态不成立，排除终态有至少一个派入盒；未将会话抓取测试计入评分进度。" + } + ] + }, + "pies_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.97, + "log_step": 62, + "text_zh": "推断：任务初态为两个派各在台面上的盘中；视频 0.00–6.97 s 没有机器人抓派、搬派或装盒的过程，log step 62 的实际交付仅重复 hold_action。评分器 reward.q_score=0.0，且该关系初态不成立，排除终态有两个分别派入盒；未将会话抓取测试计入评分进度。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.97, + "log_step": 62, + "text_zh": "推断：任务初态两个保鲜盒在橱柜内；视频 0.00–6.97 s 无机器人取盒、携盒或向冰箱内放盒的过程，log step 62 保存的占位动作未包含这些操作。评分器 reward.q_score=0.0，且盒入冰箱并非初始满足的目标，故终态不存在一个盒入冰箱；箱内被遮挡不妨碍该总分排除终态达成。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.97, + "log_step": 62, + "text_zh": "推断：任务初态两个保鲜盒在橱柜内；视频 0.00–6.97 s 无机器人取盒、携盒或向冰箱内放盒的过程，log step 62 保存的占位动作未包含这些操作。评分器 reward.q_score=0.0，且盒入冰箱并非初始满足的目标，故终态不存在两个盒入冰箱；箱内被遮挡不妨碍该总分排除终态达成。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：DAG的初始目标位串000000100确认冰箱起点关闭。视频 0.00–6.97 s 未见机器人操作冰箱，log step 62 交付的是60行重复 hold_action，因此关闭状态从视频 0.00 s 保持到结束；这是初始状态保留，不是机器人完成了关门动作。BEHAVIOR的 q_score 不计仍保持的初始真目标，所以 reward.q_score=0.0 与本节点为真一致。" + } + ] + }, + "pies_frozen_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.97, + "log_step": null, + "text_zh": "推断：DAG记载初始目标位串000000100，两个Frozen目标均未成立；视频 0.00–6.97 s 未见派被搬入冰箱，也无启动冷冻操作。评分器 reward.q_score=0.0 排除了终态新增的Frozen目标，故至少一个派冷冻的终值为假。画面不能直接显示温度，未用会话温度读数或等待时长证明评分轨迹中的冻结。" + } + ] + }, + "pies_frozen_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.97, + "log_step": null, + "text_zh": "推断：DAG记载初始目标位串000000100，两个Frozen目标均未成立；视频 0.00–6.97 s 未见派被搬入冰箱，也无启动冷冻操作。评分器 reward.q_score=0.0 排除了终态新增的Frozen目标，故两个派冷冻的终值为假。画面不能直接显示温度，未用会话温度读数或等待时长证明评分轨迹中的冻结。" + } + ] + } + }, + "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": 62, + "where": "首步前", + "evidence_zh": "观察：视频 0.00 s 柜门未开，视频开头仅有视角和机械臂姿态变化，视频 1.0–6.97 s 没有后续任务操作。log step 62 的代码把 hold_action 重复60次保存为交付，log step 80 确认文件仍为60行，log step 82 自述“stand-still placeholder”；评分尝试连打开橱柜这一步都未启动。会话开柜测试没有包含在评分视频中。" + }, + "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": 62, + "evidence_zh": "观察：视频 0.00–6.97 s 没有机器人夹爪接近柜门并执行开门的动作，柜内也未露出取盒开口；末秒视频 6.0–6.97 s 各视角保持相同。log step 62 交付代码仅重复 hold_action，log step 82 自述留下静止占位轨迹，实际评分局未启动开柜。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：不能制成有效开柜动作是留下占位交付的控制层原因，依据来自会话测试而非评分节点：log step 37 的开柜抓取返回 in_hand=None、拉动后门关节仍近0；log step 66–67 的柜门上缘夹取测试接触到柜门与台面，但夹爪间射线只命中台面，in_hand=None，四门关节仍为0；log step 69 的角部夹取又返回空接触、无持物；log step 78 的推门测试末端误差约0.20–0.30米且门仍近0。log step 62 说明开柜技能未验证并保存占位轨迹，log step 82 仍承认未找到有效开柜方法。这些记录支持控制能力未解决，尚不足区分接触设计与轨迹执行各自的贡献。" + } + ], + "gap_zh": "视频的头部与腕部视角未完整展示冰箱内部、派和保鲜盒，也没有评分轨迹的状态日志或原生温度记录；派入盒、盒入箱及冷冻的终值结合初态、未出现搬运的画面和评分器 q_score=0.0 推断，冷冻过程不能直接视觉观测。开柜控制根因仅有会话测试日志支持，评分交付未执行这些测试，无法从评分视频进一步细分控制子类；不把会话碰撞、空夹或摔倒当作本次评分现象。" + }, + "summary_zh": "评分交付为60行重复保持动作的占位轨迹；视频开头视角与机械臂姿态变化后停住，未启动开柜、装派或入冰箱，只有初始冰箱关闭状态保留，最终1/9。断点为打开橱柜的首步前，现象为没尝试；log step 37、67、69、78 的会话测试反馈支持控制层原因，但该归因需结合会话测试与交付选择推断，无法细分控制子类，故置信度降至6。派、盒和温度缺少完整可视证据及状态日志，相关终值结合初态与评分器 q_score=0.0 推断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（各节点全 false、fridge_closed 初态保留为真、断点 cabinet_opened 首步前、没尝试）与视频一致：视频 0–7 s 只有视角/姿态变化后静止。问题在根因：控制 仅来自会话测试（log step 37/66-69/78），评分交付是静止占位，这些测试不属于评分轨迹；03 规定不得由没尝试/缺交付推出根因，且仅来自 agent 自述的维度只能待核实。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "WHERE 标签与视频一致：评分局为60行占位轨迹，视频 0–7 s 仅初始姿态变化后静止，各节点全未达成，fridge_closed 初态保留，断点 cabinet_opened 首步前、没尝试。控制根因来自会话测试，符合 03 与 CASES FAIL-22（静止评分局可用会话证据归因控制），且已在 gap_zh 说明限制；第1轮异议已被有据回应，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": "2026-10-30T21:46:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-privileged--zvhirp8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-privileged--zvhirp8/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-privileged--zvhirp8/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-privileged--zvhirp8/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9f787facd557d1f5910c01a269b0c9b753d3d40fe7bfeefddec145e0673dcf24", + "video_sha256": "331e7368d1a37f894d73cef842b3092361fbf62ce813fa72a0830e9c19898ca6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--acaktuq.json b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--acaktuq.json new file mode 100644 index 0000000000000000000000000000000000000000..2040046a910eb36a6e892e5fcc1fa18773a33d5f --- /dev/null +++ b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--acaktuq.json @@ -0,0 +1,384 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-pies-i00-standard--acaktuq", + "taskKey": "behavior-1k/freeze_pies", + "dag_sha256": "304775bc54bb720c13e7e74f48179397d88f154515e0e603e4648939f4240574", + "outcome": { + "success": 0, + "reward": 0.14285714285714285, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 32208, + "sim_steps": 32208, + "physics_steps": 128832, + "steps": 15751, + "elapsed_s": 13671.1, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.14285714285714285, + "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-freeze-pies-i00-standard--acaktuq/replay.mp4", + "duration_s": 1073.6, + "fps": 30.0, + "frames": 32208, + "sha256": "746b359237686f781201068025567324af7a3d9563f0dd7f857c9824ca238e43" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": 3, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 487.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 56, + "log_step": null, + "text_zh": "观察：视频 0.0 s、56.0–64.0 s，微波炉下方的取盒橱柜门起初仅斜开，门板仍横在取盒路径上；不能把这个窄口直接算作足以取盒的开口。" + }, + { + "t": 487.5, + "log_step": 433, + "text_zh": "观察：视频 483.0–489.0 s，机器人右夹爪夹住下橱柜把手拉门，并后退让出门板转动空间；腕部画面露出柜内层板及明显的取盒通道。采用视频约 487.5 s 为首次明确达到本节点的时刻，开口边界约有 2 s 不确定性；视频 574.0–582.0 s 同一柜内的白盒被实际取出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左右夹爪先后夹住取盒橱柜的门缘或把手拉门；最终右夹爪拉把手，后续左夹爪又将该门拉得更开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人调整底盘位置，并在右夹爪持门把手时后退，为柜门让出转动空间。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 816, + "log_step": 660, + "text_zh": "观察：视频 788.0–821.5 s，机器人左夹爪持装派的盒，右夹爪对着烤箱旁深色高门寻找把手并拉动；视频 933.0 s 可清楚看见该门后的多层深色柜格。log step 638 将这处把手称为冰箱把手，log step 660 发起拉门。" + }, + { + "t": 946.6, + "log_step": 742, + "text_zh": "推断：视频 740.5–751.0 s 及 788.0–797.0 s 已能确认一个派在盒中，视频 946.6 s 盒被留在烤箱旁高柜层板上；最终评分 q_score=1/7，且 live_matches_replay=1。结合高柜的外观、位置和没有新增入冰箱得分，判断机器人开的是另一处高柜，没有完成目标冰箱开门；此物体识别未获原生实例标识确认。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪实际夹住并拉动烤箱旁深色高柜的把手；这是机器人误作冰箱的门，未观察到对目标冰箱的抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人持第一盒在高柜前换位、退让门板，并绕到高柜开口侧。" + } + ] + }, + "pies_in_boxes_1": { + "method": "visual", + "intervals": [ + [ + 740.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 740.5, + "log_step": 600, + "text_zh": "观察：视频 732.0–740.0 s，左夹爪抓起一个派，原来的盘子上不再有该派；视频 740.5–743.5 s，派降入台面白盒，夹爪张开撤离，派留在盒口内。到达时间取视频约 740.5 s，精度约 0.5 s。" + }, + { + "t": 793, + "log_step": 631, + "text_zh": "观察：视频 751.0–797.0 s 机器人夹着盒沿行驶，搬运中盒曾倾斜；视频 788.0–797.0 s 的近景仍能看到派留在盒内，未见派脱离盒。视频 933.0–948.0 s 盒连同该派被放到深色高柜层板，之后机器人空手返回厨房。" + }, + { + "t": 1073.4, + "log_step": null, + "text_zh": "推断：视频 948.0 s 后未见机器人重新取出这一盒或派；结合末态 q_score=1/7，将这一个可见的派入盒关系保留至终局。不能由搬运中的短暂遮挡或盒倾斜凭空划出关系丢失区间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪先尝试捏派，最后左夹爪从派边缘夹持抬起、移到白盒内并释放；双手没有同时夹持同一个派。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人用夹爪将派从盘子推向台面前缘，露出可夹持边缘，再改用抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "装派阶段机器人调整底盘靠近台面，并移动盒的位置，取派与放盒过程中均有底盘换位。" + } + ] + }, + "pies_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 975.2, + "log_step": 748, + "text_zh": "观察：视频 960.0–978.0 s，机器人空手返回台面，另一个派仍留在水槽另一侧的盘上；视频 990.0–1073.4 s 机器人继续察看橱柜并开门，未见第二个派离盘，也未见第二个盒被取出或装派。" + }, + { + "t": 1073.4, + "log_step": null, + "text_zh": "推断：末态 q_score=1/7 仅允许一个新增目标文字成立，不能支持两个互异派盒配对；第二个派入盒为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 949.0–990.0 s 机器人空手返回取盒橱柜，为第二派装盒寻找容器；后续检查柜内并开旁侧柜门，未观察到夹爪接触第二个派或抓住第二盒。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 946.6, + "log_step": 740, + "text_zh": "观察：视频 938.0–943.6 s，左夹爪把装派的白盒送到烤箱左侧深色高柜的层板上；视频 944.0–947.8 s 夹爪撤离，盒留在该柜格内；机器人随后离开，未再调整这一盒的位置。" + }, + { + "t": 1073.4, + "log_step": 742, + "text_zh": "推断：视频已支持一个派入盒；最终 q_score=0.14285714285714285=1/7，初始便成立的冰箱关闭不占新增目标得分。因此末态不能再有盒入冰箱的新增文字成立，第1盒入冰箱为假；盒被放到另一处高柜的判断来自画面与总分的结合，不把 agent 在 log step 742 的“已放上层板”当作入冰箱证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪夹住第一盒前沿，搬运后把盒释放在烤箱旁深色高柜的层板；途中仍携带盒而不是空夹。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人持装派的第一盒从水槽台面行驶到烤箱旁，绕开高柜门并向柜格靠近。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1073.4, + "log_step": 810, + "text_zh": "观察：视频 990.0–1073.4 s，机器人只在厨房橱柜附近查看、伸手及开门，没有第二次携盒走向放置处，也没有第二个盒进入冰箱的画面。" + }, + { + "t": 1073.4, + "log_step": null, + "text_zh": "推断：评分 q_score=1/7 已由一个派入盒占用，两个盒入冰箱需要两个新增目标文字，末态第2盒入冰箱为假。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务 DAG 明确记录初始冰箱关闭。视频中后续被打开并用于放盒的是烤箱旁的另一处深色高柜；视频 20.0 s、761.0 s 的水槽端白色高门保持闭合，整段未见目标冰箱门被操作，因此保留初始关闭状态至终局；对冰箱身份的判别与开门节点共用画面及 q_score 的交叉证据。" + } + ] + }, + "pies_frozen_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 1073.4, + "log_step": null, + "text_zh": "推断：最终评分 q_score=1/7，且现场与回放一致；视频确认的一个派入盒已占用这一个新增目标文字，故不能再有冷冻文字成立，末态第1个派冷冻为假。" + }, + { + "t": 1073.4, + "log_step": 810, + "text_zh": "观察：现有视频不能显示派的原生 Frozen 值或温度；inputs/ 中没有状态日志，运行记录也没有逐派温度或 Frozen 服务读数。因此冷冻节点的中间时间线保留为 null，不用放盒、关门外观或等待时长代替冻结观测。" + } + ] + }, + "pies_frozen_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 1073.4, + "log_step": null, + "text_zh": "推断：最终评分 q_score=1/7，且现场与回放一致；视频确认的一个派入盒已占用这一个新增目标文字，故不能再有冷冻文字成立，末态第2个派冷冻为假。" + }, + { + "t": 1073.4, + "log_step": 810, + "text_zh": "观察：现有视频不能显示派的原生 Frozen 值或温度；inputs/ 中没有状态日志，运行记录也没有逐派温度或 Frozen 服务读数。因此冷冻节点的中间时间线保留为 null，不用放盒、关门外观或等待时长代替冻结观测。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.14285714285714285, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 816.0, + "log_step": 660, + "where": "操作中", + "evidence_zh": "推断：视频 788.0–821.5 s 机器人开始对烤箱旁高柜执行其认定的冰箱开门，视频约 816.0 s 右夹爪拉动该门；log step 638、660 明确把这次动作当成冰箱操作。视频 933.0–948.0 s 随后只把第一盒留在这处高柜；一个派入盒加最终 q_score=1/7 表明没有额外入冰箱目标成立，因此目标识别错误后真实冰箱开门一直未获修复。早先视频约 205.0–280.0 s 的翻倒之后，取盒橱柜开口和第一个派入盒仍分别完成，故不将已修复的前段失误作为本断点。" + }, + "unmet": { + "pies_in_boxes_1": true, + "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": "其他", + "item": "操作对象错误", + "t": 816.0, + "log_step": 660, + "evidence_zh": "推断：视频 816.0–821.5 s 被右夹爪拉动的是烤箱旁深色高柜门；视频 933.0–948.0 s 盒被放入该高柜层板。log step 638、660 却把这处门当成冰箱，最终仅有视频可确认的一个派入盒得分，目标冰箱的开门及装盒均未达成。", + "note_zh": "候选现象“操作对象错误”：机器人实际抓住并打开了另一处柜门，现有接触失效、位姿误差或力异常条目不能准确表达选错机构这一可见操作结果。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "t": 816.0, + "log_step": 638, + "evidence_zh": "推断：log step 631 识别邻近黑色电器为烤箱后继续检查旁边高门，log step 638 将所选高柜把手称为冰箱把手，log step 660 据此执行拉门；视频 933.0–948.0 s 显示之后的盒放置也沿用同一高柜作为目标。结合一派入盒与最终 q_score=1/7，归因于把高柜误识别为目标冰箱；没有证据支持将这一未修复错误归因于夹爪滑脱或控制脚本崩溃。", + "source_zh": "日志 / 视频 / 评分器字段" + } + ], + "gap_zh": "没有 inputs/states.jsonl，也没有 oracle 视频、原生物体实例标识、门关节、Inside 或 Frozen 的服务读数。深色高柜非目标冰箱的识别是依据视频和 q_score 的推断，尚不能从原生实例标识直接核实；若它属于目标冰箱，则需额外的 Inside 读数区分放置深度与派盒容纳阈值，现有总分不能单独定位该替代解释。取盒柜门初始斜开是否足以取盒难以精确量化，采用视频约 487.5 s 首次明确通道为开门时间；两个冷冻节点只由总分决定末态为假，中间时间线未知。日志控制频率为 30 Hz（log step 34），32208 个控制步与视频 1073.6 s 一致；log step 740 的 control_steps=28307 对应视频 943.57 s 的放盒松手，已用视频核对，未将 agent 工作时间映射为视频时间。" + }, + "summary_zh": "机器人打开取盒橱柜，将一个派实际装入一个白盒并搬走，另一个派未装盒；按视频与最终 q_score=1/7 的合并判断，最终成立的是开橱柜、一个派入盒及保留初始冰箱关闭，共3/9节点。机器人把烤箱旁深色高柜当作冰箱并把第一盒留在其层板，首个未修复断点记为打开冰箱，根因推断为目标识别错误。缺少原生实例标识、门关节和容纳/温度状态，柜体识别及初始开口时间存在不确定性，冷冻过程未知但末态由总分判假。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点与时间（取盒橱柜约487.5 s、第1派入盒约740.5 s、盒放入烤箱旁高柜约943 s）与视频一致，断点、根因'感知'已标为推断并在 gap_zh 说明了高柜是否为冰箱无法由原生读数核实；视频与 q_score=1/7 均无法推翻该判断，故不要求改动。", + "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": "2026-10-30T21:20:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-standard--acaktuq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-standard--acaktuq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c13047820115ca86273ee010c6b10307f43014ca2bcea1a8c6e66bcf4d0010b3", + "video_sha256": "746b359237686f781201068025567324af7a3d9563f0dd7f857c9824ca238e43", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--iv6ev6m.json b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--iv6ev6m.json new file mode 100644 index 0000000000000000000000000000000000000000..b84a3ebbe561ab28498321d1759481c0fbee26c7 --- /dev/null +++ b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--iv6ev6m.json @@ -0,0 +1,291 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-pies-i00-standard--iv6ev6m", + "taskKey": "behavior-1k/freeze_pies", + "dag_sha256": "304775bc54bb720c13e7e74f48179397d88f154515e0e603e4648939f4240574", + "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": 23109, + "sim_steps": 23109, + "physics_steps": 92436, + "steps": 13663, + "elapsed_s": 11295.5, + "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-freeze-pies-i00-standard--iv6ev6m/replay.mp4", + "duration_s": 770.3, + "fps": 30.0, + "frames": 23109, + "sha256": "cebd6c8b14159777007c2aaad4a1a99b7c0dcbdba59379f6a3148065e91b2f55" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s、2 s、12 s及32 s所见厨房橱柜门板均贴合柜体，未见可取盒的敞开柜腔。" + }, + { + "t": 140, + "log_step": null, + "text_zh": "观察：视频 0–140 s机器人环视、移动及倾斜，夹爪未夹住柜门把手或门缘，也未见柜门被拉开；视频 150–770.2 s主要为倾倒后的视角和恢复动作，未出现取盒开口。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4, + "log_step": null, + "text_zh": "观察：视频 4 s、6 s及36 s远处高柜/冰箱区域未见门板展开或内腔露出；全段检查未见机器人抓住冰箱门或打开门板。" + }, + { + "t": 770.2, + "log_step": null, + "text_zh": "推断：视频中机器人始终未进行冰箱门操作，结合DAG确认的关闭初态，打开冰箱事件未达成。" + } + ] + }, + "pies_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：inputs/run.json的任务文本说明两个派初始在厨房台面的两个盘子上，两个保鲜盒初始在橱柜内。" + }, + { + "t": 770.2, + "log_step": null, + "text_zh": "推断：视频 0–140 s及后续至770.2 s的检查未见机器人把派从盘中抓起、搬运或放入盒口，末尾双夹爪也没有派或盒；结合评分器q_score=0.0、live_matches_replay=1，第1个派入盒最终为假，未见该关系曾成立。" + } + ] + }, + "pies_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：inputs/run.json的任务文本说明两个派初始在厨房台面的两个盘子上，两个保鲜盒初始在橱柜内。" + }, + { + "t": 770.2, + "log_step": null, + "text_zh": "推断：视频 0–140 s及后续至770.2 s的检查未见机器人把派从盘中抓起、搬运或放入盒口，末尾双夹爪也没有派或盒；结合评分器q_score=0.0、live_matches_replay=1，第2个派入盒最终为假，未见该关系曾成立。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 770.2, + "log_step": null, + "text_zh": "推断：任务文本给出盒在橱柜内的初态；视频 0–140 s未见机器人取出保鲜盒，视频 150–770.2 s为倾倒及恢复，未见持盒运输或冰箱开门装盒。结合评分器q_score=0.0，第1盒入冰箱最终为假，未见中途入箱。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 770.2, + "log_step": null, + "text_zh": "推断：任务文本给出盒在橱柜内的初态；视频 0–140 s未见机器人取出保鲜盒，视频 150–770.2 s为倾倒及恢复，未见持盒运输或冰箱开门装盒。结合评分器q_score=0.0，第2盒入冰箱最终为假，未见中途入箱。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG的criterion_zh明确初始目标位串确认冰箱关闭；视频 4 s、6 s及36 s所见远处冰箱区域未出现门板外摆。" + }, + { + "t": 770.2, + "log_step": null, + "text_zh": "推断：视频全段未见机器人操作冰箱门，期间没有装盒或开门动作，因此从视频 0 s保留关闭状态至末尾；评分器q_score=0.0不计这一初始已成立的目标，不能据此判定冰箱打开。" + } + ] + }, + "pies_frozen_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 770.2, + "log_step": null, + "text_zh": "推断：评分器q_score=0.0且live_matches_replay=1；DAG确认初始保留的目标是冰箱关闭，冷冻不是初始已满足目标，因此最终不允许有任何新增Frozen目标为真，第1个派冷冻最终为假。视频未见派被送入制冷设备；无原生温度或Frozen逐时读数，完整时间区间保留null。" + } + ] + }, + "pies_frozen_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 770.2, + "log_step": null, + "text_zh": "推断：评分器q_score=0.0且live_matches_replay=1；DAG确认初始保留的目标是冰箱关闭，冷冻不是初始已满足目标，因此最终不允许有任何新增Frozen目标为真，第2个派冷冻最终为假。视频未见派被送入制冷设备；无原生温度或Frozen逐时读数，完整时间区间保留null。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 16.0, + "log_step": null, + "where": "探索", + "evidence_zh": "观察：视频 12–15 s机器人仍在厨房内环视和移动，视频 15.5–17 s三个机载视角随机器人一起大幅翻转，头部视角一度接近侧倒；随后多次恢复和再倾倒，视频 150–188 s头部持续朝上，视频 330 s至770.2 s仍呈倒卧视角且未完成任何物品操作。推断：最早可见失衡锚点取视频约16 s；此时尚无可识别的抓派、取盒或开门对象，无法从画面可靠分配到某一具体DAG节点，故ref为unknown。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 16.0, + "log_step": null, + "evidence_zh": "观察：视频 15.5–17 s头部和双腕视野共同滚转，厨房台面与墙面相对画面明显翻倒；视频 64–80 s再次维持侧倒视角，视频 150–188 s转为朝天视角。视频 330–770.2 s机器人的空夹爪反复摆动，头部仍低处斜仰木板区域，视频 769.3–770.2 s逐0.1 s检查仍未恢复正常行走视角。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：agent的底盘与躯干控制没有在环视和导航时维持机体稳定。log step 26的移动辅助函数以全零关节行开始，未指定躯干时也会把躯干目标置零；log step 43的环视脚本同样只设置底盘转角而把其余关节目标置零，log step 49才改为保持当前躯干。后续log step 129在非零底盘指令后调用有持续时间的get_obs而未先发停止行，log step 142又显式以check=False关闭一次长距离行驶的障碍检查；视频 15.5–17 s、64–80 s及140–150 s反复显示失衡。证据支持移动控制失效，但不足以把每次倾倒唯一归到某一控制子类。" + } + ], + "gap_zh": "观察：inputs/有完整run.json及replay.mp4，没有states.jsonl或成功参考视频。机器人在早期环视、标定及厨房移动中即失衡，未对派、盒或门建立可识别的操作，因此具体断点节点无法唯一确定；没有把导航意图直接当作某一节点的实际接触。两派没有逐时温度/Frozen观测，冷冻节点只能由评分总量确定最终为假，中途区间未知；保留冰箱关闭依赖已给初态和视频未见开门的上下文推断。", + "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": "观察：本次连续评分视频中机器人未完成开门、抓派、取盒或装箱操作，最终仅保留初始的冰箱关闭状态，9个节点中最终1个成立。推断：机器人在环视与移动阶段反复失衡，底盘和躯干控制未维持稳定，后续恢复也未带来任务进展；因尚未识别明确操作对象，具体断点节点记unknown。两派冷冻最终由q_score=0.0判假，但缺少原生温度/Frozen时间序列，不能给出中途区间。", + "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（仅冰箱关闭保持、其余未达成）、断点unknown/探索、平衡现象与控制根因均与视频及日志一致；视频 16 s 起视角翻转、170 s 后朝天/倒卧，未见任何派、盒、门操作。", + "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": "2026-10-30T21:13:41Z", + "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-freeze-pies-i00-standard--iv6ev6m/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-standard--iv6ev6m/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cf1b824f4e6827fe500f1835de25a29f48bc8ff131cd657747d60298b3f46882", + "video_sha256": "cebd6c8b14159777007c2aaad4a1a99b7c0dcbdba59379f6a3148065e91b2f55", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--l83b6zp.json b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--l83b6zp.json new file mode 100644 index 0000000000000000000000000000000000000000..be4ecac0fff50cb6a16faa5a9f73aa636c23922e --- /dev/null +++ b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--l83b6zp.json @@ -0,0 +1,290 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-pies-i00-standard--l83b6zp", + "taskKey": "behavior-1k/freeze_pies", + "dag_sha256": "304775bc54bb720c13e7e74f48179397d88f154515e0e603e4648939f4240574", + "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": 979, + "sim_steps": 979, + "physics_steps": 3916, + "steps": 327, + "elapsed_s": 920.1, + "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": 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-freeze-pies-i00-standard--l83b6zp/replay.mp4", + "duration_s": 32.633, + "fps": 30.0, + "frames": 979, + "sha256": "7d90cfac0cad58bf769b2d197941a2208da36a3e929dff8b74e395b6ed34c6ab" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 18.0, + "log_step": null, + "text_zh": "观察：视频 0–21.5 s 机器人转动、巡视台面及岛台，未见夹爪拉柜门；视频 9.0 s、18.0 s 仅能看到水槽下柜体部分正面及暗处，未能看清装着两个保鲜盒的目标柜内与取盒通道。DAG 明确将该柜初始开口列为待核实，故不能把未做开门动作等同于开局没有开口。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频 1.0 s 可见远处黑色冰箱门贴合箱体；视频 0–21.5 s 的巡视未见机器人靠近并拉开冰箱门，随后视频 22–32.6 s 机器人侧翻。全程没有冰箱内腔露出的开门事件。" + } + ] + }, + "pies_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.5, + "log_step": null, + "text_zh": "观察：视频 9.0 s、18.0 s、21.5 s 水槽旁的白盘及盘中物留在台面，夹爪没有夹起该物，视频 22–32.6 s 机器人侧翻且未搬运派或保鲜盒。推断：结合初始派在盘上、盒在柜内及评分器 q_score=0.0，本局未形成任何派入盒关系。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 14.5–22.5 s 机器人以轮式底盘移动、转向，靠近水槽台面巡视第一个派的位置；未见夹爪抓握派。此处记录寻找取派位置时实际发生的底盘移动。" + } + ] + }, + "pies_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.6, + "log_step": null, + "text_zh": "观察：视频 0–32.6 s 未见机器人抓起派、抓盒或进行装盒，视频 31.5–32.6 s 仍侧翻在台面旁。推断：初始两个派在盘上且两盒在柜内，结合评分器 q_score=0.0，两个派分别入不同盒的条件未成立。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.6, + "log_step": null, + "text_zh": "观察：视频 1.0 s 冰箱关闭；后续巡视及侧翻过程中，夹爪没有携带保鲜盒进入冰箱，亦未见开冰箱动作。推断：结合初始盒在厨房柜内和评分器 q_score=0.0，冰箱内没有新增保鲜盒，本节点未达。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.6, + "log_step": null, + "text_zh": "观察：视频 0–32.6 s 没有机器人取盒、搬盒和向冰箱放盒的动作，末段仍在侧翻位置。推断：结合初始两盒在柜内及评分器 q_score=0.0，两盒入冰箱的条件未达。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "推断：DAG 明确冰箱关闭是初始目标；视频 1.0 s 可见远处黑色冰箱门贴合箱体，随后全片未见机器人接近或操作冰箱，视频 22–32.6 s 侧翻后也未返回冰箱，故关闭状态从视频 0 s 保持到结束。评分器 q_score=0.0 不计入一直保留的初始目标，不否定本节点。" + } + ] + }, + "pies_frozen_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.6, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1，按本局初始未冻结的目标条件，末态不能包含至少一个派已冻结；视频 0–32.6 s 未见机器人把派移入冰箱或使用其他冷源，故也没有支持中途达到冻结的操作，记为未达。原生温度与 Frozen 逐帧读数未提供，温度时间轴不能直接核验。" + } + ] + }, + "pies_frozen_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.6, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1，按本局初始未冻结的目标条件，末态不能包含两个派已冻结；视频 0–32.6 s 未见机器人把派移入冰箱或使用其他冷源，故也没有支持中途达到冻结的操作，记为未达。原生温度与 Frozen 逐帧读数未提供，温度时间轴不能直接核验。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pies_in_boxes_1", + "t": 22.0, + "log_step": 91, + "where": "探索", + "evidence_zh": "观察：视频 14.5–21.5 s 机器人反复靠近并朝向水槽旁盘子，尚未抓派；视频约 21.8–23.5 s 场景在头部与腕部画面内明显旋转，随后机身保持侧翻直至视频 32.6 s。log step 91、101 的机器人脚本分别执行靠近水槽拍照、定位第一个盘子的动作。推断：机器人是在为第1个派入盒寻找取派位置时失去平衡，该步之后始终未完成；不是在操作柜门或冰箱。" + }, + "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": "全身", + "item": "平衡", + "t": 22.0, + "log_step": 148, + "evidence_zh": "观察：视频约 21.8–23.5 s 机器人相机画面持续侧转，视频 25.6 s、30.8 s 及最后一秒的腕部与头部画面仍接近横倒。现场服务在 log step 126 报 control_steps=924，按 log step 56 的30 Hz为视频 30.8 s，与所查侧翻帧吻合；其前一次本体观测 log step 125 的竖直分量为0.0576。log step 148 服务报 control_steps=979、done=true、reason=\"failure: the robot fell over\"，对应视频总长979/30=32.633 s。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 22.0, + "log_step": 64, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：底盘接近台面时的运动与姿态控制未能保持直立，并在侧翻后未能恢复。log step 64 的 drive_to 反馈只按平面位置与偏航角继续下发底盘命令，没有倾斜停止条件；视频约 22 s 开始侧翻后，log step 100 的服务计数768对应视频 25.6 s，画面已经横倒，而 log step 101、108 仍调用该导航函数对准盘子。log step 125 才检查到严重倾斜，后续 log step 128、134、140、145 的退让、移底盘及手臂撑地命令也未恢复直立，视频 31.5–32.6 s 支持恢复失败。现有证据不足以再细分最初失稳的具体控制环节。" + } + ], + "gap_zh": "观察：inputs/ 中有完整运行日志和视频，但没有 states.jsonl，也没有成功示例视频。目标保鲜盒柜内及取盒开口始终未被看清，橱柜开门节点保留未知；没有温度或 Frozen 原生逐帧读数，冷冻末值由 q_score 总量约束、时间轴由未搬入冷源的过程推断。侧翻时底盘与环境的具体接触点被机体和台面遮挡，不能确认最初碰撞位置，故不另加被挡/碰撞现象或更细根因。" + }, + "summary_zh": "本局只保留起始的冰箱关闭状态，确认最终成立1/9个节点；没有看到派入盒或盒入冰箱，目标橱柜的初始开口无法确认。机器人为第1个派入盒巡视取派位置时，在视频约22 s开始侧翻，后续控制未能扶正，服务最终以倒地失败结束。无状态日志和温度轨迹，冷冻末值依据评分器总量推断，初始失稳的具体接触点不可见。", + "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22 s起机器人侧翻，节点只保留起始的冰箱关闭，断点为第1个派入盒的取派探索阶段，平衡现象与控制根因（不再细分）有证据支持；未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:11:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-standard--l83b6zp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-standard--l83b6zp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "860d0f97c17e84da3123c3485d88be039da9430fc0c3a99e1dfd1a7e3505b2f5", + "video_sha256": "7d90cfac0cad58bf769b2d197941a2208da36a3e929dff8b74e395b6ed34c6ab", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--ygvahmx.json b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--ygvahmx.json new file mode 100644 index 0000000000000000000000000000000000000000..90ff6fbdd30e750c610e6ddd0e30650628ebf8dc --- /dev/null +++ b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--ygvahmx.json @@ -0,0 +1,335 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-pies-i00-standard--ygvahmx", + "taskKey": "behavior-1k/freeze_pies", + "dag_sha256": "304775bc54bb720c13e7e74f48179397d88f154515e0e603e4648939f4240574", + "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": 1728, + "sim_steps": 1728, + "physics_steps": 6912, + "steps": 576, + "elapsed_s": 789.1, + "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": 1.33, + "peak_processes": 11, + "peak_disk_gb": 1.397, + "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-freeze-pies-i00-standard--ygvahmx/replay.mp4", + "duration_s": 57.6, + "fps": 30.0, + "frames": 1728, + "sha256": "c757bb46392dbdacf93b623cba17f35ce6eb36b04e888ccb4a8962803460c966" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 起始画面可见微波炉上下的橱柜门板贴合柜体；视频 0.0–22.0 s 的旋转巡视未见柜门拉开、柜内保鲜盒或可供取盒的开口。" + }, + { + "t": 57.5, + "log_step": 74, + "text_zh": "观察：视频 22.0–57.5 s 机器人仅移动、转向并最终倾倒，没有伸爪拉柜门；log step 66、73、74 的实际导航脚本保持机械臂关节及张开的夹爪，未执行开柜动作。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13, + "log_step": null, + "text_zh": "观察：视频 1.0、8.0、12.0–14.0 s 的巡视可见远端黑色冰箱门板处于闭合位置，没有露出内腔；后续机器人未用夹爪拉动冰箱门。" + }, + { + "t": 43.5, + "log_step": 74, + "text_zh": "观察：视频约 43.5–48.5 s 机器人在接近远端工作区时明显倾斜，之后保持侧倒至视频 57.5 s，未出现开冰箱动作。log step 74 执行的是驶向远端、转向候选冰箱并取相机观测的脚本。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 43.0–47.0 s 轮式底盘支撑机器人驶过岛台旁通道并转向远端冰箱候选位置，随后倾倒；没有可见的夹爪与冰箱门接触。" + } + ] + }, + "pies_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21, + "log_step": null, + "text_zh": "观察：视频 0.0–22.0 s 机器人旋转巡视厨房，之后只进行底盘导航；所有已检视画面中均未出现派从台面离开、进入夹爪或移入保鲜盒的过程，视频 48.5–57.5 s 机器人保持侧倒。" + }, + { + "t": 57.5, + "log_step": null, + "text_zh": "推断：任务初态为两个派分别在盘上，视频中没有装盒动作；评分器 reward.q_score=0.0 且 live_matches_replay=1，最终不可能新增任何派入盒目标，因此第1个派入盒为假，并非仅凭零分判定未尝试。" + } + ] + }, + "pies_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21, + "log_step": null, + "text_zh": "观察：视频 0.0–22.0 s 机器人旋转巡视厨房，之后只进行底盘导航；所有已检视画面中均未出现派从台面离开、进入夹爪或移入保鲜盒的过程，视频 48.5–57.5 s 机器人保持侧倒。" + }, + { + "t": 57.5, + "log_step": null, + "text_zh": "推断：任务初态为两个派分别在盘上，视频中没有装盒动作；评分器 reward.q_score=0.0 且 live_matches_replay=1，最终不可能新增任何派入盒目标，因此第2个派入盒为假，并非仅凭零分判定未尝试。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 47, + "log_step": 74, + "text_zh": "观察：视频 0.0–47.0 s 没有夹爪持盒、搬盒或将盒送入冰箱的过程，冰箱未出现开口；视频 48.5–57.5 s 机器人侧倒，未继续操作。" + }, + { + "t": 57.5, + "log_step": null, + "text_zh": "推断：保鲜盒初始在橱柜内，结合未发生搬运及评分器 reward.q_score=0.0、live_matches_replay=1，最终第1盒入冰箱为假。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 47, + "log_step": 74, + "text_zh": "观察：视频 0.0–47.0 s 没有夹爪持盒、搬盒或将盒送入冰箱的过程，冰箱未出现开口；视频 48.5–57.5 s 机器人侧倒，未继续操作。" + }, + { + "t": 57.5, + "log_step": null, + "text_zh": "推断：保鲜盒初始在橱柜内，结合未发生搬运及评分器 reward.q_score=0.0、live_matches_replay=1，最终第2盒入冰箱为假。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13, + "log_step": null, + "text_zh": "观察：视频 1.0、8.0、12.0–14.0 s 可见远端黑色冰箱的正面门板保持闭合，没有门板拉离或内腔显露；整个视频没有机器人开门操作。" + }, + { + "t": 57.5, + "log_step": 78, + "text_zh": "推断：DAG 记录初始目标位串确认冰箱关闭，视频 0.0–57.5 s 未见开门；log step 78 服务报告机器人倒地终止，未有后续操作，因此关闭状态从视频 0.0 s 延续至结束。这是保留的初始目标，BEHAVIOR 的 q_score=0.0 不否定它。" + } + ] + }, + "pies_frozen_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 57.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1；按目标总分的约束，初始未满足的 Frozen 目标在末态没有新增满足项，故第1个派冷冻的 final 为假。视频未见派被送进冰箱，但不以该现象单独代替温度判据。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/ 中没有状态日志，完整运行日志未报告派的原生 Frozen 布尔量或温度；视频不能显示温度，故无法重建冷冻状态随视频时间变化的区间，intervals 保留 null。" + } + ] + }, + "pies_frozen_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 57.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1；按目标总分的约束，初始未满足的 Frozen 目标在末态没有新增满足项，故第2个派冷冻的 final 为假。视频未见派被送进冰箱，但不以该现象单独代替温度判据。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/ 中没有状态日志，完整运行日志未报告派的原生 Frozen 布尔量或温度；视频不能显示温度，故无法重建冷冻状态随视频时间变化的区间，intervals 保留 null。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 43.5, + "log_step": 74, + "where": "探索", + "evidence_zh": "观察：视频 0.0–22.0 s 机器人旋转巡视，随后向远端黑色冰箱所在区域移动；视频约 43.5 s 起三个相机的场景明显翻转，视频 48.5–57.5 s 持续侧倒，未开冰箱。log step 68、74 的脚本驶向远端黑色设备并取图，log step 78 服务报告 done=true、reason=\"failure: the robot fell over\"。推断：这是为打开冰箱而接近、观察候选目标时失败，尚未开始夹爪开门；按探索记于 fridge_opened，之后未修复。" + }, + "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": "全身", + "item": "平衡", + "t": 43.5, + "log_step": 78, + "evidence_zh": "观察：视频约 43.5–47.5 s 机器人移动及转向时视野反复大幅倾斜，视频约 48.5 s 后头部和双腕画面均维持侧倒方向，至视频 57.5 s 未恢复。log step 78 服务终态为机器人倒地，基体四元数为 [0.07375,-0.70273,-0.02256,0.70726]，与明显倾倒一致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 43.5, + "log_step": 73, + "source_zh": "日志", + "evidence_zh": "观察：log step 66、73 的导航控制器只按基体 x/y 和四元数提取的 yaw 计算平移、转向误差，没有检查基体倾斜或实施恢复；log step 74 的 turn_to 在 yaw 约 -85°、目标约 -68°时重复转向仍不收敛，log step 78 服务随后确认基体倒地。视频约 43.5–57.5 s 可见倾倒且未恢复。推断：导航反馈没有处理基体失稳，倾倒后仍依平面航向误差继续发转向命令，未能终止或纠正持续失衡；这一判断依据实际执行脚本和服务读数，不把后来添加的防倾倒代码算作已执行。" + } + ], + "gap_zh": "观察：inputs/ 只有运行日志和视频，没有状态日志或成功参考视频。两腕视野在倒地前主要被机器人自身遮挡，无法确定首次倾倒是否由底盘或手臂碰到岛台、凳子引起，故不追加碰撞现象或把具体接触当根因；log step 128、155 中有关碰擦和速度致倒的说法是 agent 的事后分析，未获接触数据独立证实。派的 Frozen/温度过程未记录，末态冷冻为假由评分器总分约束推得，达标时间区间未知。" + }, + "summary_zh": "评分回合只进行了厨房巡视和向冰箱候选位置的接近，没有新增装派入盒、盒入冰箱或冷冻目标；冰箱关闭状态从起点保持。机器人在视频约 43.5 s 开始明显倾倒，至视频 57.5 s 未恢复，断点为打开冰箱前的探索，现象为全身平衡失败，实际导航反馈未监测和处理基体倾斜。没有状态或接触日志，首次失稳的具体触发接触无法确定，派的冷冻时间区间也无法重建，末态为假由评分器零分约束确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "未发现需要修改的错误：9 个节点值与视频一致（全程无开柜/开冰箱/搬运，冰箱关闭自起点保持），断点 fridge_opened（探索，视频约 43.5–45 s 起倾倒、48 s 后侧倒至 57.5 s）和平衡现象有帧与 log step 78 服务读数支持；根因（反馈控制）为基于脚本的推断且已标注为推断，倾倒的具体触发接触已在 gap 中诚实标为未知。", + "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": "2026-10-30T21:16:04Z", + "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-freeze-pies-i00-standard--ygvahmx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-standard--ygvahmx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dde53b12aaefd02f96c0b387e92038d67dfbcbd40af7c88aed9e2735da7db6c9", + "video_sha256": "c757bb46392dbdacf93b623cba17f35ce6eb36b04e888ccb4a8962803460c966", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--zpdv8lj.json b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--zpdv8lj.json new file mode 100644 index 0000000000000000000000000000000000000000..8f9ec045dfa455c985a05913a2e30185ade808c7 --- /dev/null +++ b/phase2/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--zpdv8lj.json @@ -0,0 +1,346 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-pies-i00-standard--zpdv8lj", + "taskKey": "behavior-1k/freeze_pies", + "dag_sha256": "304775bc54bb720c13e7e74f48179397d88f154515e0e603e4648939f4240574", + "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": 10980, + "sim_steps": 10980, + "physics_steps": 43920, + "steps": 5872, + "elapsed_s": 2833.6, + "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": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.232, + "peak_processes": 11, + "peak_disk_gb": 0.27, + "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-freeze-pies-i00-standard--zpdv8lj/replay.mp4", + "duration_s": 366.0, + "fps": 30.0, + "frames": 10980, + "sha256": "70a2de7e84460984fe6353c6f1e99d175037b2fceb4d877285a3c0d7831d4c17" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 157.0, + "log_step": 111, + "text_zh": "观察：视频 130–168 s 机器人先后用右、左夹爪拉动水槽下方柜门，视频 157 s 已能看到门后的暗色柜腔；视频 225–290 s 又把相邻门拉开，露出层板。" + }, + { + "t": 350.0, + "log_step": 159, + "text_zh": "观察：视频 297–352 s 机器人用右夹爪操作另一扇下柜门；检查头部、腕部视图及增亮后的柜内图，仍未辨认出两个目标保鲜盒。log step 166 中 agent 也自述未找到盒，但此自述不作为开柜达成依据。" + }, + { + "t": 350.0, + "log_step": null, + "text_zh": "推断：已打开下柜是可见事实，但 DAG 要求的是存放目标保鲜盒的柜体及可取盒开口；现有画面未建立该柜体与目标盒的对应关系，部分内部被门板、台面及阴影遮住，不能确认该特定前置事件是否达成，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右、左二指夹爪先后夹持水槽下柜的条状把手拉门；随后右夹爪夹持相邻下柜把手再拉门。视频 130–168 s、240–268 s、297–352 s 可见门随夹爪移动；两臂依次操作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在找柜及拉门时移动、转向，视频 200–225 s、247–268 s、347–355 s 可见底盘运动带动头部视点和操作臂沿柜门周围移动。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68.5, + "log_step": 73, + "text_zh": "观察：视频 62–70 s 机器人靠近白色冰箱，视频 68.5 s 可见门板贴合箱体，未露出内腔；左右夹爪均未夹住冰箱把手。之后全段检查至视频 365.9 s，机器人操作的是下柜门，没有拉开冰箱门的动作或开口。" + } + ] + }, + "pies_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68.5, + "log_step": null, + "text_zh": "观察：视频 47–60 s 和视频 62–70 s 的台面巡看可见两处盘中派；视频 87–290 s 及视频 297–352 s，机器人夹爪对准下柜把手，画面未出现派离开盘子、随夹爪移动或进入保鲜盒的过程。" + }, + { + "t": 365.9, + "log_step": null, + "text_zh": "推断：机器人没有建立可见的派入盒关系；run.json 的评分器字段 q_score=0.0、live_matches_replay=1 也排除终态新增的派入盒目标成立，故第1个派入盒为假。冰箱关闭为起点已成立的目标，不计入该 q_score 增量。" + } + ] + }, + "pies_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68.5, + "log_step": null, + "text_zh": "观察：视频 47–60 s 和视频 62–70 s 的台面巡看可见两处盘中派；视频 87–290 s 及视频 297–352 s，机器人夹爪对准下柜把手，画面未出现派离开盘子、随夹爪移动或进入保鲜盒的过程。" + }, + { + "t": 365.9, + "log_step": null, + "text_zh": "推断：机器人没有建立可见的派入盒关系；run.json 的评分器字段 q_score=0.0、live_matches_replay=1 也排除终态新增的派入盒目标成立，故第2个派入盒为假。冰箱关闭为起点已成立的目标，不计入该 q_score 增量。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68.5, + "log_step": null, + "text_zh": "观察：视频 62–70 s 冰箱门保持贴合，随后机器人回到下柜处；从全段粗看及开柜、结尾密集帧中，未见保鲜盒被取出、由夹爪搬运，或经冰箱门进入箱内。" + }, + { + "t": 365.9, + "log_step": null, + "text_zh": "推断：初态目标盒在厨房柜中，整段未开冰箱、未出现盒转移；评分器 q_score=0.0 且 live_matches_replay=1 又排除终态新增的盒入箱目标成立，因此第1盒入冰箱为假。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68.5, + "log_step": null, + "text_zh": "观察：视频 62–70 s 冰箱门保持贴合，随后机器人回到下柜处；从全段粗看及开柜、结尾密集帧中，未见保鲜盒被取出、由夹爪搬运，或经冰箱门进入箱内。" + }, + { + "t": 365.9, + "log_step": null, + "text_zh": "推断：初态目标盒在厨房柜中，整段未开冰箱、未出现盒转移；评分器 q_score=0.0 且 live_matches_replay=1 又排除终态新增的盒入箱目标成立，因此第2盒入冰箱为假。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：DAG 的初态证据明确冰箱关闭；本节点按 state 条件从视频 0 s 计入，不由 after 边门控。" + }, + { + "t": 68.5, + "log_step": 73, + "text_zh": "观察：视频 68.5 s 正对冰箱的头部视图中，白色门板与箱体贴合，未露出内腔；全段未见机器人对冰箱门进行开合操作。" + }, + { + "t": 365.9, + "log_step": null, + "text_zh": "推断：此后机器人持续操作厨房下柜，最后在柜前翻倒；冰箱虽在后段视野外，没有打开它的动作或其他改变其状态的证据，因此关闭状态延续至视频 365.9 s。q_score=0.0 不撤销这项起点已满足的目标。" + } + ] + }, + "pies_frozen_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 365.9, + "log_step": null, + "text_zh": "推断：run.json 评分器字段 q_score=0.0、live_matches_replay=1；DAG 的初始目标位串只有冰箱关闭成立，Frozen 起点不成立。因此终态新增 Frozen 字面量数为零，第1个派冷冻的 final 为假。" + }, + { + "t": 68.5, + "log_step": null, + "text_zh": "观察：视频巡看中派仍在台面盘上，没有把派装盒或放入冰箱的过程；输入未提供原生温度、Frozen 逐步读数或状态日志，画面也无能直接判断温度的标识，故中途冷冻区间不作确定标注。" + } + ] + }, + "pies_frozen_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 365.9, + "log_step": null, + "text_zh": "推断：run.json 评分器字段 q_score=0.0、live_matches_replay=1；DAG 的初始目标位串只有冰箱关闭成立，Frozen 起点不成立。因此终态新增 Frozen 字面量数为零，第2个派冷冻的 final 为假。" + }, + { + "t": 68.5, + "log_step": null, + "text_zh": "观察：视频巡看中派仍在台面盘上，没有把派装盒或放入冰箱的过程；输入未提供原生温度、Frozen 逐步读数或状态日志，画面也无能直接判断温度的标识，故中途冷冻区间不作确定标注。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 355.0, + "log_step": 159, + "where": "操作中", + "evidence_zh": "观察：视频 347–352 s 机器人右夹爪仍在拉相邻下柜门并随底盘转动，视频 353–357 s 头部画面迅速侧倾、柜台和窗框旋转，视频 358–365.9 s 仍保持大幅倾斜，未能恢复。log step 159 记录本段继续拉柜门、退出末端逆解失败及随后底盘后退；log step 163–164 服务以 failure: the robot fell over 结束该唯一 live episode。此时尚在建立取盒开口，没有开始搬派或放盒，因此断点归打开橱柜；目标柜体是否已经形成可取盒开口仍未知。" + }, + "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": "全身", + "item": "平衡", + "t": 355.0, + "log_step": 159, + "evidence_zh": "观察：视频 353–357 s 机器人在下柜前由接近直立转为明显侧倒，视频 363.5 s 与视频 365.9 s 仍严重倾斜；log step 160 的服务本体读数 upz=0.050，log step 163 最终 done=True、reason=failure: the robot fell over。推断：本段不是仅视线转向，而是机器人失去支撑并持续未扶正。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 355.0, + "log_step": 159, + "source_zh": "日志", + "evidence_zh": "推断：log step 87 的 go_arm 在逆解失败时返回 None 和原状态，不执行退出动作；log step 159 实际打印 ik_arm FAIL right，agent 脚本仍直接发送30行底盘后退命令，随后执行收臂和躯干插值。log step 16 定义的 zero_row 把实测躯干及臂关节位置直接作为保持目标；log step 159–160 的结果为躯干偏离设定姿态、upz=0.050，视频 353–357 s 同时出现倒伏。证据支持退出动作失败后仍继续底盘与关节运动的控制失效，但不足以把具体接触几何或某一个反馈参数确定为唯一原因。", + "note_zh": "使用控制上位项；未把 agent 自述的把手滑脱或手臂卡门直接升级为已证实的接触根因。" + } + ], + "gap_zh": "无状态日志及成功参考视频。已开下柜的暗部、门板和台面遮挡使目标保鲜盒始终未被辨认，不能确认已打开的是 DAG 指定存盒柜体，cabinet_opened 保留未知；这不是把已经看见的门板开口判作不存在。两项 Frozen 的终态由 q_score=0.0 约束为假，但中途无原生温度读数，intervals 保留 null。冰箱关闭的后段保持是由已见关闭和全程无开门动作推断。log step 159 的 theta 是脚本用末端位置计算的角度，并非服务报告的门关节角；滑脱和确切阻挡接触缺少独立观测，不另加接触现象。" + }, + "summary_zh": "评分轨迹中可确认冰箱从起点保持关闭，两个派均未出现入盒、两个盒均未出现入冰箱的过程，冷冻终态由评分器 q_score=0.0 排除。机器人打开并检查了多个下柜，末段继续拉柜门后在视频约 355 s 翻倒且未恢复；日志支持退出逆解失败后仍继续底盘后退和关节运动的控制失效。存放目标保鲜盒的柜体未被确认，打开橱柜节点及中途冷冻时间保留观测缺口。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标注与视频一致：冰箱全程关闭，未见派入盒或盒入冰箱，视频约 353–366 s 机器人在下柜前翻倒未恢复；cabinet_opened 保留未知有理由（无法确认已开柜体是否存放目标盒），断点与平衡/控制归因有日志与画面支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:16:20Z", + "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-standard--zpdv8lj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-standard--zpdv8lj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5448950db749e0ee2cefdf47fff12f3773a04d918a20c21ab388774c6b0995ab", + "video_sha256": "70a2de7e84460984fe6353c6f1e99d175037b2fceb4d877285a3c0d7831d4c17", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--8nd7rxy.json b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--8nd7rxy.json new file mode 100644 index 0000000000000000000000000000000000000000..b6fa5211e232d256536d888706296c29ee66251c --- /dev/null +++ b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--8nd7rxy.json @@ -0,0 +1,319 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-rose-centerpieces-i00-privileged--8nd7rxy", + "taskKey": "behavior-1k/make_rose_centerpieces", + "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377", + "outcome": { + "success": 0, + "reward": 0.75, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 4207, + "sim_steps": 4207, + "fallen": 0, + "final_reward": 0.75, + "q_score": 0.75, + "replay_wall_s": 1412.0, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 14, + "agent_resets": 0, + "agent_sim_steps": 15684, + "agent_records": 5, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 12.938, + "peak_memory_gb": 12.61, + "peak_processes": 32, + "peak_disk_gb": 9.476, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-rose-centerpieces-i00-privileged--8nd7rxy/replay.mp4", + "duration_s": 140.233, + "fps": 30.0, + "frames": 4207, + "sha256": "d066defd5cf80e32447065fb4c1524623c0a91061d5546bf2029515291d94a58" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "roses_in_vase_1": { + "method": "visual", + "intervals": [ + [ + 22.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 花瓶在电视下方柜面，瓶腔为空，玫瑰均在瓶外。" + }, + { + "t": 22.0, + "log_step": null, + "text_zh": "观察：视频 10.0–21.0 s 左夹爪携一支玫瑰移动至花瓶上方；视频 21.5–22.5 s 松爪，玫瑰落入瓶腔，视频 24.0–30.0 s 空夹爪离开后花与花茎仍留在瓶内。以视频约 22.0 s 记首次达成，边界约有半秒不确定。" + }, + { + "t": 130.0, + "log_step": null, + "text_zh": "推断：视频 73.0–84.0 s 与 101.0–104.0 s 的瓶腔画面及视频 116.0–135.5 s 持瓶近景中，先前放入的玫瑰随瓶保留，未见取出或掉离；结合评分器 q_score=0.75，判定至少一支入瓶保持至终态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第一支玫瑰花茎；视频 10.0–21.0 s 夹持搬运，视频约 21.5 s 松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在本步骤中移动，支撑机体及持物左臂调整取放位置。" + } + ] + }, + "roses_in_vase_2": { + "method": "visual", + "intervals": [ + [ + 67.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 55.5, + "log_step": null, + "text_zh": "观察：视频 30.0–46.0 s 左夹爪携第二支花到瓶口上方并释放；视频 54.5–56.0 s 它仍横搭在瓶口附近。机器人随后重新夹取，视频 58.0–66.5 s 腕部视角可见玫瑰随夹爪抬起及调整。" + }, + { + "t": 67.5, + "log_step": null, + "text_zh": "观察：视频 67.0–67.5 s 左夹爪松开第二次送入的玫瑰，玫瑰向瓶腔内落下；视频 70.0–75.0 s 夹爪离开后，可见两支花的花茎和花朵留在瓶内。按至少两支计数，首次达成取视频约 67.5 s，误差约半秒。" + }, + { + "t": 135.5, + "log_step": null, + "text_zh": "推断：视频 116.0–135.5 s 持瓶腕部近景仍见先前放入的两支花随瓶搬运，未见从瓶中取出；与终态评分器 q_score=0.75 及花瓶上茶几的结果一致，至少两支入瓶判为终态真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第二支玫瑰花茎；首次投放后重抓，视频 58.0–67.0 s 再次夹持送花，视频约 67.3 s 松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在本步骤中移动，支撑机体及持物左臂调整取放位置。" + } + ] + }, + "roses_in_vase_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 79.0, + "log_step": null, + "text_zh": "观察：视频 76.0–79.0 s 柜面最后一支玫瑰离开原处，出现在左夹爪腕部近景中；视频 80.0–92.0 s 左夹爪持花调整到花瓶方向。" + }, + { + "t": 92.25, + "log_step": null, + "text_zh": "观察：视频约 92.25 s 玫瑰从左夹爪腕部近景向下离开；视频 101.0–104.0 s 花瓶内上层仍有花横搭在瓶口附近，视频 104.0–107.0 s 左夹爪靠近它补抓，随后视频 108.0–113.0 s 夹爪空着离开。" + }, + { + "t": 140.2, + "log_step": 193, + "text_zh": "推断：视频中未见第三支深入瓶腔并保持；评分器 q_score=0.75 对四个初始均未满足的目标只允许三个终态真，前两支入瓶及花瓶上茶几已占三个，故至少三支入瓶终态为假。log step 210 明确交付4207行的gen8轨迹，log step 193记录该轨迹第三支补抓失败，和视频动作顺序相符；未将后续gen9/gen10试验记入进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第三支玫瑰花茎；视频 78.0–92.0 s 确实夹持搬运；视频 104.0–107.0 s 补抓未能带起玫瑰。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在本步骤中移动，支撑机体及持物左臂调整取放位置。" + } + ] + }, + "vase_on_coffee_table": { + "method": "visual", + "intervals": [ + [ + 135.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 花瓶位于电视下方柜面，未在沙发前茶几上。" + }, + { + "t": 120.0, + "log_step": null, + "text_zh": "观察：视频 115.0–120.0 s 左夹爪夹住浅色花瓶瓶沿，花瓶离开柜面随左臂抬起；视频 123.0–130.0 s 机器人携瓶移动到蓝色沙发前的方形茶几旁。" + }, + { + "t": 135.5, + "log_step": 193, + "text_zh": "推断：视频 130.0–135.5 s 花瓶在左腕近景中下降至茶几近侧边缘，视频 135.75–136.0 s 夹爪张开并与瓶沿分离，随后直到视频 140.2 s 无再抓取或掉落动作。落点在头部画面左下边缘，瓶底接触被遮挡；结合前后动作、评分器 q_score=0.75 与第三支未入瓶，判定花瓶上茶几成立，时间取视频约 135.5 s（约半秒不确定）。log step 193 同一交付轨迹的末段记录放瓶后4207步结束，作辅助核对。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住花瓶瓶沿；视频 116.0–135.5 s 夹持搬运花瓶，随后张爪放开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在本步骤中移动，支撑机体及持物左臂调整取放位置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.75, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "roses_in_vase_3", + "t": 92.25, + "log_step": 193, + "where": "操作中", + "evidence_zh": "推断：视频约 92.25 s 机器人左夹爪释放第三支玫瑰，视频 101.0–104.0 s 该花仍横搭在瓶口上层，视频 104.0–107.0 s 补抓后夹爪空着离开，之后机器人直接搬瓶至茶几，未修复第三支入瓶。log step 193 的gen8运行记录为第三支inside=False及补抓失败；log step 210确认最终交付gen8的4207行轨迹，评分器q_score=0.75与视频顺序一致。" + }, + "unmet": { + "roses_in_vase_1": true, + "roses_in_vase_2": true, + "roses_in_vase_3": false, + "vase_on_coffee_table": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 92.25, + "log_step": 193, + "evidence_zh": "推断：视频 91.5–92.0 s 第三支仍在左夹爪内，视频约 92.25 s 松手下落，视频 101.0–104.0 s 仍见玫瑰横搭瓶口，未形成第三支深入瓶腔的结果。log step 193记录释放时玫瑰中心高度0.904米、瓶口高度0.762米，释放后inside=False；结合log step 161所示送花代码在瓶口上方释放，判为尚未放到合格位置就松手，而非已合格入瓶后再失去。" + }, + { + "cat": "接触", + "item": "没建立接触", + "t": 107.0, + "log_step": 193, + "evidence_zh": "观察：视频 104.0–107.0 s 机器人左夹爪靠近瓶口横搭的玫瑰补抓，视频 108.0–113.0 s 两指合拢后腕部视野为空，未见玫瑰随夹爪离开花瓶；log step 193对应gen8记录in hand: None及PICK FAILED rose.n.01_3 attempt 2。此项指补抓所需的夹持未建立，区别于此前已成功持花的搬运。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志", + "evidence_zh": "推断：log step 161 的gen6送花代码将玫瑰包围盒中心置于rimtop+0.02+half后直接张爪，即让玫瑰在瓶口上方自由下落，未在持握时将中心送入内部容积；log step 179及186显示gen8继承该送花段，仅修改抓取重试和瓶沿抓取，log step 195改gen9时再次明确列出gen8原释放目标。视频约 92.25 s 的下落、视频 101.0–104.0 s 横搭瓶口及log step 193释放后inside=False互相支持：该释放与承接几何未可靠约束玫瑰入腔。未验证适用于本次第三支玫瑰姿态的替代接触方案。" + } + ], + "gap_zh": "未提供状态日志。第三支释放瞬间的瓶腔位于头部视野外，无法直接测量其中心是否曾短暂跨入内部容积，按释放前后画面、后续补抓及评分总数推断未形成合格入瓶；根因限于有代码和画面支持的释放接触设计，补抓失效的具体几何不另推断。花瓶落点位于头部画面左下边缘，瓶底接触及最终花束被遮挡，摆放时点由腕部下降、张爪及评分总数辅助确定。" + }, + "summary_zh": "机器人在柜面完成第一支入瓶，第二支经重抓后入瓶，并将花瓶搬到茶几，终态达到3/4节点；第三支在视频约92.25 s释放后仍横搭瓶口，补抓未建立夹持，此步骤始终未修复。送花代码在瓶口上方松手让花自由下落，结合画面推断释放接触设计未可靠保证入腔；缺少状态日志且部分落点遮挡，精确入腔边界与瓶底接触时间不能直接核实。本次task_text与成功参考均采用目标谓词成立即终止的旧版规则，按本次评分规则标注，不附加DAG新版共同松手静止窗口。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点时间（22.0、67.5、135.5 s）、第三支未入瓶的断点（约92.25 s 释放后横搭瓶口，补抓失败）与现象/根因均与视频及 log step 191/193 一致，未发现需改内容的错误。q_score=0.75 与三真一假相符。", + "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": "2026-10-30T21:33:04Z", + "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-make-rose-centerpieces-i00-privileged--8nd7rxy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-rose-centerpieces-i00-privileged--8nd7rxy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f0bd588e14b951474d4b30f60f5a93340d8bec68f8d006249d386361673563f5", + "video_sha256": "d066defd5cf80e32447065fb4c1524623c0a91061d5546bf2029515291d94a58", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--dy6swfd.json b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--dy6swfd.json new file mode 100644 index 0000000000000000000000000000000000000000..76bb5c319ad34876dcbe2d116a78e5c099cce812 --- /dev/null +++ b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--dy6swfd.json @@ -0,0 +1,285 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-rose-centerpieces-i00-privileged--dy6swfd", + "taskKey": "behavior-1k/make_rose_centerpieces", + "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 0, + "n_actions": 3843, + "sim_steps": 3843, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 2289.6, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 11529, + "agent_records": 2, + "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-make-rose-centerpieces-i00-privileged--dy6swfd/replay.mp4", + "duration_s": 128.1, + "fps": 30.0, + "frames": 3843, + "sha256": "7bd2b74d9e7af6bcc805adaa2bf3bee1168454fb33448f691fe424797887095a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "roses_in_vase_1": { + "method": "visual", + "intervals": [ + [ + 52.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 38.0, + "log_step": 74, + "text_zh": "观察：视频 34.0–38.0 s，机器人左二指夹爪从柜面夹起一支玫瑰，花离开原来位置并在左腕近景中随夹爪升起；柜面还留有后续要取的玫瑰。" + }, + { + "t": 52.0, + "log_step": 82, + "text_zh": "观察：视频 48.0–51.5 s，机器人将第一支玫瑰对准茶几上花瓶的圆口向下送入；视频 52.0–54.5 s 左腕俯视可见花茎与花头已落入瓶腔，左爪退出，玫瑰留在瓶内。以后视频 84.0 s、119.0 s 及 128.067 s 的近景仍可见瓶内已有花束。" + }, + { + "t": 52.0, + "log_step": 82, + "text_zh": "推断：以视频 52.0 s 入瓶并留置的画面作为至少一支合格的起点，约有半秒误差；相同未重置录制序列在 log step 82 返回 INSIDE1 True，且最终重放评分 q_score=1.0，支持该关系保持至结束。三支同类玫瑰按进入关系的数量计数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住第一支玫瑰花茎，从柜面提起，送入花瓶后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘移动到取花位置，并承载机器人和左爪持有的第一支玫瑰驶回茶几。" + } + ] + }, + "roses_in_vase_2": { + "method": "visual", + "intervals": [ + [ + 116.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 65.0, + "log_step": 86, + "text_zh": "观察：视频 61.0–65.0 s，机器人左夹爪夹起第二支玫瑰，玫瑰随夹爪离开柜面；视频 78.0–84.5 s 将其送进花瓶并松开，此后仍有花茎和叶片较高地斜靠瓶口。" + }, + { + "t": 85.0, + "log_step": 93, + "text_zh": "推断：不将视频 83.0–85.0 s 的首次放花直接视作第二支合格；画面中其姿态仍偏高，同一连续录制序列的 log step 90、93 分别返回 INSIDES [True, False, False] 与第二支包围盒中心高于内部容积上界。这里只用相符日志解释视频中可见的高位停靠，未由日志单独认定一次成功取放。" + }, + { + "t": 116.5, + "log_step": 101, + "text_zh": "观察：视频 114.5–117.5 s，机器人送入第三支玫瑰并退出左爪时，原来靠在瓶口的花束被带动下沉，瓶内两支花的花头位置降低；视频 118.0–120.0 s，两支原有玫瑰仍留在瓶腔，第三支另有较高的茎叶。" + }, + { + "t": 116.5, + "log_step": 101, + "text_zh": "推断：第二支达到内部容积中心判据的时刻取视频约 116.5 s，误差约 1 s；依据为此次插花时已有花束下沉的前后近景，结合相符的 log step 101 返回 INSIDES [True, True, False]、sim_steps=3598。log step 116 保存的正是这段无重置的3843步序列，log step 151 新进程重放与最终评分均成功，支持其最终保持；未将 agent 工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住第二支玫瑰花茎并送进花瓶；其初次留置偏高，后来左爪放入第三支花时已有花束进一步下沉。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘在柜子和茶几之间移动，运送左夹爪抓持的第二支玫瑰。" + } + ] + }, + "roses_in_vase_3": { + "method": "visual", + "intervals": [ + [ + 128.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 98.0, + "log_step": 97, + "text_zh": "观察：视频 94.0–98.0 s，机器人左二指夹爪对第三支玫瑰合拢并提离柜面，花茎与叶片随后随左夹爪移动；视频 113.0–117.5 s 左爪将其送至瓶口并初次松开。" + }, + { + "t": 124.5, + "log_step": 106, + "text_zh": "观察：视频 120.0–124.5 s，第三支花仍有茎叶高出瓶口，机器人左夹爪重新夹住其花茎向下调整；视频 125.0–128.067 s，左腕近景中该花相对瓶口进一步倾斜、降低，其他花与瓶壁部分被叶片和夹爪遮挡。" + }, + { + "t": 128.067, + "log_step": 115, + "text_zh": "推断：第三支最终合格记在视频约 128.0 s 的末次倾斜、释放处，误差约 0.1 s。已检查视频 127.0–128.067 s 及最后一帧；精确内部体积边界与释放瞬间受夹爪、叶片及相机延迟影响，终值由本次评分 success=1、q_score=1.0 和 log step 151 的3843步成功重放共同确定；log step 115 的末次 open_gripper 后原生状态由未成功变为成功，与视频末尾调整顺序一致。此前 log step 111、113 仍为 q_score=0.75，故不把首次探入瓶口计作第三支已完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹取第三支玫瑰并送到花瓶；首次松开后又重新夹住其花茎，下移并倾斜调整，最后执行松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘从茶几返回柜前取第三支玫瑰，再承载机器人与左爪持花驶回茶几。" + } + ] + }, + "vase_on_coffee_table": { + "method": "visual", + "intervals": [ + [ + 26.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2.0 s，浅色花瓶与三支玫瑰位于电视下方柜面，花瓶尚未在沙发前茶几上。" + }, + { + "t": 16.0, + "log_step": 67, + "text_zh": "观察：视频 15.5–20.0 s，机器人左二指夹爪夹住瓶沿，花瓶离开柜面并随底盘移动；右夹爪未参与搬运。" + }, + { + "t": 26.0, + "log_step": 69, + "text_zh": "观察：视频 24.6–26.4 s，机器人将花瓶降低到蓝色沙发前茶几台面；视频 26.0 s 左腕近景可见瓶内底面，头部视角中瓶底已落在茶几上，视频 27.0–28.5 s 夹爪上移而花瓶留在原处。按约半秒精度记视频 26.0 s 达成；视频 48.0–128.067 s 的后续插花中花瓶始终留在茶几上，调整时有台面内位移。" + }, + { + "t": 7.0, + "log_step": 57, + "text_zh": "推断：视频 5.5–8.0 s 首次合爪后花瓶仍留在柜上并偏移，结合 log step 57 的 HAND None 与 log step 61 的瓶位变化，前次接近瓶沿时发生推碰；视频 15.5–20.0 s 的重新夹持与搬运修复了该次未抓起。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "左夹爪首次靠近并合拢瓶沿时将花瓶推偏，花瓶仍在柜上；随后退开重试。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪重新夹住花瓶瓶沿，提起、搬运、降低到茶几并松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘移动接近柜子，随后承载机器人及左爪持有的花瓶转向并驶至茶几旁。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "机器人先将空花瓶放到茶几，再逐支送入三支玫瑰；第二支在后续插花时下沉，第三支经重新夹持和倾斜调整后，最终4/4节点成立，评分器及新进程重放均成功。按本次 task_text 的旧版即时目标规则标注；DAG 所述新版共同松手、静止连续30控制步窗口不是本次成功所验证的条件。无状态日志，第二支跨入内部体积的时刻约有1秒不确定性，第三支末尾被叶片与夹爪部分遮挡，终值结合可见调整与成功评分确定；本次录像自身就是所指定的 oracle，没有独立参考成功录像。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行，4/4节点时间与证据与视频及log一致；视频帧与log step 101/115的读数相符，无失败层，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:32:13Z", + "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-make-rose-centerpieces-i00-privileged--dy6swfd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-rose-centerpieces-i00-privileged--dy6swfd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "549775b734352b2e75e519ade73b9ab88f293158ab4de88e100750751061c5ea", + "video_sha256": "7bd2b74d9e7af6bcc805adaa2bf3bee1168454fb33448f691fe424797887095a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--xkfmwu3.json b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--xkfmwu3.json new file mode 100644 index 0000000000000000000000000000000000000000..0dc0e4692facd98b0bde0588d06d35352c8dea34 --- /dev/null +++ b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--xkfmwu3.json @@ -0,0 +1,289 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-rose-centerpieces-i00-privileged--xkfmwu3", + "taskKey": "behavior-1k/make_rose_centerpieces", + "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377", + "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": 3264, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 3414, + "fallen": 0, + "final_reward": 0.25, + "q_score": 0.25, + "replay_wall_s": 1122.9, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 6, + "agent_resets": 11, + "agent_sim_steps": 0, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-rose-centerpieces-i00-privileged--xkfmwu3/replay.mp4", + "duration_s": 113.8, + "fps": 30.0, + "frames": 3414, + "sha256": "7ac102abad8405cf90b9f3b0aa5c96587f23899561dc4c9bb234e3ef57d8c31c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "roses_in_vase_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34, + "log_step": null, + "text_zh": "观察：视频 31–46 s，机器人左夹爪在柜面玫瑰附近反复下降、闭合和退开，花没有随夹爪离开；视频 47–59 s 的下一轮取花也未带走玫瑰。视频 64–71 s 才可见另一支玫瑰随左夹爪升起并搬向茶几。" + }, + { + "t": 80, + "log_step": null, + "text_zh": "观察：视频 78–83.5 s，机器人左夹爪持花在瓶口上方反复靠近、抬起，花朵与大部分枝叶仍在瓶口外；视频 87–100 s 继续重试，花瓶在台面上被碰得倾斜、侧倒。" + }, + { + "t": 103.5, + "log_step": null, + "text_zh": "观察：视频 101–103.5 s，左夹爪在侧倒花瓶旁松开玫瑰，花落在茶几台面而非瓶腔内；视频 104–109 s 及视频 112.8–113.7 s 没有再取花或插花。" + }, + { + "t": 113.7, + "log_step": 69, + "text_zh": "推断：本次视频中未见玫瑰的包围盒中心进入瓶腔，按至少第k支计数，三轮取花及唯一一次持花插入均归于尚未完成的第1支节点。终态花瓶仍在茶几上，评分器 q_score=0.25（四项目标仅一项满足），进一步限定三支入瓶目标均为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 64–103 s，机器人左二指夹爪夹住一支玫瑰靠近花头的部位，持花搬运、转向并向瓶口下降；此前视频 31–59 s 的闭爪取花没有形成可搬运的抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在视频 25–31 s 返回柜旁，视频 71–78 s 持花驶向茶几，支撑左臂及所持玫瑰。" + } + ] + }, + "roses_in_vase_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 64, + "log_step": null, + "text_zh": "观察：视频 31–59 s 两轮取花后夹爪均未带花，视频 64–103 s 只搬运了一支玫瑰；没有两支玫瑰同时入瓶的画面。" + }, + { + "t": 113.7, + "log_step": 69, + "text_zh": "推断：视频 103.5–113.7 s 花瓶侧倒在茶几上，放下的玫瑰在瓶外；结合评分器 q_score=0.25 与已满足的花瓶在茶几关系，至少2支入瓶的终态为假。" + } + ] + }, + "roses_in_vase_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 103.5, + "log_step": null, + "text_zh": "观察：视频 31–103.5 s，机器人先后取花而只搬起一支，最终在花瓶外放下；没有三支玫瑰进入同一花瓶的过程。" + }, + { + "t": 113.7, + "log_step": 69, + "text_zh": "推断：视频 112.8–113.7 s 终态未再变化，评分器 q_score=0.25 且花瓶仍在茶几上，排除三支玫瑰全部入瓶。" + } + ] + }, + "vase_on_coffee_table": { + "method": "visual", + "intervals": [ + [ + 20.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1, + "log_step": null, + "text_zh": "观察：视频 1–4 s，花瓶和玫瑰都在电视下的柜面；视频 5–16 s，左夹爪夹住瓶沿提起花瓶，机器人底盘转向并运向茶几。" + }, + { + "t": 20.5, + "log_step": 69, + "text_zh": "推断：视频 17–23.5 s，机器人完成向茶几下降、张爪和撤手，取视频约 20.5 s 为花瓶落台的导航锚点；瓶底在画面下沿，首次接触时刻约有2秒不确定性。视频 77–83.5 s 的头部画面随后明确显示花瓶由茶几台面支承。" + }, + { + "t": 92.5, + "log_step": null, + "text_zh": "观察：视频 87–92.5 s，插花重试碰斜花瓶，花瓶侧倒后仍由茶几支承；视频 101–109 s 及视频 112.8–113.7 s 仍见花瓶留在台面。DAG按ontop关系验收，不另要求花瓶竖直。" + }, + { + "t": 113.7, + "log_step": 69, + "text_zh": "推断：终态视频显示花瓶在茶几上、玫瑰在瓶外，与评分器 q_score=0.25 一致；该节点终态为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 5–20.5 s，机器人左二指夹爪夹住花瓶瓶沿，将花瓶提离柜面并下降到茶几，随后张爪撤开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 8–17 s，轮式底盘转向并驶向茶几，支撑机械臂和所夹花瓶。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.25, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "roses_in_vase_1", + "t": 34.0, + "log_step": 69, + "where": "操作中", + "evidence_zh": "观察：视频 33–46 s，机器人左夹爪多次在柜面玫瑰附近闭合、退开，玫瑰未随手提起，是首次未修复的入瓶步骤尝试。视频 47–59 s 换花重试仍空手；视频 64–103.5 s 虽拿起另一支玫瑰，插入重试后仍在瓶外松手，始终未完成至少1支入瓶。log step 69 的保存记录为3264行动步，log step 70 核对交付文件同为3264行，与本次评分器 n_actions=3264 相符。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 34.0, + "log_step": 69, + "evidence_zh": "观察：视频 33–46 s 及视频 47–59 s，机器人左夹爪下降闭合后未带走相应玫瑰，花仍留在柜面附近；log step 69 的本次录制输出对前两支目标各报告三次 in hand: None 后跳过。所需的可搬运抓握未建立，不是已持花后滑落。" + }, + { + "cat": "运动", + "item": "位姿不准", + "t": 102.5, + "log_step": 69, + "evidence_zh": "观察：视频 78–100 s，机器人持唯一抓起的玫瑰在瓶口附近反复升降，花瓶被碰斜后仍未插入；视频 101–103.5 s，机器人在瓶外张爪，玫瑰留在茶几上。松手前未达到入瓶位置。log step 69 同一录制输出记录三次 idown poor，随后 released 的 inside_vase_bbox: False。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 33–59 s 的闭爪重试未形成持花接触，视频 78–103.5 s 的持花下降和退回也没有使玫瑰进入瓶内；对应交付的 log step 69 连续报告前两支抓取失败，并在最后一支下降时报告位置误差0.176、0.067、0.128米。问题发生在抓取及末端动作执行；现有证据不足以在接触设计、逆解和反馈跟踪间可靠细分。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "未提供状态日志，柜旁闭爪时接触点被夹爪和画面边缘遮挡，不能确定抓取失败的具体接触几何；插入时腕部视角主要被花头遮住，花瓶底部在最初摆放期间也位于画面下沿，首次落台时刻仅约定在视频 20.5 s，约有2秒不确定性。已对照oracle视频 48、86、120、128 s 的入瓶几何；它只作视觉参照，且采用较早验收版本，不作为本次达到节点的证据。", + "unmet": { + "roses_in_vase_1": false, + "roses_in_vase_2": false, + "roses_in_vase_3": false, + "vase_on_coffee_table": true + } + }, + "summary_zh": "评分轨迹完成花瓶放上茶几，终态为1/4；三支玫瑰均未入瓶，花瓶虽被碰侧倒但仍满足台面支承关系。断在第1支玫瑰入瓶：前两轮取花未建立抓握，随后持起的一支也在插入重试后于瓶外松手，证据支持控制问题。没有状态日志，抓取接触细节和首次落台时刻仍有可见性缺口。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（花瓶在茶几为真、三支入瓶为假）、q_score=0.25、断点在第1支入瓶、两个现象与 log step 69 的输出（前两支 in hand: None，最后一支 idown poor 后 released 于瓶外）和抽帧一致，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": "2026-10-30T21:24:14Z", + "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-make-rose-centerpieces-i00-privileged--xkfmwu3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-rose-centerpieces-i00-privileged--xkfmwu3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "35a6f5c8e529c6c0ef39d16670669866cac94e8a2823c9b2cb79fc8228df57f2", + "video_sha256": "7ac102abad8405cf90b9f3b0aa5c96587f23899561dc4c9bb234e3ef57d8c31c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--8wypvd7.json b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--8wypvd7.json new file mode 100644 index 0000000000000000000000000000000000000000..78ec79adab071325909c888ddfc5b75bc2f137e2 --- /dev/null +++ b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--8wypvd7.json @@ -0,0 +1,318 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-rose-centerpieces-i00-standard--8wypvd7", + "taskKey": "behavior-1k/make_rose_centerpieces", + "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377", + "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": 52376, + "sim_steps": 52376, + "physics_steps": 209504, + "steps": 4378, + "elapsed_s": 13877.9, + "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": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.548, + "peak_processes": 6, + "peak_disk_gb": 0.358, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-rose-centerpieces-i00-standard--8wypvd7/replay.mp4", + "duration_s": 1745.867, + "fps": 30.0, + "frames": 52376, + "sha256": "ff5007eb7d231c53e5bd86aeed6774aec67148453f7cd35b4af18bf25f011300" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "roses_in_vase_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0–12 s 三支玫瑰分散躺在电视下柜面，浅色花瓶也横躺在柜子右端，初始没有玫瑰入瓶。" + }, + { + "t": 21.0, + "log_step": 95, + "text_zh": "观察：视频 15–20.5 s 右夹爪提起一支玫瑰并移向柜子右端；视频 21–23.5 s 夹爪张开，玫瑰落回横躺花瓶旁的柜面，未经瓶口进入瓶腔。log step 95 是该次平移到估计瓶口上方并开爪的命令。" + }, + { + "t": 1379.0, + "log_step": null, + "text_zh": "观察：视频 1352–1391.5 s 机器人再次持花移到茶几处，玫瑰横向伸在夹爪外，花瓶内仍可见空腔；视频 1440–1486.5 s 的重抓、抬升和放下后，玫瑰躺在花瓶旁的茶几上。与参考成功视频 48、80、120 s 可见花体落入瓶腔的画面不同。" + }, + { + "t": 1745.8, + "log_step": null, + "text_zh": "推断：视频 1532 s 茶几上的玫瑰仍在花瓶外；视频 1570–1745.8 s 机器人回柜边取剩余花，终帧腕部可见持花、地面另有玫瑰，期间未返回花瓶。评分器 q_score=0.25、live_matches_replay=1；四个初始全假的目标中花瓶上桌占去唯一成立的目标，因此最终入瓶数为0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 15–20.5 s 右侧二指夹爪夹住玫瑰并提离柜面；视频 1352–1391.5 s 左夹爪也曾持另一支玫瑰靠近茶几花瓶。抓住和搬到瓶旁均未形成入瓶关系。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 300–340 s 等搬花阶段，轮式底盘在柜子与茶几之间行驶。" + } + ] + }, + "roses_in_vase_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 280.0, + "log_step": null, + "text_zh": "观察：视频 240–280 s 机器人一爪持花，另一爪向柜面余下玫瑰伸下、闭合并抬起；余下花没有随之可靠搬离，未见两支花进入花瓶。" + }, + { + "t": 1708.0, + "log_step": null, + "text_zh": "观察：视频 1570–1745.8 s 机器人反复向柜面及地面的余下玫瑰伸爪取花，视频 1745.8 s 地面仍有一支玫瑰，且机器人没有再次驶向花瓶。" + }, + { + "t": 1745.8, + "log_step": null, + "text_zh": "推断：视频 1532 s 花瓶旁仍只有瓶外玫瑰；末段没有送花入瓶。评分器 q_score=0.25 的唯一目标已由花瓶上桌解释，故至少两支入瓶的最终值为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频 260–280 s 及 1597–1708 s，夹爪向剩余玫瑰下降并闭合，随后空爪抬起，目标仍在柜面或地面；指垫接触点被夹爪遮挡，无法确定这些未成功取花中的实际夹持或碰拨方式。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 1540–1570 s 底盘从茶几返回电视柜，随后调整位置取余下玫瑰。" + } + ] + }, + "roses_in_vase_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1732.0, + "log_step": 937, + "text_zh": "观察：视频 1721–1745.8 s 机器人在柜边继续取花，腕部画面中可见一支玫瑰被夹爪夹住、随手臂移离柜面，视频 1745.8 s 仍在柜前持花、地面另有一支，未送往花瓶。log step 935–937 记录了最后这次双臂取花命令及 agent 等待执行的末次报告。" + }, + { + "t": 1745.8, + "log_step": null, + "text_zh": "推断：视频中未形成三支花在同一花瓶内的画面；终态 q_score=0.25，花瓶上桌已占唯一成立目标，三支入瓶最终为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 1730–1745.8 s 一侧二指夹爪夹住玫瑰，花随夹爪移动并离开柜面；另一侧也在取余下花，但视频 1745.8 s 地面仍有一支。两手分别取不同玫瑰，未共同扶瓶或配合插花。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 1540–1570 s 底盘驶回柜前，为取最后两支玫瑰定位。" + } + ] + }, + "vase_on_coffee_table": { + "method": "visual", + "intervals": [ + [ + 971.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0–12 s 花瓶横躺在电视下方柜子右端，茶几在蓝色沙发前，初始上桌关系不成立。" + }, + { + "t": 740.0, + "log_step": null, + "text_zh": "观察：视频 650 s 花瓶在柜前地面；视频 660–718 s 夹爪抓瓶并搬到茶几附近，但视频 735–805 s 花瓶仍在茶几旁地面，未留在台面。" + }, + { + "t": 971.0, + "log_step": 605, + "text_zh": "观察：视频 950–970 s 右夹爪搬瓶、降低，视频 970.5–971 s 开爪后花瓶落在茶几靠沙发的一端；视频 979.5、985、1015 s 可见它横卧在台面上。将首次清楚落在台面的时刻标为视频约 971 s，接触边界约有0.5秒误差。" + }, + { + "t": 1532.0, + "log_step": 866, + "text_zh": "观察：视频 1000–1500 s 的各次茶几视角均能看到同一花瓶留在台面上；视频 1518–1523 s 夹爪在瓶口旁闭合和移动，瓶体仍留在原处，没有随夹爪提离茶几，视频 1532 s 仍在台面。log step 865–867 虽命名为立瓶操作，不能据此虚构一次离桌区间。" + }, + { + "t": 1745.8, + "log_step": null, + "text_zh": "推断：视频 1533 s 后机器人离开茶几，末段全在柜边取花，没有再操作花瓶；结合最终 q_score=0.25，花瓶上茶几关系保留到结束。按本 DAG 绑定的 ontop 关系计分，花瓶横卧不单独判为上桌失败。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 660–718 s 及 950–971 s 夹爪夹住花瓶瓶身并搬运；最终由右爪在茶几上放开。视频 1518–1523 s 右爪又在瓶口附近闭合，但花瓶未被提离台面。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 675–710 s 等搬瓶过程中，底盘承载机器人与夹爪所持花瓶，在电视柜和茶几之间移动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.25, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "roses_in_vase_1", + "t": 21.0, + "log_step": 95, + "where": "操作中", + "evidence_zh": "观察：视频 15–20.5 s 右夹爪已抓住并抬起玫瑰，视频 21–23.5 s 在横躺花瓶旁开爪，花落回柜面而非瓶内。之后机器人完成了花瓶上桌并多次重试放花，但视频 1440–1486.5 s 及 1532 s 玫瑰仍在瓶外；第一次玫瑰入瓶这一步始终未修复。log step 95–96 对应首次移向估计瓶口并释放的命令及自述。" + }, + "unmet": { + "roses_in_vase_1": false, + "roses_in_vase_2": false, + "roses_in_vase_3": false, + "vase_on_coffee_table": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 21.0, + "log_step": 95, + "evidence_zh": "观察：视频 20.5–23.5 s 右夹爪释放时，花瓶仍横躺、开口朝侧面，玫瑰处在瓶外上方，随后落到柜面。不是已放入瓶内后滚出；视频 23–29 s 玫瑰明确躺在瓶旁。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "t": 21.0, + "log_step": 95, + "source_zh": "日志", + "evidence_zh": "推断：log step 89 的抓花脚本保留当前末端朝向；log step 95 只把持花夹爪平移到 [6.28,3.80,0.85] 后立即开爪，log step 96 称要从瓶口上方释放。视频 18–23.5 s 显示瓶体横躺、瓶口朝侧面，花没有沿开口方向送入；脚本未先改变瓶口方向或安排沿口轴插入，却把到达一个瓶上方位置当作可释放条件。这是放花路径及释放条件与容器几何不相容的计划问题，不能仅靠到达该末端坐标实现入瓶。" + } + ], + "gap_zh": "未提供状态日志，无法核查玫瑰包围盒中心与瓶内体积的精确边界；节点时间来自头部及腕部画面，花瓶上桌起点约有0.5秒误差。部分取花尝试的指垫接触被夹爪遮挡，已把对应接触方式标为未知；最终玫瑰入瓶数同时受评分器总分约束。" + }, + "summary_zh": "机器人最终完成花瓶上茶几，按 ontop 关系为1/4；三支玫瑰均未入瓶，q_score=0.25与画面一致。最早未修复的失败在视频约 21 s：脚本在花瓶仍横躺时把玫瑰移至估计瓶口上方后释放，花落回柜面，后续多次重试仍未建立入瓶关系。没有状态日志，精确容积边界及部分指垫接触不可核实，上桌时间由视频估计。", + "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（仅花瓶上桌约971 s成立，三个入瓶节点为假）、q_score=0.25 约束、断点（第一次放花约21 s落在瓶外）与现象均与视频一致，未发现需修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:44:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-make-rose-centerpieces-i00-standard--8wypvd7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-rose-centerpieces-i00-standard--8wypvd7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cb98b8471c5c7683b9fbf94267193380e3f1df94e5bf87ef82c16e9d13ce7562", + "video_sha256": "ff5007eb7d231c53e5bd86aeed6774aec67148453f7cd35b4af18bf25f011300", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--nh4cghm.json b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--nh4cghm.json new file mode 100644 index 0000000000000000000000000000000000000000..b7bd46f6f8a61328461d8689895dab9b6dfee4fe --- /dev/null +++ b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--nh4cghm.json @@ -0,0 +1,285 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-rose-centerpieces-i00-standard--nh4cghm", + "taskKey": "behavior-1k/make_rose_centerpieces", + "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377", + "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": 53300, + "sim_steps": 53300, + "physics_steps": 213200, + "steps": 4704, + "elapsed_s": 13143.1, + "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-make-rose-centerpieces-i00-standard--nh4cghm/replay.mp4", + "duration_s": 1776.667, + "fps": 30.0, + "frames": 53300, + "sha256": "b9ce3d428844325c372b20b34458c3a1ccde5952e72acc8835051ea0234f9868" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "roses_in_vase_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30, + "log_step": null, + "text_zh": "观察：视频 30 s 的腕部视角显示玫瑰平躺在电视柜上，浅色花瓶内没有玫瑰。" + }, + { + "t": 108.7, + "log_step": 72, + "text_zh": "观察：视频 104–108.5 s 左腕视角可见柜面花头；视频 108.6–110.1 s 闭爪附近两臂突然改变姿态，玫瑰仍留在柜面，未随左夹爪移走。视频 113–121 s 再次可见花仍在柜面，左夹爪前方没有持花。" + }, + { + "t": 267, + "log_step": null, + "text_zh": "观察：视频 235–267 s 可见空瓶口，机器人抬爪、退开时没有玫瑰进入瓶腔；视频 283–323 s 花仍散在瓶外，之后机器人主要处理花瓶，未见插花。" + }, + { + "t": 1775.6, + "log_step": 276, + "text_zh": "观察：视频 1773–1775.8 s 可见柜前地面仍有散落玫瑰，未见任何花茎进入花瓶。agent 最后也自述“Roses: not inserted”（log step 276），该自述仅作辅助。" + }, + { + "t": 1776.633, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；四个目标关系开局均不成立，因此终态没有任何一条目标文字成立，三个入瓶计数节点和花瓶上茶几节点均为 false。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 108.6–110.1 s 可见机器人左夹爪抓花尝试，但指尖接触区域被遮挡，无法确认是否轻触花头或完全落空；玫瑰未被夹住带走，不据开度读数认定抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在取花准备时移动并调整到电视柜前的操作位置；视频 10–30 s 可见场景随底盘转动和接近。" + } + ] + }, + "roses_in_vase_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 267, + "log_step": null, + "text_zh": "观察：视频 235–267 s 的瓶口近景没有玫瑰，视频 283–323 s 的玫瑰也在瓶外；未见第一支完成入瓶后再装入第二支的动作。" + }, + { + "t": 1775.6, + "log_step": null, + "text_zh": "观察：视频 1773–1775.8 s 可见玫瑰散在柜前地面；全片检查未见两支花茎进入同一瓶腔的构型。" + }, + { + "t": 1776.633, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；四个目标关系开局均不成立，因此终态没有任何一条目标文字成立，三个入瓶计数节点和花瓶上茶几节点均为 false。" + } + ] + }, + "roses_in_vase_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 323, + "log_step": null, + "text_zh": "观察：视频 235–323 s 的腕部瓶口近景没有三支玫瑰入瓶构型，玫瑰仍在瓶外；此后机器人寻瓶、调臂和尝试搬瓶，未见装入第三支玫瑰。" + }, + { + "t": 1775.6, + "log_step": null, + "text_zh": "观察：视频 1773–1775.8 s 柜前地面仍有散落玫瑰，未出现参考成功录像视频 126 s 所示的三支玫瑰聚在瓶口内的构型；参考录像仅用于辨认完成外观。" + }, + { + "t": 1776.633, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；四个目标关系开局均不成立，因此终态没有任何一条目标文字成立，三个入瓶计数节点和花瓶上茶几节点均为 false。" + } + ] + }, + "vase_on_coffee_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 230, + "log_step": null, + "text_zh": "观察：视频 230 s 浅色花瓶仍在电视下的长柜面，未在蓝色沙发前的茶几上。视频 1050–1090 s 花瓶倒落在柜前地板，机器人在其附近调臂。" + }, + { + "t": 1753.5, + "log_step": 229, + "text_zh": "观察：视频 1748–1750 s 右夹爪靠近花瓶，随后机械臂抬起；视频 1753.5–1755.8 s 头部视角仍见浅色花瓶躺在地板，不能用 log step 229 的指令后开度或 log step 230 的“grasped”自述认定成功搬起。" + }, + { + "t": 1768.6, + "log_step": 252, + "text_zh": "观察：视频 1758.2–1766.2 s 机器人转向茶几时，腕部视角仍可见花瓶在原地板区域；视频 1767–1770.2 s 再看柜前时花瓶仍躺在地面。未见它落到茶几台面的过程。" + }, + { + "t": 1776.633, + "log_step": 276, + "text_zh": "观察：视频 1775.6–1776.633 s 检查至最后一帧，头部视角可见沙发前茶几，其台面没有参考成功录像视频 26 s 中的完整立放花瓶轮廓；左腕视角仍见浅色瓶状物在地板区域。agent 最后“花瓶已上茶几”的自述（log step 276）与实际搬运画面及评分器总分不符，不据此计入完成。" + }, + { + "t": 1776.633, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；四个目标关系开局均不成立，因此终态没有任何一条目标文字成立，三个入瓶计数节点和花瓶上茶几节点均为 false。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人右夹爪多次接近瓶口或瓶身（视频 990–1060 s、1748–1750 s），但指垫与瓶体交界被遮挡，无法可靠区分碰拨与短暂夹住；之后可见花瓶仍在地板，不把 agent 的持瓶自述当作抓握证据。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 1150–1290 s 机器人轮式底盘转动、驶向寻瓶区域；视频 1755–1776 s 又在花瓶与茶几附近驾驶和转向，底盘承载机器人进行搬瓶尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "roses_in_vase_1", + "t": 108.7, + "log_step": 72, + "where": "操作中", + "evidence_zh": "观察：视频 108.6–110.1 s，机器人在首支玫瑰的闭爪、抬臂阶段突然改变双臂姿态，玫瑰仍在柜面；视频 113–121 s 夹爪移动后花仍未离开柜面，后续也未见任何一支入瓶。推断：最早未修复的是首支玫瑰入瓶的抓取环节；后面的寻瓶和放瓶尝试没有修复这一节点。" + }, + "unmet": { + "roses_in_vase_1": false, + "roses_in_vase_2": false, + "roses_in_vase_3": false, + "vase_on_coffee_table": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 108.7, + "log_step": 73, + "evidence_zh": "观察：视频 104–108.5 s 玫瑰在柜面，视频 108.6–110.1 s 左夹爪离开花头附近；视频 113–121 s 花仍在柜面而夹爪前方无持花，未形成把花带走的夹持。log step 73 返回左爪开度为 0，agent 在 log step 80 所称“holding a rose”没有相应视觉搬运证据。推断：首轮取花没有建立所需抓握，而非已稳定持花后搬运滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 108.7, + "log_step": 72, + "note_zh": "具体问题为控制脚本的关节索引映射错误，保留在控制总类。", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 9 的本体读数列表把左右臂关节交错排列；log step 72 的 hold_gripper 却用 A[:,3:25] = now[6:28] 直接连续拷贝到动作向量，只另外覆盖夹爪列。log step 100 的修正代码明确按左臂 [10,12,14,16,18,20,22]、右臂 [11,13,15,17,19,21,23] 分别填入 A[:,7:14] 与 A[:,16:23]；agent 在 log step 80 也自述发生 joint-layout bug。视频 108.6–110.1 s 正在闭爪时两臂明显偏离原操作姿态，花未被带走。推断：把交错传感器布局直接当成分臂动作布局，使原本应保持的臂姿在闭爪时被错误指令改写，是该次抓花失败的控制原因。" + } + ], + "gap_zh": "无状态日志，视频的指尖遮挡使首轮抓花和后续取瓶的瞬时接触方式无法可靠确认，因此两处 contact_actual 保留未知；但物体旧位置与夹爪前后画面足以否定日志自述的成功搬运。全片按约20秒粗查并对抓花、瓶口、取瓶、放瓶和末秒加密检查，不能恢复原生 inside/ontop 谓词的逐控制步边界；终态四节点由可见未完成构型及 q_score=0 的总分上界共同确定。" + }, + "summary_zh": "机器人尝试抓取首支玫瑰，但花仍留在柜面，未观察到任何玫瑰进入花瓶；后续多次寻瓶和搬瓶尝试也未形成花瓶上茶几关系，四节点终态均未达成。最早未修复的断点在首支玫瑰入瓶的抓取阶段，视频显示未建立有效夹持，日志中的关节索引映射错误支持控制根因。没有状态日志且指尖接触受遮挡，瞬时接触保留未知；agent 末报花瓶上茶几不被录像及 q_score=0 支持。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四节点终态均未达成，与 q_score=0 及视频一致；断点定在首支玫瑰抓取（视频约108.7 s，花仍在柜面）有帧支持，关节索引错误的控制根因有 log step 72/100 代码支持。未发现需改内容的错误；仅抽查了抓花阶段帧，后段（瓶倒地、搬瓶）未逐帧复核。", + "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-make-rose-centerpieces-i00-standard--nh4cghm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-rose-centerpieces-i00-standard--nh4cghm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d57b1b8084a3fe533e2ccbe12d9f0de06393ebca8780ff0f580107cc549696aa", + "video_sha256": "b9ce3d428844325c372b20b34458c3a1ccde5952e72acc8835051ea0234f9868", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--qqf3hvv.json b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--qqf3hvv.json new file mode 100644 index 0000000000000000000000000000000000000000..0e8e6a137235a28968fff9aa9bc8aa345cebb07a --- /dev/null +++ b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--qqf3hvv.json @@ -0,0 +1,350 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-rose-centerpieces-i00-standard--qqf3hvv", + "taskKey": "behavior-1k/make_rose_centerpieces", + "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377", + "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": 6942, + "sim_steps": 6942, + "physics_steps": 27768, + "steps": 2314, + "elapsed_s": 6727.0, + "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-make-rose-centerpieces-i00-standard--qqf3hvv/replay.mp4", + "duration_s": 231.4, + "fps": 30.0, + "frames": 6942, + "sha256": "5b87cb29d3f6ce9e47a11cd28effe706f5759978df1e1de0591571ea8c4feb37" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "roses_in_vase_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 4, + "log_step": null, + "text_zh": "观察：视频 4 s 三支玫瑰与空花瓶都在电视下方柜面，尚无玫瑰入瓶。" + }, + { + "t": 23.5, + "log_step": 62, + "text_zh": "观察：视频 21.5–24.5 s 机器人左夹爪将倒悬的玫瑰送到柜上花瓶口并松手，随后花瓶倾倒到柜前；视频 28 s 花瓶在地面，玫瑰未随瓶形成保留的插花状态。" + }, + { + "t": 86, + "log_step": 182, + "text_zh": "观察：视频 85.5–87 s 左腕近景可见松开的玫瑰横放在花瓶宽口内侧，花叶及瓶壁遮住中部；视频 90.5–93.5 s 右臂送另一支花时碰倒花瓶，玫瑰落到桌面。" + }, + { + "t": 153.5, + "log_step": 269, + "text_zh": "观察：视频 148–150 s 左夹爪将桌上的玫瑰夹起，原桌面位置随后空出；视频 153–154.5 s 松手后的玫瑰横跨瓶口，花朵在口沿一侧，花茎伸向另一侧。未能从这些视角确定玫瑰包围盒中心是否曾短暂越过内部容积边界，故历史 intervals 保留 null。" + }, + { + "t": 231.25, + "log_step": null, + "text_zh": "推断：评分器在 inputs/run.json 报告 q_score=0.25、live_matches_replay=1；四个初始未成立的目标文字条件中，视频 230.5–231.25 s 已直接确认花瓶在茶几上，占唯一成立条件，故终态合格玫瑰数为0，本计数节点 final=false。该总分不用于倒推历史入瓶时刻。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住玫瑰花茎，先从柜面取花，后从桌面或地面回收并送向瓶口；视频 12–23.5 s、148–154.5 s 可见持花及松手。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "视频 72–84 s 两夹爪各握一支玫瑰并一起运输；左夹爪向瓶口送花时右夹爪仍握另一支。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在柜面取花与茶几插花之间移动，承载持花的机器人，例如视频 76–82 s。" + } + ] + }, + "roses_in_vase_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 91, + "log_step": 186, + "text_zh": "观察：视频 88.5–91.5 s 左夹爪已空，右夹爪持另一支玫瑰向瓶口运动；右臂靠近后花瓶被碰倒，视频 93.5–96 s 花瓶横躺桌面，桌上另有散落玫瑰，不能据松手动作计为两支入瓶。" + }, + { + "t": 182, + "log_step": 284, + "text_zh": "观察：视频 164–168 s 左夹爪从柜前地面夹起玫瑰，原位置随后空出；视频 180–182.5 s 将其送向已经搭有一支花的瓶口并松开，腕部近景显示花叶在宽瓶口交叠。两支的中部受花叶及瓶沿遮挡，不能确定曾同时满足内部中心判据，历史 intervals 保留 null。" + }, + { + "t": 231.25, + "log_step": null, + "text_zh": "推断：评分器在 inputs/run.json 报告 q_score=0.25、live_matches_replay=1；四个初始未成立的目标文字条件中，视频 230.5–231.25 s 已直接确认花瓶在茶几上，占唯一成立条件，故终态合格玫瑰数为0，本计数节点 final=false。该总分不用于倒推历史入瓶时刻。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "视频 72–84 s 左右夹爪各夹住一支花并运向茶几；随后依次松开左爪、右爪，右爪送花见视频 90–91.5 s。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 164–168 s 左夹爪夹起地面玫瑰，视频 180–182.5 s 单爪持花送向瓶口并松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘承载持花的双臂从柜边驶到茶几；回收地面玫瑰后又在视频 170–178 s 驶回瓶旁。" + } + ] + }, + "roses_in_vase_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 196, + "log_step": 299, + "text_zh": "观察：视频 192–196 s 机器人在茶几后侧以左夹爪从地面夹起剩余玫瑰，花随后离开原地并随夹爪移动。" + }, + { + "t": 218, + "log_step": 314, + "text_zh": "观察：视频 214.5–217.5 s 左夹爪在瓶口附近松花，视频 218–221 s 此花落在花瓶旁的桌面，未保留三支入瓶状态。" + }, + { + "t": 227.5, + "log_step": 335, + "text_zh": "观察：视频 221–223 s 左夹爪再次夹起该桌面玫瑰，视频 226–228.5 s 送到瓶口后松手；视频 230.5–231.25 s 花叶聚集在瓶口上部，机器人已撤手。花叶相互遮挡且看不到各支中部在瓶腔中的深度，无法可靠给出过程中三支同时满足 inside 的时间段，历史 intervals 保留 null。" + }, + { + "t": 231.25, + "log_step": null, + "text_zh": "推断：评分器在 inputs/run.json 报告 q_score=0.25、live_matches_replay=1；四个初始未成立的目标文字条件中，视频 230.5–231.25 s 已直接确认花瓶在茶几上，占唯一成立条件，故终态合格玫瑰数为0，本计数节点 final=false。该总分不用于倒推历史入瓶时刻。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪在视频 194–196 s 夹起地面玫瑰，视频 214.5–217.5 s 送花并松手；掉到桌面后又在视频 221–223 s 夹起，视频 226–228.5 s 重放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘绕茶几取回剩余玫瑰，并在视频 198–212 s 载着左爪持花移动到花瓶前。" + } + ] + }, + "vase_on_coffee_table": { + "method": "visual", + "intervals": [ + [ + 50.5, + 105.5 + ], + [ + 111.8, + 139.5 + ], + [ + 143.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 50.5, + "log_step": 123, + "text_zh": "观察：视频 32–48 s 机器人左夹爪夹住花瓶颈部、提起并由底盘运向沙发前茶几；视频 50–51 s 花瓶落到桌面，随后夹爪张开撤离，视频 52 s 花瓶独立立在茶几上。首次接触台面取约视频 50.5 s，精度约0.5秒。" + }, + { + "t": 105.5, + "log_step": 223, + "text_zh": "观察：逐帧核对视频 90–105 s，花瓶虽被碰倒、侧躺及被夹爪拨动，仍接触茶几，不在这些动作处分割区间。视频 105.5–107 s 左夹爪夹住花瓶并将其抬起，视频 108–111.5 s 花瓶随手悬起和翻转，视频 111.8–112.5 s 又侧倒落回台面；离台与回台时刻为约值。" + }, + { + "t": 139.5, + "log_step": 260, + "text_zh": "观察：视频 114–139 s 多次夹爪闭合、撤开时花瓶主体仍留在台面；视频 139.5–141 s 花瓶随左夹爪抬起、转成立姿，视频 143.5–144.5 s 底部回到桌面并松手。只对实际离台的一次提起结束区间。" + }, + { + "t": 231.25, + "log_step": null, + "text_zh": "观察：视频 144.5–231.25 s 花瓶一直由茶几台面承托，后续插花及瓶身小幅偏移没有再次把它提离桌面；视频 230.5、230.75、231、231.25 s 花瓶仍立在桌上，机器人夹爪均已撤开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住花瓶颈部或窄腰，将地面花瓶提起、翻转并运上茶几；视频 105.5–111.5 s、139.5–143.5 s 再次持瓶抬起调整。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "左夹爪在视频 118–123 s、128–134 s 的重新抓瓶动作中未将瓶带离桌面，但接触并拨动侧躺的花瓶。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在视频 39–48 s 载着左夹爪持有的花瓶从柜前驶到茶几，后续也为重放花瓶调整站位。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.25, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "roses_in_vase_1", + "t": 153.5, + "log_step": 269, + "where": "操作中", + "evidence_zh": "推断：视频 153.5 s 为花瓶扶正后重新放入首支玫瑰、但玫瑰横搭瓶口的导航锚点；机器人随后又在视频 180–182.5 s、214.5–217.5 s、226–228.5 s 放花。视频 231.25 s 花瓶在茶几，评分器 q_score=0.25 且重放一致，故终态连“至少1支入瓶”也未成立，断点取 roses_in_vase_1。由于瓶内中心关系不可直接看清，不能把该锚点当作已确认的首次失效时刻。" + }, + "unmet": { + "roses_in_vase_1": false, + "roses_in_vase_2": false, + "roses_in_vase_3": false, + "vase_on_coffee_table": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 153.5, + "log_step": 269, + "evidence_zh": "观察：视频 153–154.5 s 机器人松开左夹爪后，玫瑰斜横跨宽瓶口，花朵在口沿一侧、花茎伸向另一侧；视频 182–182.5 s 又形成花叶横搭口沿的状态，视频 226.5–228.5 s 最后一次放花后仍集中在瓶口上部。推断：结合终态 q_score=0.25 和花瓶在茶几的画面，放花没有获得要求的入瓶位置与深度；不据此认定各次松手前都曾入瓶，也不标“放后不稳”。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 269 的实际提交脚本抓起桌面横放的玫瑰后，抓取、抬高、平移到瓶上方和松手均保持同一末端四元数 [1,0,0,0]，在脚本设定瓶沿高度0.775米上方约0.12米的末端位置松手；log step 284 与335 也使用保持末端方向、在瓶口上方松手的方式，没有按花茎轴向安排深入瓶腔的接触姿态。视频 153.5 s、182 s、227.5 s 对应出现花茎横搭口沿，支持抓持姿态与入瓶几何不适配这一归因，具体中心误差不可量化；可行替代由成功参考视频 48–50 s、79–81 s 的持花转向、将花茎送入瓶腔得到验证。" + } + ], + "gap_zh": "本回合无状态日志；已检查整段视频粗采样、各次放花及花瓶重抓的密集帧，并核对视频最后一秒。腕部视角能看到玫瑰横搭瓶口，但花叶和不透明瓶壁遮住玫瑰中部与内部容积边界；缺少逐支 inside 谓词及中间 q_score，不能可靠确定是否曾短暂满足入瓶或其起止时刻，故三项玫瑰节点的历史 intervals=null，而终态由总分与花瓶在茶几的画面共同确定为 false。断点导航锚点不是已核实的最早未修复时刻。成功参考只用于辨认可行入瓶几何，其旧版即时验收不能证明本回合的联合松手静置窗口；现有证据不足以指认评分器或仿真故障。" + }, + "summary_zh": "机器人把花瓶搬上茶几，碰倒及多次重抓后最终仍将花瓶放在台面，终态完成1/4节点；三支玫瑰都被取起并向瓶口放置，但评分器 q_score=0.25 结合终帧确定三项入瓶计数均未满足。断点为第1支玫瑰入瓶，画面中的横搭瓶口与日志中的固定姿态高位松手支持位姿不准及抓取和接触设计问题。无状态日志且花叶、瓶壁遮挡中心判据，玫瑰节点的瞬时进展时间线无法可靠恢复，保留 null。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "终态 1/4（花瓶在茶几）与 q_score=0.25、视频 231 s 末帧一致；三个入瓶节点 final=false 由总分推出且已声明为推断，断点取第1支入瓶、位姿不准 + 抓取和接触设计均有帧与日志支撑，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:32:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-make-rose-centerpieces-i00-standard--qqf3hvv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-rose-centerpieces-i00-standard--qqf3hvv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "21f280fe70f456a7383d127a85683cee89eb0c04e614691364132619e6f5d048", + "video_sha256": "5b87cb29d3f6ce9e47a11cd28effe706f5759978df1e1de0591571ea8c4feb37", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--w7te7xy.json b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--w7te7xy.json new file mode 100644 index 0000000000000000000000000000000000000000..30b87424130e12ab5e2b7bb4ff54d7e43911d678 --- /dev/null +++ b/phase2/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--w7te7xy.json @@ -0,0 +1,281 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-rose-centerpieces-i00-standard--w7te7xy", + "taskKey": "behavior-1k/make_rose_centerpieces", + "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377", + "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": 25657, + "sim_steps": 25657, + "physics_steps": 102628, + "steps": 2176, + "elapsed_s": 5523.5, + "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-make-rose-centerpieces-i00-standard--w7te7xy/replay.mp4", + "duration_s": 855.233, + "fps": 30.0, + "frames": 25657, + "sha256": "c9dbe885d1bd67b61fdf22662466260c57a7f0a1745a9fc2c54ed53c270fa38e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "roses_in_vase_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频10.0 s电视下方柜面上放着浅色花瓶与横躺的红玫瑰，没有花茎插入瓶内的状态。" + }, + { + "t": 63.0, + "log_step": 142, + "text_zh": "观察：视频59.5–63.0 s右夹爪夹住一支玫瑰并将其抬离原柜面位置，底盘带着它移到花瓶旁；视频63.0–80.0 s腕部近景中花茎横在瓶口外侧，未形成参考成功视频48.0 s所见的花茎深入瓶腔状态。" + }, + { + "t": 87.2, + "log_step": 154, + "text_zh": "观察：视频80.2–83.0 s花瓶在右夹爪旁翻转并移出近景，视频86.6–87.2 s右夹爪张开，所持玫瑰落回柜面，未入瓶。" + }, + { + "t": 855.2, + "log_step": 348, + "text_zh": "推断：后续视频中机器人先在地板旁取瓶失败，再返回柜面反复取花，未见向花瓶运花或插花；视频854.25–855.2 s仍停在电视柜旁。评分器reward.q_score=0，且四项目标初始均不成立，因此终态没有任何玫瑰入瓶，节点final=false。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪实际夹住一支玫瑰的茎叶，视频59.5–62.0 s将其提离柜面，随后持花移向瓶口，视频86.8 s左右张开释放。后期取其他玫瑰仍是在重试尚未完成的第1支入瓶。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘在柜前调整取花位置，并在视频62.0–63.0 s左右承载右臂持有的玫瑰驶向花瓶。" + } + ] + }, + "roses_in_vase_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 87.2, + "log_step": 154, + "text_zh": "观察：视频87.2 s腕部视角显示玫瑰横躺在柜面，花瓶已离开原位置；此前视频63.0–86.6 s仅有一支玫瑰被右爪持着靠近瓶口，没有至少2支玫瑰同时在瓶内的画面。后续取花是对第1支入瓶的重试，未形成额外的入瓶数量。" + }, + { + "t": 855.2, + "log_step": 348, + "text_zh": "推断：视频后半段未见机器人将玫瑰送入地板上的花瓶，末秒视频854.25–855.2 s停在柜前；评分器reward.q_score=0且初始无目标成立，终态不可能满足至少2支入瓶，故final=false。" + } + ] + }, + "roses_in_vase_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 87.2, + "log_step": 154, + "text_zh": "观察：视频87.2 s腕部视角显示玫瑰横躺在柜面，花瓶已离开原位置；此前视频63.0–86.6 s仅有一支玫瑰被右爪持着靠近瓶口，没有至少3支玫瑰同时在瓶内的画面。后续取花是对第1支入瓶的重试，未形成额外的入瓶数量。" + }, + { + "t": 855.2, + "log_step": 348, + "text_zh": "推断：视频后半段未见机器人将玫瑰送入地板上的花瓶，末秒视频854.25–855.2 s停在柜前；评分器reward.q_score=0且初始无目标成立，终态不可能满足至少3支入瓶，故final=false。" + } + ] + }, + "vase_on_coffee_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频10.0 s浅色花瓶仍位于电视下方的长柜上，不在蓝色沙发前的茶几上。" + }, + { + "t": 314.0, + "log_step": 270, + "text_zh": "观察：视频306.0–314.5 s右腕视角可见浅色花瓶在木纹地板上，右夹爪下降靠近瓶沿、闭合及抬起，瓶体被拨动、倾斜，但没有随夹爪离地；视频345.0–352.0 s空瓶仍在地板上。后续视频375.0–537.0 s的取瓶动作也没有将它搬上茶几。" + }, + { + "t": 855.2, + "log_step": 348, + "text_zh": "推断：后半段机器人离开花瓶返回柜前取花，未见花瓶运抵茶几；末秒视频854.25–855.2 s没有呈现花瓶所在区域，终态由评分器reward.q_score=0及初始花瓶不在茶几上的事实确定为false。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "右夹爪多次下降、闭合尝试取地上的花瓶；视频310.0–314.5 s瓶体在夹爪旁被拨动、倾斜，未见两指夹住瓶壁并把瓶带离地面，因此不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘在寻找落地花瓶时绕行并驶到瓶旁，随后调整取瓶的工作位置；没有成功携瓶搬运到茶几。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "roses_in_vase_1", + "t": 81.0, + "log_step": 154, + "where": "操作中", + "evidence_zh": "观察：视频80.2–83.0 s机器人右爪持花靠近瓶口时，花瓶在腕部近景中翻转、移走；视频86.6–87.2 s机器人在瓶外张开夹爪，玫瑰落回柜面。后续取瓶和取花均未完成任何一支入瓶，因此首个未修复的失败是第1支玫瑰入瓶。" + }, + "unmet": { + "roses_in_vase_1": false, + "roses_in_vase_2": false, + "roses_in_vase_3": false, + "vase_on_coffee_table": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 81.0, + "log_step": 154, + "evidence_zh": "观察：视频80.2–83.0 s右腕近景中，花瓶紧邻持花的右夹爪，瓶口及瓶身明显翻转并扫出画面；视频87.2 s之后柜面不再有花瓶，后续视频306.0 s可见花瓶在地板上。推断：机器人此次插花动作碰动并扫落了花瓶，破坏了插花目标的支承位置。" + }, + { + "cat": "运动", + "item": "位姿不准", + "t": 86.8, + "log_step": 154, + "evidence_zh": "观察：视频86.6–87.2 s右夹爪张开释放时，玫瑰没有位于花瓶内，而是落回电视柜面；log step 154的脚本按预定顺序执行开爪。此次是未到入瓶位置就释放，未形成入瓶后再失稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 81.0, + "log_step": 154, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：插花动作的末端执行未实现脚本给定的位置。log step 154要求右TCP依次升高、移到估计瓶口上方、下降到(6.277,3.952,0.756)米，各点IK返回Success，但服务返回该段结束实际TCP为(6.339,3.482,1.076)米，与末点相差约0.57米；脚本随后仍执行开爪。视频80.2–83.0 s瓶体翻转及视频86.8 s瓶外释放与此相符，支持控制层失败；具体属于路径生成还是执行跟踪不足，现有记录不能区分。" + } + ], + "gap_zh": "未提供状态日志，腕部近景的茎叶和机臂遮住部分碰撞面，无法核实具体接触连杆、接触力及精确入瓶谓词边界；末秒未显示花瓶位置，四节点终态结合q_score=0确定。agent在log step 349自述腕姿R_DOWN_X/R_DOWN_Y用错，但log step 130的路径函数默认使用R_DOWN_X，log step 142虽定义局部R_DOWN_Y却未将它传入路径函数，不能据此确认该具体诊断，根因停在控制层。" + }, + "summary_zh": "本次单回合机器人取起并运送过一支玫瑰，但没有完成入瓶或花瓶上茶几，四个节点均未达到，最终0/4。视频约81.0 s的首次插花动作碰动并扫落花瓶，视频86.8 s又在瓶外释放玫瑰；日志显示实际末端位姿偏离指令，后续取瓶和取花均未修复第1支入瓶。无状态日志、局部接触被遮挡且终帧未覆盖花瓶，终态结合q_score=0判定；本run任务文字采用即时目标验收，而DAG描述另有松手静置窗口，该版本差异不改变本次目标关系均未完成的结论。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四个节点终态false与q_score=0一致；断点在第1支入瓶、视频约81 s，帧上可见花瓶在80–84 s被扫出、86 s玫瑰落回柜面，与标注吻合。根因『控制』是由log step 154的末端偏差推断，已标为推断且承认无法区分路径生成与执行跟踪，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": "2026-10-30T21:35:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-make-rose-centerpieces-i00-standard--w7te7xy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-rose-centerpieces-i00-standard--w7te7xy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "29880c5b49df25d4ab98f55971f5db02448a2be7a2c356e6a334697981c05a08", + "video_sha256": "c9dbe885d1bd67b61fdf22662466260c57a7f0a1745a9fc2c54ed53c270fa38e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--3vk7nkn.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--3vk7nkn.json new file mode 100644 index 0000000000000000000000000000000000000000..663d69ebb55197ac046f66c7ca4a568fb443fae8 --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--3vk7nkn.json @@ -0,0 +1,436 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-privileged--3vk7nkn", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "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": 6251, + "sim_steps": 6251, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 2074.4, + "replay_timeout_s": 4325.5, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 6, + "agent_sim_steps": 6251, + "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": 9.417, + "peak_memory_gb": 23.577, + "peak_processes": 79, + "peak_disk_gb": 1.327, + "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-outfit-a-basic-toolbox-i00-privileged--3vk7nkn/replay.mp4", + "duration_s": 208.367, + "fps": 30.0, + "frames": 6251, + "sha256": "a1b613dfa9312beb9d38b058fd4977eb7ced171771e60e8a0eb150d98b8c31b7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 2, + "peak": 3, + "final": 3, + "nodes": { + "toolbox_opened": { + "method": "visual", + "intervals": [ + [ + 30.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30.5, + "log_step": null, + "text_zh": "观察：视频 29.0–30.0 s 箱盖基本贴合；视频 30.5–34.0 s 操作夹爪顶起箱盖，盖与箱体之间出现明显开口，开度超过小幅门缝，达到开箱事件。首次跨过5%行程的时刻按画面估计为视频 30.5 s，误差约0.5秒。" + }, + { + "t": 34.5, + "log_step": null, + "text_zh": "观察：视频 34.5 s 箱盖回落闭合；此节点为event，已发生的开箱记录不撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 30.5–34.0 s，单臂夹爪从箱盖前缘施力，将盖顶开；未见足以确认双指对向夹紧箱盖的画面，不标为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 2.5–5.0 s，机器人沿工作台移动底盘，支承机械臂并调整该工具的取放位置。" + } + ] + }, + "drill_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 53.5, + "log_step": null, + "text_zh": "观察：视频 49.0–54.0 s，右夹爪下探到橙色电钻右侧的空处并闭合；视频 54.5–57.0 s 夹爪空手抬起，橙色电钻仍直立在原桌面位置。视频 60.0–73.0 s 机械臂随后移向已闭合的工具箱，但没有携带电钻。" + }, + { + "t": 200.0, + "log_step": null, + "text_zh": "观察：视频 130.0 s、145.0 s、185.0–200.0 s，橙色电钻仍在箱外桌面；未见后来补做电钻入箱。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，与视频中电钻始终在箱外相符；该非初始目标终态为false。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 53.5–55.0 s，右二指夹爪在电钻旁闭合后空手上抬。候选：空夹；没有包夹目标，不满足抓握定义，推/扫、压/擦也不描述这次可见的闭爪动作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 45.0–50.0 s、58.0–63.0 s，机器人沿工作台移动底盘，支承机械臂并调整该工具的取放位置。" + } + ] + }, + "pliers_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 144.5, + "log_step": null, + "text_zh": "观察：视频 134.0–144.5 s，右臂低位伸向工具区后抬起；黄色双柄、金属钳口的钳子一直留在桌面，未随夹爪移走。视频 146.0–149.0 s，右臂移回工具箱一侧，没有可见的持钳入箱。" + }, + { + "t": 200.0, + "log_step": null, + "text_zh": "观察：视频 185.0–200.0 s，黄色钳子仍可见于工具箱左侧的桌面上。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：reward.q_score=0.0 与钳子留在箱外相符，终态inside为false。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 137.0–144.5 s，右前臂遮挡夹爪和钳子附近区域；可排除成功夹持搬运，但是否擦碰钳口不能从现有相机确定，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 130.0–137.0 s、145.0–149.0 s，机器人沿工作台移动底盘，支承机械臂并调整该工具的取放位置。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 112.0, + "log_step": null, + "text_zh": "观察：视频 104.0–113.0 s，右夹爪再次在桌面工具区下探、合拢并上抬；黑色筒状、红色端部的手电筒仍留在左侧桌面，未随手离桌。视频 116.0–129.0 s，机器人到箱旁执行下放动作，但箱盖仍闭合。" + }, + { + "t": 144.5, + "log_step": null, + "text_zh": "观察：视频 137.0–144.5 s，黑色红端手电筒仍在箱外桌面。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：reward.q_score=0.0 与手电筒未入箱一致，排除这一新增inside目标终态为真。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 107.0–112.0 s，右夹爪下探工具区，但指端局部被前臂挡住；手电筒没有随夹爪抬起，不能把会话中的辅助抓取读数当作交付回放的抓握接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 104.0–116.0 s，机器人沿工作台移动底盘，支承机械臂并调整该工具的取放位置。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 83.0, + "log_step": null, + "text_zh": "观察：视频 78.0–85.0 s，右夹爪在桌面工具区下探并合拢，随后抬起；折弯的深色长扳手仍躺在桌面左侧，没有随夹爪离桌。视频 90.0–103.0 s，机器人在闭合工具箱旁执行下放动作，未见内六角扳手进入箱内。" + }, + { + "t": 144.5, + "log_step": null, + "text_zh": "观察：视频 133.0–144.5 s，折弯长扳手仍在桌面左侧；没有观察到之后搬入箱内。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：reward.q_score=0.0 不允许新增的内六角inside目标在终态为真，与可见箱外位置相符。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 78.0–85.0 s，可见右夹爪执行取物动作，但腕部/前臂遮住部分指端与小工具之间的区域；未见成功包夹搬运，无法确认是否发生轻微擦碰及其方式。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 78.0–90.0 s，机器人沿工作台移动底盘，支承机械臂并调整该工具的取放位置。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 167.0, + "log_step": null, + "text_zh": "观察：视频 158.0–170.0 s，右夹爪在工具箱前方桌面附近执行取物和上抬动作；腕部视角持续可见紫色柄、银色细杆的螺丝刀仍躺在原桌面，没有随夹爪离开。" + }, + { + "t": 182.0, + "log_step": null, + "text_zh": "观察：视频 174.0–182.0 s，螺丝刀仍在箱外桌面；工具箱盖保持闭合，没有看到螺丝刀入箱。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：reward.q_score=0.0 排除新增的螺丝刀inside目标在终态为真；这与视频中未完成转移一致。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 162.0–169.5 s，腕部相机可见螺丝刀留在桌面，但右夹爪指尖与工具的细小接触区域受前臂遮挡；没有可确认的对向包夹，具体擦碰方式未知。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 150.0–159.0 s、170.0–174.0 s，机器人沿工作台移动底盘，支承机械臂并调整该工具的取放位置。" + } + ] + }, + "toolbox_on_table": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 2.5–5.0 s 首次看清工具箱时，箱体已放在工作台面上。" + }, + { + "t": 33.0, + "log_step": null, + "text_zh": "观察：视频 8.0–40.0 s 的箱盖操作期间，箱体虽平移和转向，但一直有台面直接承托；视频 45.0–204.0 s 未见箱体被提离或落下。" + }, + { + "t": 208.225, + "log_step": null, + "text_zh": "观察：视频 207.35–208.225 s 的最后一秒，腕部小视图仍可见工具箱在同一台面上，未见离桌。推断：结合DAG确认的初始ontop状态及整个回放的持续承托，区间自视频 0 s 延续到结束。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 30.5 + ], + [ + 34.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 2.5–5.0 s 工具箱盖与箱体贴合；视频 8.0–29.0 s 虽然机器人在盖附近动作，仍未见明显开口。推断：结合DAG给出的初始关闭状态，关闭区间从视频 0 s 开始。" + }, + { + "t": 30.5, + "log_step": null, + "text_zh": "观察：视频 30.5–34.0 s 箱盖掀起，箱口出现明显黑色间隙；视频 34.25 s 仍在回落，视频 34.5 s 已贴回箱体。两次阈值边界均为目测，约有0.5秒误差。" + }, + { + "t": 203.0, + "log_step": null, + "text_zh": "观察：视频 40.0–182.0 s 箱盖持续闭合；视频 185.0–204.0 s 机器人在箱盖一侧执行最后操作，没有再次形成开口。" + }, + { + "t": 208.225, + "log_step": null, + "text_zh": "观察：视频 207.35–208.225 s 最后一秒的腕部视角中，箱盖仍与箱体贴合，未见再打开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 185.0–204.0 s，右夹爪抵近已闭合箱盖的右上侧边缘并施力；未看到夹爪包住边缘形成可靠抓握，箱盖没有重新开启。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 184.0–187.0 s，机器人沿工作台移动底盘，支承机械臂并调整该工具的取放位置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "drill_in_toolbox", + "t": 54.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 49.0–54.0 s，机器人右夹爪在橙色电钻旁合拢；视频 54.5–57.0 s 空手抬起，电钻留在桌面。视频 60.0–73.0 s 机器人继续去工具箱处执行下放，之后转向其他工具，直至视频 200.0 s 电钻仍在箱外；这是开箱事件达到后首个尝试但始终未修复的装箱步骤。" + }, + "unmet": { + "drill_in_toolbox": false, + "pliers_in_toolbox": false, + "flashlight_in_toolbox": false, + "allen_wrench_in_toolbox": false, + "screwdriver_in_toolbox": false, + "toolbox_on_table": true, + "toolbox_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 54.5, + "log_step": null, + "evidence_zh": "观察：视频 53.0–54.0 s，右夹爪闭合位置在橙色电钻右侧，未包住钻体；视频 54.5–57.0 s 夹爪上移时两指之间为空，电钻仍直立在原桌面。所需的抓持接触没有建立，不能解释为已抓住后掉落。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "t": null, + "log_step": 231, + "source_zh": "日志", + "evidence_zh": "观察：log step 75 定义ck_load：恢复dump_state并截断s._recording；log step 118、123、125、127、129、134、135等阶段反复使用这些检查点恢复。log step 226 重跑从screwdriver_placed检查点开始的收尾脚本，log step 231 把会话中报告成功的6251行动作保存为最终trajectory.npz；log step 246 新进程回放同一文件明确返回success=false、q_score=0.0，最终评分也为deterministic=1、q_score=0.0。log step 247 agent承认该文件回放失败，未交付修复文件。推断：交付的是跨恢复过程保留下来的动作串，未形成从原始状态连续执行且通过回放的结果；视频 30.5–34.5 s 只短暂开盖、视频 54.5 s 空手提钻，证实会话成功链未在交付中复现。此归因为录制/交付流程证据，不把差异直接归咎于仿真器。" + } + ], + "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oracle。视频可判定五件工具没有完成入箱；手指附近常被前臂遮挡，四件小工具的轻微接触方式无法确认，箱盖5%阈值只能目测。推断：检查点动作串的交付缺陷有日志支持，但缺少交付回放的逐步关节、辅助抓取及物体位姿记录，不能确定首次偏离的精确物理原因，也不能把会话中Inside=true或持物读数用于本次节点。" + }, + "summary_zh": "观察：交付视频中工具箱曾在视频约30.5 s 短暂掀盖，视频约34.5 s 回闭，箱体全程留在桌面；五件工具均未入箱，终态3/8节点成立（含已发生的开箱事件）。观察：视频约54.5 s 右夹爪空手抬起而电钻仍在桌面，电钻入箱是首个未修复的失败步骤；日志记录跨检查点恢复的录制动作及独立回放失败，支持交付操作出错。观察：没有状态日志和成功oracle，精确关节阈值与小工具的指端接触仍有缺口；会话自报装好五件工具与交付视频不符，节点以视频为准。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频、日志一致：开盖约30.5 s，五件工具始终在箱外，断点在电钻放入步骤；日志 step 231 保存会话成功链，step 246 新进程回放 success=false、q_score=0.0，支持“交付操作出错”。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": "2026-10-30T21:36:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--3vk7nkn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--3vk7nkn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9a3b77e4700c246dce617a6bd514d8a0228e7611260eb4cbec78132c47af2604", + "video_sha256": "a1b613dfa9312beb9d38b058fd4977eb7ced171771e60e8a0eb150d98b8c31b7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--jjupfbc.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--jjupfbc.json new file mode 100644 index 0000000000000000000000000000000000000000..d5524cdf6daca847043895c3721d656ce445e713 --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--jjupfbc.json @@ -0,0 +1,460 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-privileged--jjupfbc", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "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": 4937, + "sim_steps": 4937, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 2376.2, + "replay_timeout_s": 3668.5, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 8, + "agent_sim_steps": 18542, + "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-outfit-a-basic-toolbox-i00-privileged--jjupfbc/replay.mp4", + "duration_s": 164.567, + "fps": 30.0, + "frames": 4937, + "sha256": "f5071fe3074920a4ad7789c5361371e13a87ba487cb6887baa1a511df7b71506" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 2, + "peak": 2, + "final": 2, + "nodes": { + "toolbox_opened": { + "method": "visual", + "intervals": [ + [ + 8.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.7, + "log_step": null, + "text_zh": "观察：视频 8.5 s 箱盖仍基本贴合；视频 8.67–9.0 s 左爪牵起箱盖，出现清楚箱口，视频 10.0–14.0 s 继续掀开。开阈值约在视频 8.7 s 越过，时间为目测近似。" + }, + { + "t": 20.5, + "log_step": null, + "text_zh": "观察：视频 20.5–22.0 s 箱盖随箱体落地后已闭合；打开节点为 event，后来的闭合不撤销已发生的开箱。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 7.0–18.0 s，机器人左侧二指夹爪夹住箱盖提手并掀盖，随后带动整个箱体；右爪未共同扶箱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 14.5–18.5 s，机器人底盘移位、后退，支承正在操作箱盖的机械臂。" + } + ] + }, + "drill_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.0, + "log_step": null, + "text_zh": "观察：视频 54.0–60.0 s、视频 90.0–93.0 s 和视频 141.0–153.0 s，橙黑色电钻仍直立在桌面，没有出现在夹爪中或落地工具箱内。" + }, + { + "t": null, + "log_step": 245, + "text_zh": "观察：log step 245 是最终交付的4937步记录的新进程测试，逐项报告 电钻 的 Inside=False；视频亦没有该工具入箱的可见过程。log step 288 再次选回同一 restore 记录，而非后续1024–1342步的新试验。" + }, + { + "t": null, + "log_step": 247, + "text_zh": "观察：log step 247 紧接同一4937步新进程重放，仅查询物体位置及图像，报告电钻原点高度约1.026米；工具箱原点为[22.3453, -0.1111, 0.1337]。该工具的空间位置在箱外，与 log step 245 的逐项 Inside=False 相符。" + }, + { + "t": 164.53, + "log_step": null, + "text_zh": "推断：约视频 20.5 s 工具箱已在地面合盖，后续回放中没有把电钻搬入该箱的可见过程，且夹爪多次空手开合；结合该交付文件的新进程逐项检查，此放入关系未建立。评分器 q_score=0.0 也限定该新增目标终态为假；初始在桌上及关闭的目标不贡献该分数。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：交付记录含针对电钻的取放指令，但评分回放中腕部相机多朝向地面，未能确认左夹爪与电钻实际接触的部位和方式；不能把会话中的成功抓取读数当作本回放的抓握接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30.0–159.0 s，机器人底盘在桌前往返移位并支承机械臂，执行交付记录中的取放动作；没有看到电钻随机器人搬运。" + } + ] + }, + "pliers_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.0, + "log_step": null, + "text_zh": "观察：视频 54.0–60.0 s，腕部视角可见黄柄钳子仍平放桌面；视频 147.0–153.0 s 桌面仍有细长工具，未见机器人把钳子从桌面搬入已落地的工具箱。" + }, + { + "t": null, + "log_step": 245, + "text_zh": "观察：log step 245 是最终交付的4937步记录的新进程测试，逐项报告 钳子 的 Inside=False；视频亦没有该工具入箱的可见过程。log step 288 再次选回同一 restore 记录，而非后续1024–1342步的新试验。" + }, + { + "t": null, + "log_step": 247, + "text_zh": "观察：log step 247 紧接同一4937步新进程重放，仅查询物体位置及图像，报告钳子原点高度约0.927米；工具箱原点为[22.3453, -0.1111, 0.1337]。该工具的空间位置在箱外，与 log step 245 的逐项 Inside=False 相符。" + }, + { + "t": 164.53, + "log_step": null, + "text_zh": "推断：约视频 20.5 s 工具箱已在地面合盖，后续回放中没有把钳子搬入该箱的可见过程，且夹爪多次空手开合；结合该交付文件的新进程逐项检查，此放入关系未建立。评分器 q_score=0.0 也限定该新增目标终态为假；初始在桌上及关闭的目标不贡献该分数。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：交付记录含针对钳子的取放指令，但评分回放中腕部相机多朝向地面，未能确认左夹爪与钳子实际接触的部位和方式；不能把会话中的成功抓取读数当作本回放的抓握接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30.0–159.0 s，机器人底盘在桌前往返移位并支承机械臂，执行交付记录中的取放动作；没有看到钳子随机器人搬运。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 147.0, + "log_step": null, + "text_zh": "观察：视频 147.0–153.0 s 显示桌面仍有工具、原工具箱位置空着，腕部视角未见机器人持手电筒进入地面工具箱；手电筒细部不能在这些帧中可靠辨认。" + }, + { + "t": null, + "log_step": 245, + "text_zh": "观察：log step 245 是最终交付的4937步记录的新进程测试，逐项报告 手电筒 的 Inside=False；视频亦没有该工具入箱的可见过程。log step 288 再次选回同一 restore 记录，而非后续1024–1342步的新试验。" + }, + { + "t": null, + "log_step": 247, + "text_zh": "观察：log step 247 紧接同一4937步新进程重放，仅查询物体位置及图像，报告手电筒原点高度约0.941米；工具箱原点为[22.3453, -0.1111, 0.1337]。该工具的空间位置在箱外，与 log step 245 的逐项 Inside=False 相符。" + }, + { + "t": 164.53, + "log_step": null, + "text_zh": "推断：约视频 20.5 s 工具箱已在地面合盖，后续回放中没有把手电筒搬入该箱的可见过程，且夹爪多次空手开合；结合该交付文件的新进程逐项检查，此放入关系未建立。评分器 q_score=0.0 也限定该新增目标终态为假；初始在桌上及关闭的目标不贡献该分数。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：交付记录含针对手电筒的取放指令，但评分回放中腕部相机多朝向地面，未能确认左夹爪与手电筒实际接触的部位和方式；不能把会话中的成功抓取读数当作本回放的抓握接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30.0–159.0 s，机器人底盘在桌前往返移位并支承机械臂，执行交付记录中的取放动作；没有看到手电筒随机器人搬运。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.0, + "log_step": null, + "text_zh": "观察：视频 66.0–126.0 s，机器人持续移位、改变臂姿并开合夹爪，但腕部视角未见内六角扳手被夹持搬运；箱体始终在地面且盖合拢。细小工具的桌面接触部位不能连续看清。" + }, + { + "t": null, + "log_step": 245, + "text_zh": "观察：log step 245 是最终交付的4937步记录的新进程测试，逐项报告 内六角扳手 的 Inside=False；视频亦没有该工具入箱的可见过程。log step 288 再次选回同一 restore 记录，而非后续1024–1342步的新试验。" + }, + { + "t": null, + "log_step": 247, + "text_zh": "观察：log step 247 紧接同一4937步新进程重放，仅查询物体位置及图像，报告内六角扳手原点高度约0.926米；工具箱原点为[22.3453, -0.1111, 0.1337]。该工具的空间位置在箱外，与 log step 245 的逐项 Inside=False 相符。" + }, + { + "t": 164.53, + "log_step": null, + "text_zh": "推断：约视频 20.5 s 工具箱已在地面合盖，后续回放中没有把内六角扳手搬入该箱的可见过程，且夹爪多次空手开合；结合该交付文件的新进程逐项检查，此放入关系未建立。评分器 q_score=0.0 也限定该新增目标终态为假；初始在桌上及关闭的目标不贡献该分数。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：交付记录含针对内六角扳手的取放指令，但评分回放中腕部相机多朝向地面，未能确认左夹爪与内六角扳手实际接触的部位和方式；不能把会话中的成功抓取读数当作本回放的抓握接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30.0–159.0 s，机器人底盘在桌前往返移位并支承机械臂，执行交付记录中的取放动作；没有看到内六角扳手随机器人搬运。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2.0–8.0 s 螺丝刀在工具箱前的桌面；开箱落箱后，视频 129.0–159.0 s 机器人执行低位伸臂及回升动作，但未见夹爪带起螺丝刀或向落地工具箱放入。" + }, + { + "t": null, + "log_step": 245, + "text_zh": "观察：log step 245 是最终交付的4937步记录的新进程测试，逐项报告 螺丝刀 的 Inside=False；视频亦没有该工具入箱的可见过程。log step 288 再次选回同一 restore 记录，而非后续1024–1342步的新试验。" + }, + { + "t": null, + "log_step": 247, + "text_zh": "观察：log step 247 紧接同一4937步新进程重放，仅查询物体位置及图像，报告螺丝刀原点高度约0.012米；工具箱原点为[22.3453, -0.1111, 0.1337]。该工具的空间位置在箱外，与 log step 245 的逐项 Inside=False 相符。" + }, + { + "t": 164.53, + "log_step": null, + "text_zh": "推断：约视频 20.5 s 工具箱已在地面合盖，后续回放中没有把螺丝刀搬入该箱的可见过程，且夹爪多次空手开合；结合该交付文件的新进程逐项检查，此放入关系未建立。评分器 q_score=0.0 也限定该新增目标终态为假；初始在桌上及关闭的目标不贡献该分数。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：交付记录含针对螺丝刀的取放指令，但评分回放中腕部相机多朝向地面，未能确认左夹爪与螺丝刀实际接触的部位和方式；不能把会话中的成功抓取读数当作本回放的抓握接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30.0–159.0 s，机器人底盘在桌前往返移位并支承机械臂，执行交付记录中的取放动作；没有看到螺丝刀随机器人搬运。" + } + ] + }, + "toolbox_on_table": { + "method": "visual", + "intervals": [ + [ + 0, + 17.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "推断：DAG 记载工具箱初始在桌上，视频 1.0–8.0 s 也显示红色箱体直接放在灰色桌面，因此从视频 0 s 计入。" + }, + { + "t": 17.5, + "log_step": null, + "text_zh": "观察：视频 15.5–18.0 s，机器人左爪与箱盖的交互带动整箱向桌边移动、倾斜；视频 17.5 s 箱体已悬垂到桌前，视频 18.5 s 脱离夹爪下落，视频 20.5–23.0 s 落在地板上。离桌时刻约视频 17.5 s，受箱底遮挡约有半秒不确定性。" + }, + { + "t": 153.0, + "log_step": null, + "text_zh": "观察：视频 30.0–126.0 s 的腕部视角多次显示箱体在地面，视频 147.0–153.0 s 桌上仍无工具箱，直到视频 164.53 s 未见把箱体放回桌面的动作。" + }, + { + "t": null, + "log_step": 245, + "text_zh": "观察：log step 224 保存 restore 的前4937步；log step 245 对该4937步文件的新进程重放给出 OnTop=False、箱体高度约0.134米。该重放与视频中箱体落地相符，评分器亦记录 n_actions=4937、deterministic=1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 7.0–18.0 s，机器人左侧二指夹爪夹住箱盖提手并掀盖，随后带动整个箱体；右爪未共同扶箱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 14.5–18.5 s，机器人底盘移位、后退，支承正在操作箱盖的机械臂。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 8.7 + ], + [ + 20.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 1.0–8.5 s 箱盖与箱体贴合；视频 8.67–9.0 s 箱口出现，关闭状态在约视频 8.7 s 失去。初始关闭从视频 0 s 计入，after 不门控此 state。" + }, + { + "t": 20.5, + "log_step": null, + "text_zh": "观察：视频 18.5 s 箱体下落，视频 20.5–23.0 s 地板上的红色工具箱盖已落回箱口；机器人没有在这一时段主动执行装箱后的关盖。" + }, + { + "t": 120.0, + "log_step": 245, + "text_zh": "推断：视频 36.0–126.0 s 的腕部视角反复可见地面上合拢的箱体，之后未见再次开盖；log step 245 对最终交付的4937步文件重放报告箱盖关节约0弧度，与视频所见闭合一致，因此视频末尾保持关闭。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "toolbox_on_table", + "t": 17.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 15.5–18.5 s，机器人在开盖后的移位、撤离中带动整箱到桌沿并使其离桌下落；视频 20.5–23.0 s 工具箱位于地板上，后续至视频 164.53 s 没有恢复桌上关系。开箱已在约视频 8.7 s 达成，首个此后始终未修复的状态损失是工具箱留桌上。" + }, + "unmet": { + "drill_in_toolbox": false, + "pliers_in_toolbox": false, + "flashlight_in_toolbox": false, + "allen_wrench_in_toolbox": false, + "screwdriver_in_toolbox": false, + "toolbox_on_table": false, + "toolbox_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 17.5, + "log_step": null, + "evidence_zh": "观察：视频 12.0–18.0 s，机器人左爪操作箱盖提手，原本应留在灰色桌面上的箱体随之平移、倾斜并越过桌沿；视频 18.5 s 箱体下落，视频 20.5 s 已在地板。整个箱体被盖的操作带走，桌上关系没有恢复。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "log_step": 288, + "source_zh": "日志", + "evidence_zh": "推断：log step 142 明确在 s.reset() 后重新录制并接着重放旧前缀，log step 141 的本地接口说明已提示进程内 reset 的隐藏接触状态不等同新进程初态；log step 224 从这轮记录截取前4937步保存为 restore。log step 245 已实际新进程重放该文件，报告箱体落地、五件工具 Inside 全假、q_score=0；log step 288 最终仍把同一 restore 保存回交付路径。评分器 n_actions=4937、deterministic=1，视频也显示早期落箱，表明交付采用了仅在重置会话中调出的旧动作记录，已知的新进程失败没有被最终交付修复。" + } + ], + "gap_zh": "没有状态日志或成功 oracle；箱底在离桌瞬间部分被视野边缘遮住，离桌和落地合盖时间为目测近似。机器人随后多次把腕部相机朝向地面，五件工具的实际手指接触不能逐一核实，故接触方式填未知；逐项终态另由匹配交付文件的新进程测试及评分总分限定。无法从画面和日志进一步确定重置会话与新进程之间最初的物理差异或接触力，因此不另加控制子类根因。" + }, + "summary_zh": "评分回放在约视频 8.7 s 打开工具箱，但约视频 17.5 s 开盖后的撤离带动整箱离桌，落地后箱盖合拢，五件工具均未入箱；终态仅开箱事件与关闭状态成立，为2/8节点。断点为工具箱留桌上，现象为带动本体；日志显示最终仍交付了已在新进程测试中失败的4937步旧记录，不能采纳另一轮重置会话中“五件工具均已入箱”的结果。无状态日志，离桌时刻及各工具实际手指接触存在视角缺口。", + "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（开箱约8.7 s、箱体离桌约17.5 s、落地合盖约20.5 s）与视频一致，五件工具始终未入箱；断点为工具箱留桌上，现象带动本体、根因交付操作出错均有视频和 log step 142/224/245/288 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": "2026-10-30T21:47:18Z", + "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-outfit-a-basic-toolbox-i00-privileged--jjupfbc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--jjupfbc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "43d3f72b75ad404b282825f1dd0530d6b9859181c0030fe4207091869db93a25", + "video_sha256": "f5071fe3074920a4ad7789c5361371e13a87ba487cb6887baa1a511df7b71506", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--pdtr9vq.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--pdtr9vq.json new file mode 100644 index 0000000000000000000000000000000000000000..6c09e95769df9146932dadb5271db8015ebedfd4 --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--pdtr9vq.json @@ -0,0 +1,362 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-privileged--pdtr9vq", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "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": 914, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 1064, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 936.5, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 4, + "agent_sim_steps": 6085, + "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-outfit-a-basic-toolbox-i00-privileged--pdtr9vq/replay.mp4", + "duration_s": 35.467, + "fps": 30.0, + "frames": 1064, + "sha256": "048693a590c7929f875ba32f16820ba1b3df90ac19d5c1069f7b5d564123d065" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 2, + "peak": 3, + "final": 3, + "nodes": { + "toolbox_opened": { + "method": "visual", + "intervals": [ + [ + 13.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.4, + "log_step": null, + "text_zh": "观察：视频13.3 s箱盖尚近乎贴合，视频13.4–15.2 s左夹爪从箱盖左侧向上拨动，盖与箱体明显分离并露出内腔；约视频13.4 s越过开阈值，时间误差约0.2 s。" + }, + { + "t": 15.4, + "log_step": null, + "text_zh": "观察：视频15.2–15.4 s左夹爪与箱盖分离，箱盖回落闭合；视频23.0–35.433 s没有再次打开。该节点为event，曾经开过的记录不因回落撤销。" + }, + { + "t": null, + "log_step": 147, + "text_zh": "观察：log step 144启动最后一次重置后录制，log step 147输出punch 40/50时箱盖关节为0.468/0.677 rad，随后punch 60及收尾回到约0，保存914行；log step 153核对交付文件为914行，log step 157新进程重放同为914动作、1064仿真步且失败。该日志顺序与视频短暂开盖后回落一致；日志中方括号秒数是脚本运行耗时，不作为视频时刻。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频6.3–9.8 s及13.3–15.3 s，机器人左侧二指夹爪用手指外侧拨推箱盖／提手邻近部位；未见两指包夹提手，不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频0–3.0 s机器人移动并转向工具箱，调整开盖工位；底盘在此移动阶段支承机身和双臂。" + } + ] + }, + "drill_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频0–35.433 s机器人的可见操作集中于箱盖，视频13.4–15.2 s露出的箱口没有接收电钻；未见电钻被夹起并送入箱内的过程。" + }, + { + "t": 35.433, + "log_step": null, + "text_zh": "推断：初始DAG及log step 37的对象记录把电钻置于箱外桌面，视频13.4–15.2 s短暂开箱时没有装入电钻，末帧箱盖闭合；评分器reward.q_score=0.0，电钻入箱属于新增目标，故该关系终值为false。电钻的完整原位区域并非始终在画面内。" + } + ] + }, + "pliers_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频0–35.433 s机器人的左臂只在工具箱盖附近拨动，视频13.4–15.2 s露出的箱口没有接收钳子的动作。" + }, + { + "t": 35.433, + "log_step": null, + "text_zh": "推断：钳子原位所在桌面区域大多在相机范围外，但整段轨迹未见取钳子或向箱内转移工具；结合评分器reward.q_score=0.0对新增入箱目标的上界，钳子入箱终值为false。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频0–35.433 s机器人没有携带手电筒接近箱口，视频13.4–15.2 s开口期间只有左夹爪拨盖，未见手电筒进入。" + }, + { + "t": 35.433, + "log_step": null, + "text_zh": "推断：手电筒所在桌面区域大多不在画面中，但已检查整段开盖及收尾动作，没有取放手电筒过程；评分器reward.q_score=0.0排除该新增入箱目标在末态成立。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频0–35.433 s机器人只对工具箱盖操作，视频13.4–15.2 s箱口打开时没有内六角扳手被送入。" + }, + { + "t": 35.433, + "log_step": null, + "text_zh": "推断：内六角扳手原位区域大多处于画面外，未见其取放；结合整段动作范围及评分器reward.q_score=0.0，该新增入箱关系的终值为false。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频3.0 s箱外桌面前沿可见蓝紫色柄、细长金属杆的螺丝刀；视频13.4–15.4 s开合箱盖时它仍在原位，未被抓起。" + }, + { + "t": 35.433, + "log_step": null, + "text_zh": "观察：视频34.4–35.433 s及最后一帧，螺丝刀仍横放于工具箱前方的桌面，未进箱。" + } + ] + }, + "toolbox_on_table": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0–3.0 s红色工具箱放在灰色桌面上。" + }, + { + "t": 15.4, + "log_step": null, + "text_zh": "观察：视频6.0–15.8 s箱盖拨动期间箱体有轻微挪动，但底部仍由桌面承托，未见箱体被抬离或落地。" + }, + { + "t": 35.433, + "log_step": null, + "text_zh": "观察：视频16.0–35.433 s工具箱持续留在桌上，末帧箱底仍贴在桌面上；箱体部分靠近桌沿不等于离桌。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 13.4 + ], + [ + 15.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0–6.0 s工具箱盖与箱体贴合，初始关闭。" + }, + { + "t": 8.5, + "log_step": 147, + "text_zh": "推断：视频7.5–9.5 s盖缝略张但未明显露出内腔，随后又贴合；与交付生成记录log step 147早段punch 30后关节仅0.052 rad（log step 42记关节全行程2.9671 rad，5%约0.148 rad）一致，故不把这一小缝作为关闭关系丢失。" + }, + { + "t": 13.4, + "log_step": null, + "text_zh": "观察：视频13.4–15.2 s盖明显掀起，箱口可见，关闭关系在此间失去；已密查该整段间隙，非仅夹爪松开造成的误判。" + }, + { + "t": 15.4, + "log_step": null, + "text_zh": "观察：视频15.4 s盖回落贴合，此后至视频35.433 s保持关闭；这是开盖尝试失去支托后的回落，未见装完工具后独立的关盖操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "drill_in_toolbox", + "t": 15.4, + "log_step": 147, + "where": "首步前", + "evidence_zh": "观察：视频13.4–15.2 s机器人左夹爪已拨开箱盖，视频15.4 s盖回落，随后至视频35.433 s未见夹取或送入任何工具；log step 143–147的最终录制仅执行推盖、保持和回撤，保存914行，log step 153核对同一交付文件为914行，log step 157重放失败。推断：开箱event已达成，未启动的是后续工具入箱步骤；取DAG列出的首个未达工具节点drill_in_toolbox作为断点，五件工具之间没有规定先后，视频15.4 s仅为开盖段结束的导航锚点。盖回落是附带观察，不撤销开箱event。" + }, + "unmet": { + "drill_in_toolbox": false, + "pliers_in_toolbox": false, + "flashlight_in_toolbox": false, + "allen_wrench_in_toolbox": false, + "screwdriver_in_toolbox": false, + "toolbox_on_table": true, + "toolbox_closed": true + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 15.4, + "log_step": 147, + "evidence_zh": "观察：视频0–35.433 s机器人仅调位并在工具箱盖附近拨推，视频13.4–15.2 s箱口打开期间没有工具被送入，末帧螺丝刀仍在箱前桌面；log step 143–147最终录制段只包含推盖、保持和回撤，log step 153确认交付为914行。推断：评分尝试未启动电钻取放，也未启动其余四件工具入箱，按docs/03_trajectory.md Step 3.1–3.2标为首步前、没尝试。" + } + ], + "root_causes": [], + "gap_zh": "无仿真状态日志，也没有成功参考视频；开合阈值时刻由图像判断，约有0.2 s误差。钳子、手电筒和内六角原位区域大多在画外，末态false结合未见任何装箱过程及评分器q_score=0.0推断。观察：log step 139–140在会话中对螺丝刀悬停、抓取、抬升及三个入箱目标扫描五组躯干种子，均未返回保持该躯干姿态的arm-only解；这不是交付中的工具操作，也未检验电钻或全部合法工位。推断：该局部扫描不足以确定五件工具未启动的共同根因；盖回落的接触安排不能解释此断点，不能从没尝试、agent停止或wall_s超过time_limit_s反推根因（docs/CASES.md FAIL-22、docs/03_trajectory.md Step 3.3），故根因留空，可行替代未知。" + }, + "summary_zh": "机器人约在视频13.4 s短暂掀开工具箱，视频15.4 s箱盖回落；五件工具均未入箱，工具箱持续留桌，终态为3/8节点成立（含锁存的开箱event及留桌、关闭状态）。交付记录与视频均未显示工具取放，断点记为电钻入工具箱的首步前，现象为没尝试，评分器success=0、q_score=0.0。无状态日志和成功参考视频，部分工具区域在画外；会话中的局部螺丝刀逆解扫描不足以确定该断点根因，故根因留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值与时间基本正确（视频13.4 s开箱、15.4 s盖回落，五件工具未入箱）。主要问题在断点和失败层：断点放在已达成的开箱event上，而交付轨迹（log 125/143/153）只含推盖，从未开始任何装工具步骤，应为首个未达目标节点/首步前/没尝试；'没保持住'和'抓取和接触设计'针对的是对评分结果无影响的盖回落，不能解释五件工具未入箱。", + "n_issues": 3, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值与时间（视频约13.4 s开盖、15.4 s回落，五件工具未入箱，终态3/8）与帧一致；断点为首步前的drill_in_toolbox、现象没尝试、根因留空均有证据支持，上一轮问题已正确处理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:46:20Z", + "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-outfit-a-basic-toolbox-i00-privileged--pdtr9vq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--pdtr9vq/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--pdtr9vq/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--pdtr9vq/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e4c15e428933e65d0f858099bf9ba5ee300ee64326289ce307176c8a9d6f5d73", + "video_sha256": "048693a590c7929f875ba32f16820ba1b3df90ac19d5c1069f7b5d564123d065", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--xxetdbo.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--xxetdbo.json new file mode 100644 index 0000000000000000000000000000000000000000..27572d4ba97ba6619083e78dd28749115fa7f49a --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--xxetdbo.json @@ -0,0 +1,420 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-privileged--xxetdbo", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "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": 325, + "sim_steps": 325, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 879.2, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 21, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 10.158, + "peak_memory_gb": 9.108, + "peak_processes": 23, + "peak_disk_gb": 1.553, + "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-outfit-a-basic-toolbox-i00-privileged--xxetdbo/replay.mp4", + "duration_s": 10.833, + "fps": 30.0, + "frames": 325, + "sha256": "4b4bc8ec56eff0017d793cb3be4eba2ddbf9c9be463c2fe6a39c68b3cde4f86a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 2, + "peak": 2, + "final": 2, + "nodes": { + "toolbox_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频 2.6–3.3 s 红色工具箱盖贴合箱体；视频 3.4–4.0 s 机器人左夹爪从箱体前下方抬起并停在箱前，未见夹住盖边或将盖拨开，箱口没有露出。" + }, + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 4.0–5.0 s 机器人离开箱前转向桌上工具；视频 10.2–10.8 s 工具箱重新出现在头部视角时仍闭合，整个已检查序列没有掀盖动作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.3 s 机器人轮式底盘转向并驶近工具箱，为左臂开盖尝试调位。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.4–4.0 s 左夹爪伸到工具箱前下方，未见抓住箱盖；爪与箱体轮廓局部重叠，不能确认有无短暂擦碰或具体接触方式。" + } + ] + }, + "drill_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.8, + "log_step": null, + "text_zh": "观察：视频 2.0 s、4.2–5.0 s 可见橙黑色电钻仍立在工具箱外的桌面上；已检查视频中未见机器人将其抓起送入工具箱。" + }, + { + "t": 10.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0；按本任务总分规则，初始已成立的箱在桌上与箱盖关闭不贡献新进度，因此五个初始为假的工具入箱目标终值均为假。结合视频中箱盖未打开、未见工具转移，记该节点无达成区间；不是仅由零分推断没有尝试。" + }, + { + "t": null, + "log_step": 141, + "text_zh": "观察：log step 122 的脚本依次调用五件工具的 grasp_tool；log step 132、135 启动该方案的录制，log step 141 输出 recorded (325, 25) 并 saved。该次录制中工具抓取失败，脚本仍继续移向下一件；这里只用日志关联尝试对象，不以会话检查替代视频中的抓取证据。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：视频 4.0–10.8 s 机器人空手沿桌边往返调位；结合 log step 122 的工具顺序及 log step 141 的录制执行输出，其中包含驶向电钻的取物位置，没有可确认的持物搬运。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 4.0–10.8 s 未见机器人夹爪包夹或携带电钻；后半段目标区域被左臂遮挡，无法核实是否有短暂擦碰，不标为抓握。" + } + ] + }, + "pliers_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.2, + "log_step": null, + "text_zh": "观察：视频 4.6–6.8 s 可见黄色双柄钳子仍平放在桌面，机器人空爪从其前方经过；已检查视频中未见机器人将其抓起送入工具箱。" + }, + { + "t": 10.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0；按本任务总分规则，初始已成立的箱在桌上与箱盖关闭不贡献新进度，因此五个初始为假的工具入箱目标终值均为假。结合视频中箱盖未打开、未见工具转移，记该节点无达成区间；不是仅由零分推断没有尝试。" + }, + { + "t": null, + "log_step": 141, + "text_zh": "观察：log step 122 的脚本依次调用五件工具的 grasp_tool；log step 132、135 启动该方案的录制，log step 141 输出 recorded (325, 25) 并 saved。该次录制中工具抓取失败，脚本仍继续移向下一件；这里只用日志关联尝试对象，不以会话检查替代视频中的抓取证据。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：视频 4.0–10.8 s 机器人空手沿桌边往返调位；结合 log step 122 的工具顺序及 log step 141 的录制执行输出，其中包含驶向钳子的取物位置，没有可确认的持物搬运。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 4.0–10.8 s 未见机器人夹爪包夹或携带钳子；后半段目标区域被左臂遮挡，无法核实是否有短暂擦碰，不标为抓握。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 5.2–6.8 s 可见黑色带红色端部的手电筒仍在桌面，机器人夹爪没有携带它；已检查视频中未见机器人将其抓起送入工具箱。" + }, + { + "t": 10.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0；按本任务总分规则，初始已成立的箱在桌上与箱盖关闭不贡献新进度，因此五个初始为假的工具入箱目标终值均为假。结合视频中箱盖未打开、未见工具转移，记该节点无达成区间；不是仅由零分推断没有尝试。" + }, + { + "t": null, + "log_step": 141, + "text_zh": "观察：log step 122 的脚本依次调用五件工具的 grasp_tool；log step 132、135 启动该方案的录制，log step 141 输出 recorded (325, 25) 并 saved。该次录制中工具抓取失败，脚本仍继续移向下一件；这里只用日志关联尝试对象，不以会话检查替代视频中的抓取证据。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：视频 4.0–10.8 s 机器人空手沿桌边往返调位；结合 log step 122 的工具顺序及 log step 141 的录制执行输出，其中包含驶向手电筒的取物位置，没有可确认的持物搬运。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 4.0–10.8 s 未见机器人夹爪包夹或携带手电筒；后半段目标区域被左臂遮挡，无法核实是否有短暂擦碰，不标为抓握。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 5.2–6.2 s 可见黑色折弯长杆状内六角扳手仍在桌面，未随机器人夹爪抬起；已检查视频中未见机器人将其抓起送入工具箱。" + }, + { + "t": 10.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0；按本任务总分规则，初始已成立的箱在桌上与箱盖关闭不贡献新进度，因此五个初始为假的工具入箱目标终值均为假。结合视频中箱盖未打开、未见工具转移，记该节点无达成区间；不是仅由零分推断没有尝试。" + }, + { + "t": null, + "log_step": 141, + "text_zh": "观察：log step 122 的脚本依次调用五件工具的 grasp_tool；log step 132、135 启动该方案的录制，log step 141 输出 recorded (325, 25) 并 saved。该次录制中工具抓取失败，脚本仍继续移向下一件；这里只用日志关联尝试对象，不以会话检查替代视频中的抓取证据。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：视频 4.0–10.8 s 机器人空手沿桌边往返调位；结合 log step 122 的工具顺序及 log step 141 的录制执行输出，其中包含驶向内六角扳手的取物位置，没有可确认的持物搬运。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 4.0–10.8 s 未见机器人夹爪包夹或携带内六角扳手；后半段目标区域被左臂遮挡，无法核实是否有短暂擦碰，不标为抓握。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.3, + "log_step": null, + "text_zh": "观察：视频 2.6–3.4 s 可见细长杆状螺丝刀平放在工具箱前的桌面，未进入箱内；已检查视频中未见机器人将其抓起送入工具箱。" + }, + { + "t": 10.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0；按本任务总分规则，初始已成立的箱在桌上与箱盖关闭不贡献新进度，因此五个初始为假的工具入箱目标终值均为假。结合视频中箱盖未打开、未见工具转移，记该节点无达成区间；不是仅由零分推断没有尝试。" + }, + { + "t": null, + "log_step": 141, + "text_zh": "观察：log step 122 的脚本依次调用五件工具的 grasp_tool；log step 132、135 启动该方案的录制，log step 141 输出 recorded (325, 25) 并 saved。该次录制中工具抓取失败，脚本仍继续移向下一件；这里只用日志关联尝试对象，不以会话检查替代视频中的抓取证据。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：视频 4.0–10.8 s 机器人空手沿桌边往返调位；结合 log step 122 的工具顺序及 log step 141 的录制执行输出，其中包含驶向螺丝刀的取物位置，没有可确认的持物搬运。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 4.0–10.8 s 未见机器人夹爪包夹或携带螺丝刀；后半段目标区域被左臂遮挡，无法核实是否有短暂擦碰，不标为抓握。" + } + ] + }, + "toolbox_on_table": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 的初始记录说明工具箱在桌上；视频 0.5–3.3 s 首次看清红色工具箱时箱底落在灰色桌面上，机器人没有搬动箱体，故该初始关系从视频 0.0 s 计入。" + }, + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 3.4–5.0 s 工具箱一直落在桌面，视频 10.2–10.8 s 再次可见时仍在桌上，未见抬离、扫落或搬回动作。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 的初始记录说明箱盖关闭；视频 0.5–3.3 s 首次看清工具箱时箱盖贴合，故关闭状态从视频 0.0 s 计入。state 节点按自身条件判断，不由工具入箱前置门控。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频 3.4–4.0 s 机器人左臂伸到箱前时盖未掀起；视频 10.2–10.8 s 可见箱盖仍贴合。未见关闭状态中断，末尾也没有由开到关的操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "toolbox_opened", + "t": 3.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 3.4–4.0 s 机器人已在箱前抬动左臂，但夹爪从箱体前下方经过，未掀开箱盖；随后机器人转向其他工具，视频 10.2–10.8 s 箱盖仍闭合。开盖是最早尝试后始终未修复的步骤。" + }, + "unmet": { + "drill_in_toolbox": false, + "pliers_in_toolbox": false, + "flashlight_in_toolbox": false, + "allen_wrench_in_toolbox": false, + "screwdriver_in_toolbox": false, + "toolbox_on_table": true, + "toolbox_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 3.5, + "log_step": null, + "evidence_zh": "观察：视频 3.333–3.600 s 机器人左夹爪由工具箱前下方升到箱前，爪间为空，未夹住盖边，也未从盖下方拨起箱盖；视频 3.6–4.0 s 箱盖仍贴合箱口，没有建立掀盖所需的接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 132 准备录制脚本，log step 135 启动，log step 141 的该次录制输出以 recorded (325, 25) 和 saved 收尾，与评分器 n_actions=325 一致；其保留下来的输出片段中，手电筒、钳子、电钻和螺丝刀的 home/above 目标均出现 [ik] UNREACHABLE、safe_move 返回 err=None，随后各打印 grasp failed，脚本仍继续下一件，说明交付录制中的末端控制失败未获修复。该片段未保留开盖及内六角扳手尝试的完整输出，不将后四件的读数说成开盖读数。开盖的会话旁证来自 log step 122：reset 后单独测试同一 open_lid 函数，目标 [22.216,1.357,1.31]、执行读数 [22.288,1.329,0.681]、位置误差 0.6333 米，下一推盖点被脚本逆解程序判为 UNREACHABLE；函数只按返回值是否为 None 分支，未按数值执行误差修正。这是会话测试，不能充当评分回放的位置测量。结合视频 3.4–4.0 s 左爪未到盖边、箱盖未被掀起，控制问题可解释断点；缺少评分回放关节与接触数据，保留控制类别，不细分轨迹或逆解、反馈控制。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志和成功参考视频；头部相机在视频约 7.5–10.1 s 大部分被左臂遮挡，两路腕部画面也未展示箱口。不能核实微小擦碰、精确关节角或工具尝试的逐项时刻；工具终值用评分器 q_score=0.0 的逻辑上界补足，区间结合可见工具仍在桌面、未开箱且没有可见转移判断。log step 141 是最终录制输出，但仅保留后四件工具尝试的末段；开盖位置误差来自 log step 122 的 reset 后会话测试，仅作根因旁证，未把 agent 时间或测试位置读数当作评分视频时间与节点状态。" + }, + "summary_zh": "评分轨迹只保持了工具箱在桌上、箱盖关闭两项初始条件，终值为 2/8，未见五件工具被抓起或入箱。机器人在视频约 3.5 s 开盖时左爪未建立掀盖接触，此步骤此后未修复；最终录制日志显示逆解失败后仍继续后续工具尝试，开盖末端执行偏差另有会话测试旁证，根因保留为控制。缺少状态日志且视频后半段有遮挡，细微接触无法确认，工具终值由评分器零新进度与可见画面共同约束。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "WHERE 标签（节点终值 2/8、断点 toolbox_opened、没建立接触）与视频一致；仅根因证据主要引用会话测试读数（log step 122，reset 后的试验），而被评分的录制（log step 141 输出）里有更直接的逆解失败读数，应改引。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点终值 2/8、断点 toolbox_opened（操作中）、没建立接触、控制根因均与视频一致：箱盖始终闭合，五件工具仍在桌面，未见抓取或入箱；第1轮意见已采纳，根因证据已改引评分录制输出。", + "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": "2026-10-30T21:47:29Z", + "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-outfit-a-basic-toolbox-i00-privileged--xxetdbo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--xxetdbo/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--xxetdbo/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--xxetdbo/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "feac2740d37e73110d9eea5b8d69d02a6d4f0c06f8c0ae88466a182352b001da", + "video_sha256": "4b4bc8ec56eff0017d793cb3be4eba2ddbf9c9be463c2fe6a39c68b3cde4f86a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--zc32wgp.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--zc32wgp.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe5c77f02d4109fcc6c226a560571167bfdd780 --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--zc32wgp.json @@ -0,0 +1,301 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-privileged--zc32wgp", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 227, + "sim_steps": 227, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 881.2, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 19, + "agent_sim_steps": 14118, + "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-outfit-a-basic-toolbox-i00-privileged--zc32wgp/replay.mp4", + "duration_s": 7.567, + "fps": 30.0, + "frames": 227, + "sha256": "4c6df832c16656a4d2842b69b077c37614e36fdee79024086e29cf1d1fe852c7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 2, + "peak": 2, + "final": 2, + "nodes": { + "toolbox_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频 2.75–4.5 s 可见红色工具箱在桌上，箱盖贴合箱体；视频 4.5–7.53 s 机器人右腕视角随机械臂运动改变，但箱盖始终未掀开，未露出箱口。" + }, + { + "t": 7.53, + "log_step": 357, + "text_zh": "观察：log step 357 在 reset 后记录三段底盘移动、一次朝箱盖边缘的右臂 move_ee 和保持动作，保存为 227 行动作；log step 369 展示的交付脚本一致。视频 7.53 s 仍为闭合箱盖。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–4.6 s 轮式底盘移动并转向，使机器人接近工具箱所在桌面，支承机械臂；随后右臂接近动作未见夹爪落到箱盖，不据此记抓握。" + } + ] + }, + "drill_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.53, + "log_step": null, + "text_zh": "观察：视频 2.5 s、4.75–7.53 s 桌上可见立着的带手柄工具，机器人未将其搬入工具箱；视频 7.53 s 工具箱仍关闭。" + }, + { + "t": 7.53, + "log_step": 357, + "text_zh": "推断：DAG 核实的初态中电钻在箱外；完整视频未见其转移，交付的 log step 357 也只录制底盘接近和右臂朝箱盖运动。结合评分器 q_score=0.0（保留的初始目标不计入新增得分），电钻最终不在工具箱内；不以零分单独推断是否尝试。" + } + ] + }, + "pliers_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.53, + "log_step": null, + "text_zh": "观察：视频 4.5 s 桌面前缘可见细长双柄工具，未见机器人夹取或搬入箱内；视频 7.53 s 工具箱仍关闭。" + }, + { + "t": 7.53, + "log_step": 357, + "text_zh": "推断：DAG 核实的初态中钳子在箱外；完整视频未见其转移，交付的 log step 357 也只录制底盘接近和右臂朝箱盖运动。结合评分器 q_score=0.0（保留的初始目标不计入新增得分），钳子最终不在工具箱内；不以零分单独推断是否尝试。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.53, + "log_step": null, + "text_zh": "观察：视频 2.5 s、4.75–7.53 s 工具仍在箱外桌面区域，未见向工具箱内的搬运；视频 7.53 s 工具箱仍关闭。" + }, + { + "t": 7.53, + "log_step": 357, + "text_zh": "推断：DAG 核实的初态中手电筒在箱外；完整视频未见其转移，交付的 log step 357 也只录制底盘接近和右臂朝箱盖运动。结合评分器 q_score=0.0（保留的初始目标不计入新增得分），手电筒最终不在工具箱内；不以零分单独推断是否尝试。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.53, + "log_step": null, + "text_zh": "观察：视频中细小工具难以持续辨认，但完整片段没有开箱或取放工具的动作；视频 7.53 s 工具箱仍关闭。" + }, + { + "t": 7.53, + "log_step": 357, + "text_zh": "推断：DAG 核实的初态中内六角扳手在箱外；完整视频未见其转移，交付的 log step 357 也只录制底盘接近和右臂朝箱盖运动。结合评分器 q_score=0.0（保留的初始目标不计入新增得分），内六角扳手最终不在工具箱内；不以零分单独推断是否尝试。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.53, + "log_step": null, + "text_zh": "观察：视频中螺丝刀不能持续单独辨认，但完整片段没有开箱或取放工具的动作；视频 7.53 s 工具箱仍关闭。" + }, + { + "t": 7.53, + "log_step": 357, + "text_zh": "推断：DAG 核实的初态中螺丝刀在箱外；完整视频未见其转移，交付的 log step 357 也只录制底盘接近和右臂朝箱盖运动。结合评分器 q_score=0.0（保留的初始目标不计入新增得分），螺丝刀最终不在工具箱内；不以零分单独推断是否尝试。" + } + ] + }, + "toolbox_on_table": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.75, + "log_step": null, + "text_zh": "观察：视频 2.75–4.5 s 红色工具箱底部放在灰色桌面上，视频 6.5–7.53 s 仍在同一桌面，未见箱体被抬起或移出。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 已核实工具箱初始在桌上；视频 0–2.5 s 机器人仅空手驶向该桌，之后箱体持续在桌上，故该关系从视频 0 s 延续至结束。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频 2.75–4.5 s 箱盖与箱体贴合，视频 4.5–7.53 s 未见箱盖掀起，最后一帧仍关闭。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 已核实初始工具箱关闭；视频开头机器人空手接近，随后可见的箱盖始终合拢，因此初始关闭状态保持至视频结束，未发生主动关盖操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "toolbox_opened", + "t": 6.8, + "log_step": 357, + "where": "探索", + "evidence_zh": "观察：视频 4.75–7.53 s 右腕视角随机械臂运动改变，红色工具箱盖始终闭合，未见掀盖或装箱。log step 357 的交付录制只有三次底盘移动、一次右臂 move_ee 和保持动作；log step 369 展示的脚本将其称为探索性接近与右臂位姿试探，虽注释目标为箱盖东侧边缘，但没有后续抓握、掀盖或装箱动作。断点仍为打开工具箱，视频 6.8 s 仅作该试探末段的导航锚点。" + }, + "unmet": { + "drill_in_toolbox": false, + "pliers_in_toolbox": false, + "flashlight_in_toolbox": false, + "allen_wrench_in_toolbox": false, + "screwdriver_in_toolbox": false, + "toolbox_on_table": true, + "toolbox_closed": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志和成功参考视频；腕部画面不能清楚显示指垫与箱盖的相对位置或接触，故不补记手指接触，也不推断碰撞、关节限位或接近位姿误差。交付轨迹仅为底盘接近和一次右臂位姿试探的脚手架（log step 357、369），没有后续开盖或装箱动作；log step 356、370 中 agent 也自述这是未完成任务的探索性脚手架。依据 CASES.md FAIL-23，不能把试探结束时箱盖仍闭合标成一次瞄准开盖动作的位姿不准，故现象留空。log step 356 关于够不到盖下及北侧碰撞边界的说法是 agent 对会话调试的自述，log step 357 输出开头的末端读数也不能确认为交付重放的终态；没有足以验证接触方案可行并将失败归于控制的证据。交付脚本缺少后续动作亦不足以单独证明任务策略选错，无法可靠区分规划、接触设计或执行问题，根因留空。视频开头工具箱尚未进入视野，初始桌上与关闭关系依据 DAG 已核实初态及其后画面推断；细小工具的最终关系另由完整片段未发生搬运及评分总量共同约束。日志中更早的接触扫描、抓取测试和 reset 是会话调试，不是这段交付轨迹的物理事件。" + }, + "summary_zh": "交付轨迹仅为底盘接近和一次右臂位姿试探，未含后续开盖或装箱动作；工具箱未打开，五件工具未入箱，保留初始工具箱在桌上和关闭两个状态，最终进度为 2/8。断点为打开工具箱的探索阶段；视频不能确认夹爪与箱盖的相对位姿，日志亦不足以区分规划、接触设计与控制问题，故失败现象和根因均留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "进度节点（2/8，仅初始保持的两个状态）和断点节点 toolbox_opened 与视频、q_score=0 一致；问题在失败原因：交付轨迹是 gen.py 自述的“探索性、不满足任务”的底盘接近+右臂姿态试探（log 357/369/370），并非一次瞄准开盖的动作，“位姿不准”和“控制”根因没有证据支撑（FAIL-23）。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "进度 2/8（仅初始保持的两个状态）、断点 toolbox_opened、现象与根因留空并附 gap_zh，均与视频和 q_score=0 一致；第一轮意见已采纳。", + "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": "2026-10-30T21:47:05Z", + "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-outfit-a-basic-toolbox-i00-privileged--zc32wgp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--zc32wgp/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--zc32wgp/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-privileged--zc32wgp/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "947d6bb58115174b3b2c93d845387e0dd69fe27e843358db05fcdde60902abb2", + "video_sha256": "4c6df832c16656a4d2842b69b077c37614e36fdee79024086e29cf1d1fe852c7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--artwjdk.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--artwjdk.json new file mode 100644 index 0000000000000000000000000000000000000000..a84126d06245f2351eb78a367a8f71f0724d4a1f --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--artwjdk.json @@ -0,0 +1,553 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-standard--artwjdk", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "outcome": { + "success": 0, + "reward": 0.14285714285714285, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 35649, + "sim_steps": 35649, + "physics_steps": 142596, + "steps": 35619, + "elapsed_s": 12664.6, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.14285714285714285, + "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-outfit-a-basic-toolbox-i00-standard--artwjdk/replay.mp4", + "duration_s": 1188.3, + "fps": 30.0, + "frames": 35649, + "sha256": "36c06143dea02f88fa1e6d0e96ff29680a4c1d34063bae8c6b2dd90c2eb0a145" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 2, + "peak": 4, + "final": 4, + "nodes": { + "toolbox_opened": { + "method": "visual", + "intervals": [ + [ + 136.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0–26 s，红色工具箱在杂物间桌面上，箱盖闭合，工具在箱外。" + }, + { + "t": 136.0, + "log_step": 95, + "text_zh": "观察：视频 134–141.5 s，机器人右夹爪夹住盖上把手后抬起箱盖；视频约 136 s 出现箱口间隙，随后明显掀开并露出内腔。该 event 此后保留；视觉开阈值时刻约有 0.5–1 s 误差。" + }, + { + "t": 358, + "log_step": 175, + "text_zh": "观察：视频 354–366 s，机器人右夹爪握住把手，左侧张开夹爪从箱盖前缘下方支承；视频 404–412 s，右侧张开夹爪还推顶箱盖把手。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "右二指夹爪夹住箱盖把手掀盖；最初为右臂单独操作，视频 308–310 s、354–366 s 有左臂同时支承盖边。" + }, + { + "who": "双臂协作", + "how": "托/舀", + "note_zh": "视频 308–310 s、354–366 s，左侧张开夹爪从盖边下方托住箱盖，配合右夹爪握把手；左爪没有合拢夹住箱盖。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频 404–412 s，右夹爪张开后推顶把手以继续掀盖。" + } + ] + }, + "drill_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20, + "log_step": null, + "text_zh": "观察：视频 20 s，橙色带握柄电钻直立在箱左侧桌面上。" + }, + { + "t": 986, + "log_step": null, + "text_zh": "观察：视频 976–986 s，机器人左手搬动长条内六角扳手时，邻近电钻由直立变成侧躺；电钻未随夹爪被拿走。" + }, + { + "t": 1188.2, + "log_step": null, + "text_zh": "观察：视频 1034 s 及视频 1187.3–1188.2 s，橙色电钻侧躺在工具箱左侧桌面，终态不在箱内；全片未见机器人专门抓取或装入电钻。" + } + ] + }, + "pliers_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 458, + "log_step": 210, + "text_zh": "观察：视频 450–508 s，机器人左夹爪反复下降到黄色双柄钳子附近、合拢、抬起，钳子仍躺在原桌面位置，未随抬爪离桌。" + }, + { + "t": 1092, + "log_step": 311, + "text_zh": "观察：视频 1086–1094 s，机器人左夹爪终于夹住钳子并从原位抬走，随后把钳子搬到工具箱前；右臂接着操作箱盖。" + }, + { + "t": 1141, + "log_step": 316, + "text_zh": "观察：视频 1138–1141.5 s，钳子从左夹爪下方落回箱前桌面，没有进入内腔；视频 1166–1170 s 又被左夹爪夹起。" + }, + { + "t": 1188.2, + "log_step": 324, + "text_zh": "观察：视频 1187.3–1188.2 s，左腕视角仍可见夹爪中的黄色柄钳子，头部视角显示工具箱关闭；钳子没有完成入箱并释放。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左二指夹爪先反复空夹，后在视频约 1090 s 和1168 s 实际夹住钳柄；搬到箱前时右夹爪同时抓住箱盖把手开盖，钳子始终未装入。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人在视频约 1090–1094 s 夹持钳子驶回工具箱位置；视频 1170–1186 s 仍携钳子调位。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "visual", + "intervals": [ + [ + 634.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 518, + "log_step": 222, + "text_zh": "观察：视频 514–526 s，左夹爪夹住黑色筒状手电筒并使其离开原桌面位置，携带到工具箱前；右爪随后开盖。" + }, + { + "t": 584, + "log_step": 235, + "text_zh": "观察：视频 578–588 s，左爪第一次释放后，黑色手电筒及红色尾端出现在箱前桌面；这次不计入箱。" + }, + { + "t": 634.0, + "log_step": 248, + "text_zh": "推断：视频 622–633.5 s，机器人重新夹持手电筒，送到半开箱口并松爪；视频 634–638 s，原桌面落点已空，箱口左端出现手电筒亮面。结合终态仅手电筒可满足新增入箱关系，推定此次释放并落定后（视频约 634 s，约 ±1 s）达到 inside。内腔和包围盒中心被盖板遮挡。" + }, + { + "t": 1188.2, + "log_step": null, + "text_zh": "推断：评分器 q_score=1/7，live_matches_replay=1；工具箱在桌上和关闭均初始为真，不贡献该新增分数。视频 1034 s、1166 s 及1187.3–1188.2 s 可辨电钻、螺丝刀、内六角在箱外，钳子最后仍在夹爪中；因此唯一计分的新增入箱工具是手电筒，final=true。未见后续取出手电筒。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左二指夹爪夹住手电筒筒身搬运、再次抓取并释放；视频 568–584 s、622–636 s 右二指夹爪同时握箱盖把手保持开口。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 518–526 s，底盘支承持手电筒的左臂并驶回箱前工作位置。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 946, + "log_step": 299, + "text_zh": "观察：视频 936–950 s，长条折弯黑色内六角扳手原在左侧桌面，机器人左夹爪夹住并抬离桌面。" + }, + { + "t": 994, + "log_step": 303, + "text_zh": "观察：视频 986–994.5 s，左爪把扳手转到半开的工具箱前并释放；视频 994–1003.5 s 的左腕视角显示长条黑色扳手在箱体前方桌面，旁边还有螺丝刀，未停在内腔。" + }, + { + "t": 1188.2, + "log_step": null, + "text_zh": "观察：视频 1034 s、1166 s 和1187.3–1188.2 s，黑色折弯扳手仍横在工具箱前方桌面；终态不在箱内。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左二指夹爪抓住长条内六角扳手后搬运和释放，右二指夹爪同时握箱盖把手保持开口；视频 986–994 s。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 948–956 s，底盘携带左手中的内六角扳手从原工具位置回到箱前。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 716, + "log_step": 265, + "text_zh": "观察：视频 704–720 s，蓝紫色柄细长螺丝刀原在箱前桌面，被机器人左夹爪夹起并带离原位置。" + }, + { + "t": 774, + "log_step": 276, + "text_zh": "观察：视频 762–774 s，左爪送螺丝刀到箱前并释放，螺丝刀落在箱前桌面；视频 790–806 s 仍可见，未计入箱。" + }, + { + "t": 894, + "log_step": 296, + "text_zh": "观察：视频 822–834 s，左爪重新拿起螺丝刀；视频 888–894 s 又在箱前释放。视频 895–901.5 s 的左腕画面和视频 904 s 的头部画面均显示银色杆、蓝紫柄螺丝刀在箱体外侧前方桌面。" + }, + { + "t": 1188.2, + "log_step": null, + "text_zh": "观察：视频 1034 s、1166 s 及1187.3–1188.2 s，螺丝刀仍在箱前桌面，邻近黑色扳手；没有达到放入内腔并停稳。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左二指夹爪抓住螺丝刀柄，搬运并两次释放；右二指夹爪同时抓住箱盖把手以留出开口，视频 754–768 s、884–894 s。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 716–728 s、826–836 s，底盘携左手螺丝刀调整到工具箱前的工作位置。" + } + ] + }, + "toolbox_on_table": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，工具箱底部由洗衣机上方的杂物间桌面支承，初始即在桌上。" + }, + { + "t": 248, + "log_step": 141, + "text_zh": "观察：视频 234–263 s，右夹爪牵动箱盖和箱体，随后压低、拖动箱体；箱体下部始终在桌面处。视频 660–678 s，箱体被翻斜后扶回，仍未脱离桌面支承；未因松手或倾斜单独断开本区间。" + }, + { + "t": 1188.2, + "log_step": null, + "text_zh": "观察：视频 1187.3–1188.2 s，红色箱体正放在桌面上，未落到地面或被机器人悬持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪通过工具箱把手牵动、拖拽及回放箱体；视频 234–263 s、660–678 s，可见箱体改变姿态但仍由桌面支承。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 136.0 + ], + [ + 147.5, + 159.0 + ], + [ + 206.5, + 236.0 + ], + [ + 261.5, + 286.5 + ], + [ + 312.0, + 324.0 + ], + [ + 327.0, + 335.5 + ], + [ + 368.0, + 379.0 + ], + [ + 382.0, + 385.5 + ], + [ + 386.5, + 395.0 + ], + [ + 414.0, + 536.5 + ], + [ + 545.0, + 560.5 + ], + [ + 603.0, + 606.5 + ], + [ + 654.0, + 735.0 + ], + [ + 742.0, + 746.0 + ], + [ + 785.5, + 840.0 + ], + [ + 858.5, + 861.5 + ], + [ + 865.5, + 869.0 + ], + [ + 912.0, + 968.5 + ], + [ + 1018.0, + 1108.5 + ], + [ + 1140.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 箱盖闭合；视频约 136 s 右爪首次掀盖而失去关闭状态，视频约 147.5 s 又落合。" + }, + { + "t": 206.5, + "log_step": null, + "text_zh": "观察：视频 159–206 s 箱盖处于掀开状态，视频约 206.5 s 合回；视频 236–261 s 再次开盖并合回。" + }, + { + "t": 335.5, + "log_step": null, + "text_zh": "观察：视频 286.5–312 s、324–327 s、335.5–368 s 为开盖段；其间的关闭和短暂重新掀开均已在视频每 0.5 s 抽帧中核对。" + }, + { + "t": 414, + "log_step": null, + "text_zh": "观察：视频约 379–382 s、385.5–386.5 s、395–414 s 再次开合；视频约 414 s 后闭合到取手电筒之后。" + }, + { + "t": 654, + "log_step": 253, + "text_zh": "观察：手电筒操作时，视频约 536.5–545 s、560.5–603 s、606.5–654 s 为开盖段，右爪降低或松开后箱盖回落。" + }, + { + "t": 912, + "log_step": 297, + "text_zh": "观察：螺丝刀操作时，视频约 735–742 s、746–785.5 s、840–858.5 s、861.5–865.5 s、869–912 s 可见反复掀盖；各间隙均检查了前后及中间帧。" + }, + { + "t": 1140, + "log_step": 316, + "text_zh": "观察：视频约 968.5–1018 s 为内六角投放的开盖段；视频约 1108.5–1140 s 为钳子操作的开盖段。视频约 1140 s 箱盖合回，此后直到视频 1188.2 s 仍关闭。" + }, + { + "t": 1188.2, + "log_step": null, + "text_zh": "推断：以上关闭区间按可见盖缝消失及盖板贴合判断，细小盖缝跨越5%行程阈值的时刻约有0.5–1 s视觉误差；没有关节状态日志可精确计算该阈值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪握住箱盖把手带盖回落，之后松开，重力使箱盖继续贴合箱体；视频 650–654 s、1010–1018 s、1132–1140 s。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "pliers_in_toolbox", + "t": 458.0, + "log_step": 210, + "where": "操作中", + "evidence_zh": "观察：机器人已在视频约 136 s 打开工具箱，随后首先尝试钳子入箱；视频 452–508 s 左夹爪反复在钳子处合拢并空提，钳子仍躺在桌上。之后机器人转去处理手电筒、螺丝刀和内六角，又于视频 1086 s 后回到钳子；视频 1141 s 钳子落回箱外桌面，视频 1188.2 s 最后仍被夹在箱外。推断：钳子入箱是最早开始操作却始终未完成的步骤，后来的抓起并未修复入箱判据。" + }, + "unmet": { + "drill_in_toolbox": false, + "pliers_in_toolbox": false, + "flashlight_in_toolbox": true, + "allen_wrench_in_toolbox": false, + "screwdriver_in_toolbox": false, + "toolbox_on_table": true, + "toolbox_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 458.0, + "log_step": 210, + "evidence_zh": "观察：视频 452–458 s，机器人左夹爪下降到黄色柄钳子上方，闭爪后又上抬，钳子仍躺在原桌面，夹爪没有将其夹持带起；视频 462–508 s 的多次重复仍未拿走钳子。log step 210、213、215、216、219 的工具输出也记录闭爪/抬爪后 opening=0。此处指早期未建立所需夹持，并非后段已抓住钳子的接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 458.0, + "log_step": 220, + "source_zh": "日志", + "evidence_zh": "推断：机器人选择的目标确为钳子，但抓取执行未使钳子进入两指夹持，视频 452–508 s 多次合爪空提。log step 220 的服务本体读数给出左 TCP 高度0.964米、躯干关节 effort=100，而该次脚本请求的末端高度为0.937米；log step 210–219 连续抓取均未带起钳子。后续虽成功抓起，log step 313 仍返回 IK fail，log step 320–325 又显示大幅躯干扭转、无法找到受限的前移解，视频 1170–1188.2 s 携钳子停在箱外。证据支持抓取及持物操作的控制失败，未足以唯一细分接触设计、逆解或跟踪问题。" + } + ], + "gap_zh": "没有状态日志和成功参考视频。箱盖与手爪遮挡内腔，手电筒放入的精确包围盒中心及静止速度不可见，其终态由视频排除其他四件工具后结合 q_score=1/7 推断；视频约 634 s 的落定时刻约有1 s误差。箱盖5%关节阈值只能从盖缝估计，相关区间边界约有0.5–1 s误差。未把 agent 在 log step 328 自述“手电筒和螺丝刀可能都在箱内”作为实证；螺丝刀在视频中仍在箱外。" + }, + "summary_zh": "机器人完成开箱，工具箱始终留在桌面，终态也已关盖；结合 q_score=1/7 与其他四件工具的箱外位置，判定仅手电筒入箱，终态共达成4/8节点（含两个初始成立节点）。最早未修复步骤是钳子入箱：早期反复空夹，后续虽拿起仍未完成送入，日志和视频支持控制失败。箱内被箱盖遮挡，手电筒关系及其到达时刻包含推断；螺丝刀和内六角实际留在箱前桌面。", + "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（钳子入箱，最早开始却未完成）和现象/根因与我抽查的帧一致；未发现需要改动的错误。手电筒入箱依赖 q_score=1/7 加排除法的推断，文件已标明为推断。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:42:24Z", + "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-outfit-a-basic-toolbox-i00-standard--artwjdk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-standard--artwjdk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "066238ab49e3c0836da229bed3a52ccf354b52fd92d47e266d2db14fd8bcf47e", + "video_sha256": "36c06143dea02f88fa1e6d0e96ff29680a4c1d34063bae8c6b2dd90c2eb0a145", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--m6nqzjy.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--m6nqzjy.json new file mode 100644 index 0000000000000000000000000000000000000000..386cded02bb1586a5059bd6c47726154b335bb00 --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--m6nqzjy.json @@ -0,0 +1,509 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-standard--m6nqzjy", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "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": 37232, + "sim_steps": 37232, + "physics_steps": 148928, + "steps": 10411, + "elapsed_s": 13872.0, + "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-outfit-a-basic-toolbox-i00-standard--m6nqzjy/replay.mp4", + "duration_s": 1241.067, + "fps": 30.0, + "frames": 37232, + "sha256": "c6308bf3a77bd9d85a5f1b86b2226b56abf685599698d768d16c9012cc714722" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 2, + "peak": 3, + "final": 3, + "nodes": { + "toolbox_opened": { + "method": "visual", + "intervals": [ + [ + 164.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 164.75, + "log_step": 201, + "text_zh": "观察：视频164.5–165.75 s，工具箱盖与下半箱体分离，出现明显三角形箱口；视频166.0 s附近又落回闭合，打开事件保留。" + }, + { + "t": 935.75, + "log_step": null, + "text_zh": "观察：视频935.5–940.0 s，机器人右夹爪牵动上盖、左夹爪位于前沿，箱盖大幅掀起，红色内腔清楚露出。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频935.5–939.5 s左右夹爪分别作用于箱体前沿和盖上提手；此前右夹爪也曾单独夹提手掀盖。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频183–195 s，夹爪抵碰、拨动箱盖和箱体，箱体随之转倒在桌上。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频10–30 s机器人转向并靠近工具箱，后续也调整到箱前操作位置。" + } + ] + }, + "drill_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 260, + "log_step": 355, + "text_zh": "观察：视频258–266 s，橙色电钻在左腕视图中随夹爪抬起和搬动，随后视频267–300 s可见它放在箱旁桌面，并未进入箱内。" + }, + { + "t": 1193, + "log_step": null, + "text_zh": "观察：视频1180–1199.5 s，左臂往返于工具和工具箱附近，橙色电钻仍可在桌面上辨认；未见松手留在箱内的结果。" + }, + { + "t": 1240.8, + "log_step": null, + "text_zh": "推断：评分器q_score=0.0、live_matches_replay=1，且五件工具初始均在箱外；保留初始桌面和闭箱关系不增加该分数，因此该工具最终入箱为false。终值结合前后可见箱外位置判断，不把零分单独当作未抓取的证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频258–266 s左夹爪夹住电钻并搬到箱旁；后段左夹爪多次再次接近、闭合。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频200–238 s底盘调整到电钻所在桌面一侧，视频中的桌沿和房间视角随工作位置改变；这是搬放电钻步骤的取物接近。" + } + ] + }, + "pliers_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 334, + "log_step": 460, + "text_zh": "观察：视频330–348 s右腕视图可见黄色双柄钳子被夹起并随机器人移动；视频349–360 s钳子落在电钻旁桌面，工具箱仍在其右侧且闭合。" + }, + { + "t": 1239, + "log_step": null, + "text_zh": "观察：视频1239–1240 s左腕视图仍可见黄色钳子与橙色电钻位于工具箱外的桌面。" + }, + { + "t": 1240.8, + "log_step": null, + "text_zh": "推断：评分器q_score=0.0、live_matches_replay=1，且五件工具初始均在箱外；保留初始桌面和闭箱关系不增加该分数，因此该工具最终入箱为false。终值结合前后可见箱外位置判断，不把零分单独当作未抓取的证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频330–348 s右夹爪夹住黄色钳子搬移，随后松放在箱旁桌面。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频330–348 s搬钳子时机器人沿桌面调位；log step 464的脚本同时保持右夹爪闭合并平移底盘。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 635, + "log_step": 925, + "text_zh": "观察：视频625–637 s左腕视图中的黑色筒体及绿色端环固定在夹爪间，随机器人搬动；视频638–650 s它被带到其他工具所在的桌面区域，箱盖仍闭合。" + }, + { + "t": 650, + "log_step": null, + "text_zh": "观察：视频650 s附近左腕和头部视角中的筒状手电仍在箱外；此后所检视的搬放动作没有显示其松手留在箱内。" + }, + { + "t": 1240.8, + "log_step": null, + "text_zh": "推断：评分器q_score=0.0、live_matches_replay=1，且五件工具初始均在箱外；保留初始桌面和闭箱关系不增加该分数，因此该工具最终入箱为false。终值结合前后可见箱外位置判断，不把零分单独当作未抓取的证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频625–637 s左夹爪包夹黑色带绿环的手电筒，之后在箱旁松放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频635–644 s机器人携手电转向、沿桌面移动；log step 925脚本保持左夹爪闭合并旋转、平移底盘。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 374, + "log_step": 485, + "text_zh": "观察：视频371–374 s，左夹爪从桌面夹起黑色L形内六角；视频375–383 s腕部视图中它随夹爪搬动，视频384–390 s被放在其余工具旁，仍在闭合箱体外。" + }, + { + "t": 395, + "log_step": null, + "text_zh": "观察：视频395 s附近头部画面仍能看到黑色长折弯工具躺在箱旁桌面，未见进入箱内并释放的过程。" + }, + { + "t": 1240.8, + "log_step": null, + "text_zh": "推断：评分器q_score=0.0、live_matches_replay=1，且五件工具初始均在箱外；保留初始桌面和闭箱关系不增加该分数，因此该工具最终入箱为false。终值结合前后可见箱外位置判断，不把零分单独当作未抓取的证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频371–383 s左夹爪夹住L形内六角并搬到箱旁，随后释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频375–383 s持内六角沿桌面调位；log step 485脚本在左爪保持闭合时平移底盘。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 66, + "log_step": 158, + "text_zh": "观察：视频64.5–67 s，机器人右夹爪在蓝柄螺丝刀附近闭合并抬起，螺丝刀仍躺在原来的桌沿位置；视频79.5–80 s仍清楚可见它留在箱外。" + }, + { + "t": 250, + "log_step": 334, + "text_zh": "观察：视频249–251 s右腕视图可见蓝柄螺丝刀被夹住并离开原位，视频252–255 s被搬到箱旁的桌面区域；这次搬移未进入工具箱。" + }, + { + "t": 790, + "log_step": null, + "text_zh": "观察：视频778–808 s机器人左臂反复向箱旁工具伸下，再向工具箱方向抬起；未显示螺丝刀释放在箱内，箱体仍闭合。" + }, + { + "t": 1240.8, + "log_step": null, + "text_zh": "推断：评分器q_score=0.0、live_matches_replay=1，且五件工具初始均在箱外；保留初始桌面和闭箱关系不增加该分数，因此该工具最终入箱为false。终值结合前后可见箱外位置判断，不把零分单独当作未抓取的证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频249–251 s右夹爪夹住蓝色手柄并抬起螺丝刀，随后搬到箱旁；视频64.5–67 s的较早尝试为空夹。" + } + ] + }, + "toolbox_on_table": { + "method": "visual", + "intervals": [ + [ + 0, + 760.0 + ], + [ + 764.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5, + "log_step": null, + "text_zh": "观察：视频5 s可见工具箱原本由桌面支承，后续虽多次平移、倾斜及转倒，仍留在桌面上；结合DAG初始条件，将关系起点记为视频0 s。" + }, + { + "t": 762, + "log_step": null, + "text_zh": "观察：视频760–763.75 s，右夹爪经提手把整个工具箱提起，箱体下缘与桌面之间可见间隔，视频762 s附近悬空最明显；视频764 s附近重新落桌。短暂擦回桌面的边界按约半秒精度处理。" + }, + { + "t": 1240.8, + "log_step": null, + "text_zh": "观察：视频1240.8 s末段，工具箱仍在同一桌面，右腕视图可见箱体及下方台面；没有再次移离桌面的过程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频760–764 s右夹爪夹住提手，整箱被提离后重新落回桌面；此前拨盖时也带动箱体在桌面转动。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 164.5 + ], + [ + 166.0, + 750.25 + ], + [ + 751.25, + 758.5 + ], + [ + 760.0, + 761.25 + ], + [ + 764.25, + 922.25 + ], + [ + 923.0, + 925.75 + ], + [ + 926.5, + 935.5 + ], + [ + 940.25, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5, + "log_step": null, + "text_zh": "观察：视频5 s工具箱盖贴合箱体，初始即关闭；视频164.5–165.75 s箱口明显打开，视频166.0 s附近恢复闭合。" + }, + { + "t": 750.5, + "log_step": null, + "text_zh": "观察：视频750.25–751.25 s机器人把侧倒的箱体翻回时箱盖短暂离缝，随后闭合；视频758.5–760.0 s、761.25–764.25 s又各有一次可见开口。" + }, + { + "t": 935.75, + "log_step": null, + "text_zh": "观察：逐帧检查视频915–944 s，箱盖在视频922.25–923.0 s及925.75–926.5 s短开短合，在视频935.5–940.25 s大幅掀开后落回闭合。" + }, + { + "t": 1240.8, + "log_step": null, + "text_zh": "观察：视频940.25 s后到视频1240.8 s，所检视画面中箱盖均回到贴合箱口的闭合外形；末段右腕图可见完整红色盖面及提手。无关节状态，5%阈值按可见缝隙近似，边界约有0.5 s误差。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右夹爪夹提手操作箱盖，视频940 s附近松开后箱盖落回闭合；开合过程中实际发生了提手抓握。末段夹爪抵盖的动作属于工具搬放尝试，未另计为主动关盖接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "screwdriver_in_toolbox", + "t": 66.0, + "log_step": 158, + "where": "操作中", + "evidence_zh": "观察：视频64.5–67 s机器人已经开始对蓝柄螺丝刀闭爪、抬升，但螺丝刀留在桌面；后续视频169–180 s也未完成搬入。视频249–255 s虽把它夹起并搬到箱旁，却只完成暂放，后续仍未出现松手入箱；开箱本身后来在视频164.5 s及935.5 s明确达到，所以最早一直未完成的已尝试步骤是螺丝刀入箱。" + }, + "unmet": { + "drill_in_toolbox": false, + "pliers_in_toolbox": false, + "flashlight_in_toolbox": false, + "allen_wrench_in_toolbox": false, + "screwdriver_in_toolbox": false, + "toolbox_on_table": true, + "toolbox_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 66.0, + "log_step": 158, + "evidence_zh": "观察：视频64.5–67 s，机器人右夹爪从蓝柄螺丝刀旁闭合、升起，夹爪没有带走螺丝刀，旧位置仍可见完整蓝柄和银色杆；视频79.5–80 s确认工具仍在桌沿。此处是早期入箱尝试所需抓持未建立；后来视频249–251 s确实抓起过，不能把全程描述成从未接触。" + }, + { + "cat": "运动", + "item": "位姿不准", + "t": 256.0, + "log_step": 334, + "evidence_zh": "观察：视频249–255 s机器人右夹爪夹住蓝柄螺丝刀并搬到工具箱旁；视频256–257 s夹爪张开、抬离，螺丝刀留在箱外桌面，工具箱盖仍闭合。视频355 s钳子和电钻也在闭箱旁，视频645–650 s手电筒被搬到同一区域；视频780 s及1180–1239 s仍可见工具在箱外，没有形成放入关系。该现象描述抓起后的箱外释放和未入箱结果；首次暂放本身是准备动作，不能单凭暂放就判定规划错误。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频64.5–67 s机器人右夹爪在蓝柄螺丝刀旁闭合、抬升，螺丝刀仍在桌面，视频80 s仍可见原处工具，支持最早入箱尝试中的抓取执行未建立所需抓持。此项只解释早期空夹；视频249–255 s后来已成功夹起，后续未装入不能继续归因于从未抓到。没有接触对、实际轨迹误差或可信目标估计对照，不能细分接触设计、逆解、反馈控制或感知。" + }, + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志", + "evidence_zh": "推断：视频165–165.5 s工具箱盖短暂掀开，视频166–167 s已回闭；视频936–939 s再次露出内腔，视频940.5 s又闭合，视频1100 s及1165–1200 s操作工具时盖仍闭合。inputs/run.json 的 log step 1663最终脚本直接循环抓取、移向drop_pos并释放，循环中右爪均为r_grip=0.07，没有重新开盖、持盖或确认盖保持打开后才释放的分支；log step 1664仅为agent自述向“open toolbox tray”装箱，不能作为盖已打开的事实。结合闭箱画面，支持末段装箱计划未把持续可用的箱口作为执行前提。范围限于该末段策略：log step 986、1197、1383的较早脚本确实安排过右爪闭合持盖装箱，不能说全程从未安排，也不能仅由先集中工具推断顺序错误。" + } + ], + "gap_zh": "无状态日志、无成功参考视频；箱盖5%关节阈值、短暂离桌接触和严格inside关系只能按可见几何近似，区间边界约有0.5 s误差。头部画面经常被机械臂遮挡，收尾仅显示部分桌面，因此五件工具终值结合已检视的箱外位置、未见成功转移以及评分器q_score=0.0推断；这不否认视频中实际发生的抓握和暂放。缺少接触对、同步轨迹误差及箱盖关节读数，无法确定较早持盖方案失效的具体控制机制，也未验证可行替代方案；早期空夹的控制与末段未维持开箱前提的规划分别由不同证据支持，不能据此将所有搬放失败归于同一机制。" + }, + "summary_zh": "机器人曾短暂开箱并把五件工具搬到箱旁，最终开箱事件、工具箱留桌和闭箱共3/8节点，五件工具均未入箱。最早未修复的是螺丝刀入箱：早期空夹，后来抓起却在闭箱旁释放；末段仍在闭箱条件下执行装箱，最终脚本缺少保持或确认箱口打开的前提，支持局部规划问题，早期空夹另有控制证据。无状态日志，工具终值结合箱外画面和评分器零进度推断，较早持盖方案失效机制未明，根因仍有推断成分，置信度由7降为6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "进度节点（开箱达成、留桌、闭箱，3/8）、工具均未入箱和时间基本与画面一致；但故障解释只覆盖视频66 s的一次早期落空抓取，而后续五件工具都被成功夹起却放在闭合的箱旁、从未入箱，这一主因没有被标出。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（开箱事件、留桌、闭箱共3/8，五件工具未入箱）、断点（螺丝刀入箱）及现象/根因与所检画面和日志一致，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": "2026-10-30T21:49:47Z", + "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-outfit-a-basic-toolbox-i00-standard--m6nqzjy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-standard--m6nqzjy/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-standard--m6nqzjy/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-standard--m6nqzjy/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "adc29bb36bb671e0911211598948ff531e40e7d1a02ff1c21f2f1ed0889f45de", + "video_sha256": "c6308bf3a77bd9d85a5f1b86b2226b56abf685599698d768d16c9012cc714722", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--tkwzm7s.json b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--tkwzm7s.json new file mode 100644 index 0000000000000000000000000000000000000000..312ca4254df5d14c9ad9ad2c759f1b57721f3646 --- /dev/null +++ b/phase2/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--tkwzm7s.json @@ -0,0 +1,355 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-standard--tkwzm7s", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "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": 13046, + "sim_steps": 13046, + "physics_steps": 52184, + "steps": 3251, + "elapsed_s": 5839.8, + "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-outfit-a-basic-toolbox-i00-standard--tkwzm7s/replay.mp4", + "duration_s": 434.867, + "fps": 30.0, + "frames": 13046, + "sha256": "8d603914fe2a50989d6d087d6cafe9e842754d6f09a20ddd18bbcc588ca6f5c8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 2, + "peak": 2, + "final": 2, + "nodes": { + "toolbox_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 123.0, + "log_step": null, + "text_zh": "观察：视频118–126 s机器人右夹爪朝工具箱顶盖伸出、闭合并撤开，箱盖未随夹爪掀起，箱口没有露出。" + }, + { + "t": 167.5, + "log_step": null, + "text_zh": "观察：视频150–178.8 s逐帧抽查可见右夹爪碰压提手和盖面，视频164–175.4 s及177.4–177.8 s盖缝变黑、略张，随后重新贴合；未形成DAG所述可装入工具的箱口。" + }, + { + "t": 427.5, + "log_step": null, + "text_zh": "观察：视频297.5–427.5 s右夹爪反复在盖边、提手旁张合，未见夹住提手后将盖掀开的动作；视频434.8 s箱盖仍合在箱体上。" + }, + { + "t": null, + "log_step": 255, + "text_zh": "推断：按DAG的可视验收（掀盖并露出可装工具的箱口）判开箱未达成；窄缝的精确关节角度不能由本视频量化，不将agent在log step 255的失败自述替代视频判据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频150–178.8 s右夹爪指端碰压工具箱提手附近及顶盖，间有擦动、箱体平移；没有可确认的对向夹持提手，不记为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在开箱准备及重试间沿桌前行驶、调整面对工具箱的位置（视频118–150 s、198–217 s），移动底盘支承躯干和操作臂。" + } + ] + }, + "drill_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.5, + "log_step": null, + "text_zh": "观察：视频22.5 s橙色电钻立在桌面、位于工具箱左侧；视频112.5 s之后电钻倒卧桌面，未进入箱内。" + }, + { + "t": 434.8, + "log_step": null, + "text_zh": "观察：视频434.8 s电钻仍横躺在工具箱外的桌面，未见搬入、释放于箱内的过程。" + } + ] + }, + "pliers_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 47.5, + "log_step": null, + "text_zh": "观察：视频27.5–47.5 s黄色双柄钳子在工具箱左侧桌面；机器人没有将其夹起送向箱口。" + }, + { + "t": 434.8, + "log_step": null, + "text_zh": "观察：视频434.8 s黄色钳子仍在桌面、位于电钻左侧，未入工具箱。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 47.5, + "log_step": null, + "text_zh": "观察：视频27.5–47.5 s黑色筒状手电筒留在黄色钳子左侧的桌面上，未被夹爪取走。" + }, + { + "t": 317.5, + "log_step": null, + "text_zh": "观察：视频217.5–317.5 s桌面左侧仍可见黑色手电筒，机器人操作集中在工具箱盖。" + }, + { + "t": 434.8, + "log_step": null, + "text_zh": "推断：视频末段未完整显示手电筒，但此前未见搬离桌面的过程；评分器q_score=0.0且live_matches_replay=1，不允许新增任何工具入箱目标为真，因此其最终值为false。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.5, + "log_step": null, + "text_zh": "观察：视频27.5 s黑色折弯内六角扳手平放在手电筒旁的桌面左端，夹爪没有夹起它。" + }, + { + "t": 434.8, + "log_step": null, + "text_zh": "推断：视频末段桌面左端部分出画，但全程抽查未见机器人将内六角扳手搬向工具箱；评分器q_score=0.0、live_matches_replay=1，与没有新增工具入箱目标一致，决定其最终值为false。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 127.0, + "log_step": null, + "text_zh": "观察：视频127–149 s细长、带蓝色部位的螺丝刀躺在工具箱前方桌面上；视频167.5 s仍在箱前，未被夹起。" + }, + { + "t": 212.0, + "log_step": null, + "text_zh": "观察：视频198–214 s螺丝刀仍在箱前桌面，机器人右夹爪操作的是提手附近。" + }, + { + "t": 434.8, + "log_step": null, + "text_zh": "推断：视频后段工具箱靠近相机，遮住螺丝刀原位置；没有可见入箱搬放，且评分器q_score=0.0、live_matches_replay=1将新增工具入箱目标最终值限定为false。" + } + ] + }, + "toolbox_on_table": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频2.0 s首次正面扫到红色工具箱时，箱体已放在灰色桌面上；此前视频0–1.5 s仅转头巡视，未操作箱体。推断：该关系从视频0 s成立，与DAG核实的初态一致。" + }, + { + "t": 177.5, + "log_step": null, + "text_zh": "观察：视频150–178.8 s右夹爪接触箱盖时箱体有平移和轻微晃动，但箱底仍由桌面支承；没有观察到持续抬离或掉落桌面。" + }, + { + "t": 434.8, + "log_step": null, + "text_zh": "观察：视频433.9–434.8 s箱体留在桌面右端；全片粗查及开箱段密查未见箱体离桌后需要搬回的过程。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频2.0 s红色工具箱盖贴合箱体，黑色提手在盖上，没有敞开的箱口。推断：结合DAG初态及视频0–2.0 s仅巡视，关闭状态从视频0 s计入。" + }, + { + "t": 167.5, + "log_step": null, + "text_zh": "观察：视频164–175.4 s及177.4–177.8 s盖与箱体之间出现窄缝，视频175.6 s及178.0 s又贴合；未见明确越过开阈值的掀盖，不能据窄缝直接量化5%行程。推断：按可视闭合状态保留此区间，精确阈值缺口另列。" + }, + { + "t": 434.8, + "log_step": 255, + "text_zh": "观察：视频434.8 s顶盖仍贴合箱体，未留打开的箱口；log step 255中agent也自述最终合盖，但本判断以末段画面为据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频175.4–178.8 s右夹爪在开箱重试中压擦盖面，窄缝随后贴合；这是开箱过程中实际发生的盖面接触，没有装好工具后的专门关箱动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "toolbox_opened", + "t": 123.0, + "log_step": 177, + "where": "操作中", + "evidence_zh": "观察：视频118–126 s机器人开始针对工具箱盖的伸手、闭爪和撤回，盖未随手抬起；视频150–178.8 s仅碰压提手附近、带出窄缝，后续直到视频434.8 s仍未形成可装工具的箱口，五件工具均未入箱。log step 177记录首轮开盖脚本闭爪到0开度、末端实测偏离所命令的提手点；后续log step 228、236、242、246仍报告空夹。推断：最早未修复的步骤为开箱，不选从未开始搬放的任一工具节点。" + }, + "unmet": { + "drill_in_toolbox": false, + "pliers_in_toolbox": false, + "flashlight_in_toolbox": false, + "allen_wrench_in_toolbox": false, + "screwdriver_in_toolbox": false, + "toolbox_on_table": true, + "toolbox_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 123.0, + "log_step": 177, + "evidence_zh": "观察：视频118–126 s右夹爪闭合后撤开而提手和箱盖不随动；视频150–178.8 s虽碰压了盖面、使盖缝略张，但未见建立能提起盖的对向夹持；视频297.5–427.5 s仍反复在提手旁张合。推断：未建立开盖所需的有效抓握接触；并非全程没有碰到工具箱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 177向提手点(21.931,1.259,1.25)发出动作后，实测TCP为(22.281,1.472,1.287)；log step 186、194、196的目标与实测末端仍存在明显偏差。log step 228、236、246中末端位置误差已降至毫米量级，但多次闭爪仍到零开度、未夹住提手；视频118–126 s及297.5–427.5 s相应表现为空夹和提手旁反复调整，开盖没有完成。推断：控制执行与接触建立未成功；现有证据不足以把全部失败唯一归到逆解、跟踪或抓取几何中的某一子类。" + } + ], + "gap_zh": "没有状态日志，也没有成功oracle。视频164–175.4 s及177.4–177.8 s可见盖缝变宽，但缺少箱盖关节角与全行程，无法精确确认是否瞬间超过5%阈值；开箱按未露出可装工具的箱口判未达，关箱区间按可视闭合保留，因此这两个节点的阈值边界有不确定性。视频末段螺丝刀与桌面左端工具被箱体或视场遮住，最终未入箱值结合此前画面及评分器q_score=0.0推断；没有从零分单独推断未尝试。日志未给出各动作绝对control_steps，未将agent时间换算为视频时间。" + }, + "summary_zh": "机器人反复调整底盘、躯干和右臂尝试开箱，未形成可装工具的箱口，五件工具均未装入；最终保留工具箱在桌上、箱盖关闭两项，进度为2/8。断点是打开工具箱，有碰压但未建立有效开盖抓握，日志中的末端执行偏差及反复空夹支持控制归因；缺少状态日志和成功oracle，窄缝是否跨越精确5%开阈值不能核实。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频全程工具箱盖闭合、五件工具未动，进度2/8、断点为开箱、没建立接触，均有帧和log支持；根因停在泛化的控制，证据足以支持。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:39:18Z", + "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-outfit-a-basic-toolbox-i00-standard--tkwzm7s/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-outfit-a-basic-toolbox-i00-standard--tkwzm7s/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2a24121434b8d069c397e0021c57563723f5bda9f324674a3da4dda59047d015", + "video_sha256": "8d603914fe2a50989d6d087d6cafe9e842754d6f09a20ddd18bbcc588ca6f5c8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--czpmyzx.json b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--czpmyzx.json new file mode 100644 index 0000000000000000000000000000000000000000..6e5b6ea71f3964a9895c36712bd3cd9d21e048df --- /dev/null +++ b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--czpmyzx.json @@ -0,0 +1,419 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-privileged--czpmyzx", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 6901, + "sim_steps": 6901, + "fallen": 0, + "final_reward": 0.5, + "q_score": 0.5, + "replay_wall_s": 2447.8, + "replay_timeout_s": 4650.5, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 9, + "agent_resets": 14, + "agent_sim_steps": 1161, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-preparing-lunch-box-i00-privileged--czpmyzx/replay.mp4", + "duration_s": 230.033, + "fps": 30.0, + "frames": 6901, + "sha256": "f9a2903bb14686a3a88b0d76496ca75d6a36bf86d034da36c23420a219f02220" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 5, + "final": 5, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 12.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 8–15.5 s，机器人左夹爪在门把手处闭合，随后随底盘退移拉动门板；约视频 12 s 门板开始明显离开原闭合位置。视频 27–32 s 可见门内层架和茶瓶，确认已打开；5%行程的首次跨越时刻按画面近似定位，误差约1秒。" + }, + { + "t": 28.0, + "log_step": null, + "text_zh": "观察：视频 28–32 s，机器人已松开门把手，冰箱门持续外张。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住冰箱门把手向外拉，随后张开夹爪脱离。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘驶近冰箱，并在左手拉门过程中平移配合门板转动。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [ + [ + 135.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 114.0, + "log_step": null, + "text_zh": "观察：视频 108–115 s，机器人左夹爪从砧板夹起一块苹果半块，苹果离开原位并随左手升高；视频 116–134 s 运至盒旁、调整姿态后下降。" + }, + { + "t": 135.5, + "log_step": null, + "text_zh": "观察：视频 133–137 s，左腕画面由近处红色苹果变为俯看盒内，左夹爪张开后抬起；苹果留在盒中。视频 144–148 s 砧板上仅余另一块苹果与曲奇，视频 198–205 s 可见盒内瓶旁的苹果切面；按至少一块计数，约视频 135.5 s 达成，误差约0.5秒。" + }, + { + "t": 205.0, + "log_step": 209, + "text_zh": "推断：log step 211 显示最终交付来自 log step 204 启动的6901步录制；该录制的 log step 208–209 输出一块苹果 inside=True、另一块=False，与视频一块留盒内、一块回砧板的过程相符；评分器 q_score=0.5 亦支持三件食品入盒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住先入盒的一块苹果半块，提离原支承面并运送；到目标处张开夹爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘从砧板移至打包盒，行驶时左手夹持该苹果半块。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 158.0, + "log_step": null, + "text_zh": "观察：视频 144–155 s，机器人左夹爪首次接近剩余苹果后，苹果仍在砧板；重试后，视频 158–164 s 苹果确实离开砧板并随左手升高，说明后一次抓取成功。" + }, + { + "t": 169.0, + "log_step": null, + "text_zh": "观察：视频 166–170 s，机器人携带第二块苹果移到盒旁，苹果持续被左夹爪夹住、未下降落入盒内；视频 171–182.5 s 机器人又把该苹果运回砧板并放下。视频 183–192 s 它留在砧板上，机器人改取曲奇，之后没有再把这块苹果送入盒内。" + }, + { + "t": 205.0, + "log_step": 209, + "text_zh": "推断：视频 203.5–205 s 仅一块苹果留在盒内，另一个已在视频 182.5 s 回到砧板；评分器 q_score=0.5 允许的三个新增目标已由茶瓶、三明治及首块苹果占满，因此第二块苹果终态为假。log step 209 对最终交付录制的检查亦为该苹果 inside=False。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住第二块苹果半块，将其提离砧板并运到盒旁；未在盒内释放，随后夹持着运回砧板并松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘携带左手中的第二块苹果从砧板驶到盒旁，随后又携带它返回砧板；未完成入盒。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [ + [ + 97.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 88.0, + "log_step": null, + "text_zh": "观察：视频 80–88 s，机器人左夹爪夹起砧板上的三明治；三明治离开砧板后持续随左手移动，视频 92–96 s 运到打包盒上方。" + }, + { + "t": 97.5, + "log_step": 207, + "text_zh": "观察：视频 96–99.5 s，机器人左爪张开，三明治落入盒内并停留，左手空爪抬起；约视频 97.5 s 已静止。视频 135–137 s 和203.5–205 s，三明治仍留在盒内，未见再次提离。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住三明治，提离原支承面并运送；到目标处张开夹爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在砧板与打包盒之间行驶，左手携带三明治完成运输。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 192.0, + "log_step": null, + "text_zh": "观察：视频 184–192 s，机器人左夹爪接近砧板曲奇，重试后曲奇被夹起离开砧板；视频 192–200 s 曲奇随左手移到打包盒上方。" + }, + { + "t": 204.5, + "log_step": null, + "text_zh": "观察：视频 201.5–205 s，机器人左手松开并抬起，曲奇停在绿色瓶身及已有物品上部，明显高于盒壁上沿，未落到盒内较低处；随后机器人驶离去关冰箱。" + }, + { + "t": 205.0, + "log_step": 209, + "text_zh": "推断：终态评分器 q_score=0.5 对应三个新增目标字面量，初始冰箱关闭不计入；茶瓶、三明治和一块苹果已占满三个，故曲奇终态为假。log step 209 对最终录制的输出同样记录曲奇 inside=False、中心z=1.042；这里只用其辅助解释画面中的高置状态，不将早期试验结果当作本视频进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住巧克力曲奇，提离原支承面并运送；到目标处张开夹爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在砧板与打包盒之间移动，左手夹持曲奇运输至盒口并释放。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [ + [ + 71.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 40.0, + "log_step": null, + "text_zh": "观察：视频 32 s 茶瓶仍立在冰箱层架上；视频 36–44 s，机器人右夹爪夹住瓶身并将其提离层架，瓶随右手移出冰箱；视频 48–68 s 随底盘运至打包盒。" + }, + { + "t": 71.5, + "log_step": null, + "text_zh": "观察：视频 68–73.5 s，机器人右手将茶瓶转成横卧姿态、松开夹爪并撤离；约视频 71.5 s 茶瓶已留在盒内。视频 99–102 s、135–137 s 和203.5–205 s，绿色瓶身始终可见于盒内，未被再次取走；入盒时刻为视觉近似值，误差约0.5秒。" + }, + { + "t": 205.0, + "log_step": 209, + "text_zh": "推断：评分器 q_score=0.5 与视频所见三件食品入盒一致；初始已关闭的冰箱不贡献新增得分。茶瓶、三明治及一块苹果提供三个新增目标字面量，支持茶瓶终态为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右二指夹爪夹住茶瓶，提离原支承面并运送；到目标处张开夹爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘从冰箱驶向厨房另一侧的打包盒，行驶时右夹爪持续持瓶。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 12.0 + ], + [ + 224.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 4–10 s，冰箱门板处于贴合柜体的初始位置，左腕可见把手和闭合门边；约视频 12 s 左手拉门后门板外张，初始关闭状态失去。" + }, + { + "t": 224.5, + "log_step": null, + "text_zh": "观察：视频 214–225 s，机器人左夹爪抵住冰箱门板，底盘随门运动将门推回；约视频 224.5 s 门板回到接近初始的闭合位置，时间误差约1秒。视频 229–230 s（已按0.2秒间隔检查）未见再次打开或机器人跌倒。" + }, + { + "t": 230.0, + "log_step": 210, + "text_zh": "推断：log step 210 显示最终6901步录制结束时门角3.33°，小于任务所列120°行程的5%即6°；log step 211 交付的正是这份录制。视频末尾门板接近初始闭合位置，与该读数相符，因此终态关闭为真；未用agent工作时间换算视频时刻。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人左夹爪抵住冰箱门外侧推回门板；画面及关门脚本未显示重新合爪夹持门把手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘从打包盒驶回冰箱，并在左夹爪推门时随门板运动调整位置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "apple_halves_in_box_2", + "t": 169.0, + "log_step": 208, + "where": "操作中", + "evidence_zh": "观察：视频 158–164 s，第二块苹果已被左夹爪夹起；视频 166–170 s 运到盒旁后没有落入盒内，视频 171–182.5 s 又被带回砧板放下。之后机器人改取曲奇并关冰箱，未修复第二块苹果入盒；这是首个未完成且未修复的步骤，首块苹果的放置重试已在视频 135.5 s 完成。" + }, + "unmet": { + "apple_halves_in_box_1": true, + "apple_halves_in_box_2": false, + "sandwich_in_box": true, + "cookie_in_box": false, + "tea_bottle_in_box": true, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 169.0, + "log_step": null, + "evidence_zh": "观察：视频 166–170 s，第二块苹果随左爪到达盒旁，但仍悬在盒外侧，机器人没有把它送入盒内；视频 171–182.5 s 苹果持续随夹爪回到砧板，最终在砧板上释放。该过程中没有看到抓持中途丢失，而是所需的入盒位姿始终未实现。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 166–182.5 s 显示第二块苹果抓持已建立，却未执行入盒下降，随后被带回。log step 176、186、189 中的放置代码先搜索逆解并筛选路径，找不到解时返回False而不移动；log step 204 将候选腕部旋转限制为0、±30、±60°，log step 211 确认该版本生成了交付轨迹。结合 log step 213 中agent自述“第二块苹果无法放置、留在砧板”，证据支持放置运动生成或执行方面的控制失败；缺少该块苹果的完整求解输出，不能进一步确定逆解、路径筛选或具体接触设计中的哪一环出错。", + "source_zh": "视频 / 日志 / agent 自述" + } + ], + "gap_zh": "无状态日志、无成功参考视频；盒壁及手臂遮挡部分瞬时接触，门开关的5%阈值无法从图像精确量出，所标门时刻约有1秒误差。第二块苹果的完整放置求解输出未包含在日志摘录中，不能验证具体逆解失败或路径拒绝原因，也不能据此宣称物理上无可行放法；根因保留在“控制”。最终食品关系由已检查的取放过程、最后可见盒内布局及评分器q_score总量共同判定。" + }, + "summary_zh": "机器人打开冰箱并将茶瓶、三明治及一块苹果放入打包盒，最终把冰箱关回，初始1/7、最终5/7个节点成立（四个目标节点加开门事件）。最早未修复的是第二块苹果入盒：视频约169 s运到盒旁后未完成放置，又带回砧板；曲奇随后停在盒内物品顶部，也未满足入盒，评分器q_score为0.5。无状态日志和成功参考视频，门阈值时刻为视觉近似，第二块苹果放置失败的具体控制环节无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查 168–228 s 的帧：第二块苹果被夹到盒旁后又带回砧板、曲奇停在盒内物品上方、末段冰箱门关闭，均与标注一致；q_score=0.5 对应三个新增目标，节点值与断点（第二块苹果）未发现错误。", + "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": "2026-10-30T21:17:33Z", + "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-preparing-lunch-box-i00-privileged--czpmyzx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-privileged--czpmyzx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b9442e15e42af473081b03d2dcbf49ce960c6ae080deed87370656ef45561fa1", + "video_sha256": "f9a2903bb14686a3a88b0d76496ca75d6a36bf86d034da36c23420a219f02220", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--qcdu5pv.json b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--qcdu5pv.json new file mode 100644 index 0000000000000000000000000000000000000000..cbc639c7d8a2cf11bc09f263891df263e5d0e9c9 --- /dev/null +++ b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--qcdu5pv.json @@ -0,0 +1,331 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-privileged--qcdu5pv", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 10322, + "sim_steps": 10322, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 4174.1, + "replay_timeout_s": 6361.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 4, + "agent_resets": 9, + "agent_sim_steps": 0, + "agent_records": 2, + "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-preparing-lunch-box-i00-privileged--qcdu5pv/replay.mp4", + "duration_s": 344.067, + "fps": 30.0, + "frames": 10322, + "sha256": "db23cc27649d65fe45a97b9a70aecb555a5cb90f9ebf73288fb08eeedcf98fc7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：任务 DAG 说明冰箱初始关闭；视频 0–344.0 s 的机器人活动集中在砧板、灶台和打包盒附近，未见机器人操作冰箱门。" + }, + { + "t": 344.0, + "log_step": 292, + "text_zh": "推断：结合初始关闭状态与评分轨迹没有开门动作，打开冰箱事件未发生；log step 234、261–262、292 的最终两段录制脚本也没有冰箱操作。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 180, + "log_step": null, + "text_zh": "观察：视频 180–193.5 s 左腕近景可见第一块被搬运的红色苹果半块位于两指之间，头部视角随机器人从砧板向白色打包盒移动。" + }, + { + "t": 194, + "log_step": null, + "text_zh": "观察：视频 193.5–194.5 s 苹果半块离开左夹爪后出现在打包盒外的台面上；视频 195–196.5 s 头部视角仍见红色半块在白盒旁，盒内为空，没有形成离手静止的入盒状态。" + }, + { + "t": 344.0, + "log_step": 316, + "text_zh": "推断：评分器 reward.q_score=0，且视频后续没有把盒旁苹果重新放入盒内的动作，故至少一块苹果入盒的终值为假；总分排除了被后段遮挡的合格入盒终态。log step 273、316 的“苹果已入盒”属于 agent 自述，与视频及零分不符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 182–193.5 s 左二指夹爪夹持第一块搬运的苹果半块，随后松开在打包盒旁。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 186–190 s 机器人底盘沿台面从砧板移向打包盒，左臂携带苹果半块。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 209.5, + "log_step": null, + "text_zh": "观察：视频 200–209.25 s 左夹爪靠近另一块苹果，腕部画面逐渐放大；视频 209.5–210.25 s 夹爪离开时，腕部仍看见苹果留在砧板上，不能把此前的近景当成成功拿起。" + }, + { + "t": 217, + "log_step": 273, + "text_zh": "观察：视频 212–217 s 机器人到打包盒旁时左夹爪为空，未见第二块苹果放入；log step 273 的抓取成功输出不是评分回放中的搬运证据。" + }, + { + "t": 344.0, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0，且第一块搬运的苹果也落在盒外，最终两块苹果入盒为假；按计数节点判定，不以实例身份制造未知值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 206–209.5 s 左夹爪在第二块尝试的苹果旁合拢、退出，但指尖与果体的具体接触面不可见，苹果仍在砧板上，无法确认实际夹持或推压方式。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 211–217 s 底盘执行从砧板到打包盒旁的移动，左夹爪未带走第二块苹果。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 125, + "log_step": null, + "text_zh": "观察：视频 103–158 s 左臂调整姿态并合拢夹爪时，三明治仍在砧板上；腕部未出现被夹持的三明治，机器人随后移向打包盒时也为空夹。" + }, + { + "t": 220, + "log_step": null, + "text_zh": "观察：视频 198–220 s 三明治仍在砧板上；视频 220–258 s 左臂再靠近食品区域并大幅改变姿态，未见三明治被运到盒内。" + }, + { + "t": 344.0, + "log_step": 154, + "text_zh": "推断：后段食品区域有遮挡，但评分器 reward.q_score=0 排除终态三明治入盒；log step 154 的 q_score=1/6 来自早期会话测试，随后经过重启和重置，不属于本次交付。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 0–103 s 左腕朝向砧板，三明治与手指作用区域常在画面边缘之外；视频 103–158 s 可见空夹尝试，无法从这些视角确定此前实际压擦、推动或其他接触，未观察到抓握搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 160–176 s 底盘从砧板旁移向打包盒并返回，执行三明治步骤的空手搬运路径；视频 220–258 s 重试期间也调整位置。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 234, + "log_step": null, + "text_zh": "观察：视频 220–240 s 圆形曲奇仍在砧板边；视频 262–264 s 左腕上沿仍能看到曲奇，夹爪在台面附近往复，没有曲奇被持往打包盒的画面。" + }, + { + "t": 344.0, + "log_step": 300, + "text_zh": "推断：视频 266–344.0 s 头部多朝向上方，曲奇操作区不在完整视野内；评分器 reward.q_score=0 排除了最终曲奇入盒。log step 292 的交付后段脚本只在滑动到阈值后才试抓并搬运，log step 299–300 记录滑动未达阈值，作为未搬运的辅助线索。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 262–264 s 左腕画面上沿可见曲奇，后续左夹爪在台面附近反复运动，但曲奇与指尖接触点在画面外；无法确认实际压擦或推动，不能照搬 log step 292 的计划接触。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 220, + "log_step": null, + "text_zh": "观察：视频 0–220 s 机器人处理砧板上的食品并到打包盒旁，未见取出或搬运茶瓶；后段也没有到冰箱取瓶的动作。" + }, + { + "t": 344.0, + "log_step": 316, + "text_zh": "推断：茶瓶初始在关闭的冰箱内，交付没有开门取瓶动作；评分器 reward.q_score=0 也排除了最终茶瓶入盒。log step 316 的 agent 自述茶瓶未处理与此一致。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务 DAG 给定冰箱初始关闭；视频 0–344.0 s 机器人一直在食品台面附近工作，未操作冰箱，因此关闭状态从视频 0 s 保持至结束。此状态不由打开冰箱前置边门控。" + }, + { + "t": 344.0, + "log_step": 316, + "text_zh": "观察：log step 316 的 agent 自述冰箱未动；log step 234、261–262、292 的交付录制脚本没有门操作。评分器 q_score=0 不计仍保持的初始关闭条件，不能据此判冰箱打开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_in_box", + "t": 125.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 103–158 s 机器人在三明治上方调整左臂并闭合夹爪，三明治始终留在砧板上，视频 160–176 s 的到盒路径为空手；视频 220–258 s 再试仍未把三明治送入盒内。这是先于苹果和曲奇后续失败、始终未修复的入盒步骤；视频 125 s 仅作首次空夹失败的近似导航锚点。" + }, + "unmet": { + "apple_halves_in_box_1": false, + "apple_halves_in_box_2": false, + "sandwich_in_box": false, + "cookie_in_box": false, + "tea_bottle_in_box": false, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 125.0, + "log_step": null, + "evidence_zh": "推断：视频 117–132 s 三明治保持在砧板上，左腕能见夹爪合拢但没有三明治随爪抬起；视频 160–176 s 左爪空着去打包盒，视频 220 s 三明治仍在原食品区。用于提起并搬运三明治的有效抓握没有建立；此前可能的推压不等于建立了该抓握。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：视频 103–158 s 及视频 220–258 s 显示左臂反复调整却未带走三明治。最终录制 A 的 log step 270–271 输出接近误差 0.6274 m、抓取误差 0.5211 m 和 SANDWICH IN HAND: None；录制 B 的 log step 295 又输出 A err 1.0469、B err 0.2158。结合会话中 log step 152–154 曾用另一实际姿态抓起并放入三明治的输出，支持本次抓取执行控制未完成，不能归咎于任务无法完成；这些会话数值不作为视频时钟或回放中的精确测量。接触遮挡不足以区分路径跟踪、逆解和碰撞，根因保留在控制大类。" + } + ], + "gap_zh": "无状态日志或成功参考视频。三明治推压阶段和后段曲奇操作的指尖接触点常在头部、腕部视野外，因此 contact_actual 保留未知；后段食品及冰箱门不持续可见，终值结合初态、无相关动作和评分器 q_score=0 推断。日志包含多次测试、重置和重启，log step 154 的会话成功与 log step 273、316 的苹果入盒自述不作为交付进度；无法核实 agent 关于手臂碰台面的猜测。" + }, + "summary_zh": "评分轨迹只保持了初始冰箱关闭状态，最终为 1/7；第一块苹果被搬到白色打包盒旁的台面，第二块未确认拿起，三明治、曲奇和茶瓶均未入盒，与评分器 q_score=0 一致。最早未修复的断点是三明治入盒：左臂没有建立搬运所需的抓握，录制日志中的大幅末端误差支持控制问题。部分接触及后段食品位置受相机遮挡，未把会话测试或 agent 的入盒自述当成评分轨迹的完成证据。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点终值（仅冰箱关闭保持，1/7）与 q_score=0 一致；视频抽帧显示三明治、曲奇留在砧板上，苹果半块落在盒外，未发现需要修改的时钟、节点、接触或断点错误。断点定在三明治入盒、根因停在“控制”大类均有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:18:36Z", + "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-preparing-lunch-box-i00-privileged--qcdu5pv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-privileged--qcdu5pv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7b46a98549bde4b402f9aca41307024252d36eeb365de76966022a0bbf1ea8ed", + "video_sha256": "db23cc27649d65fe45a97b9a70aecb555a5cb90f9ebf73288fb08eeedcf98fc7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--ubixtpi.json b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--ubixtpi.json new file mode 100644 index 0000000000000000000000000000000000000000..b63e1a4c3a9902cddd9d26ec3db642c72177c72b --- /dev/null +++ b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--ubixtpi.json @@ -0,0 +1,380 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-privileged--ubixtpi", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "outcome": { + "success": 0, + "reward": 0.16666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 2412, + "sim_steps": 2412, + "fallen": 0, + "final_reward": 0.16666666666666666, + "q_score": 0.16666666666666666, + "replay_wall_s": 1470.1, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 30, + "agent_resets": 0, + "agent_sim_steps": 19024, + "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": 6.982, + "peak_memory_gb": 12.925, + "peak_processes": 42, + "peak_disk_gb": 17.393, + "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-preparing-lunch-box-i00-privileged--ubixtpi/replay.mp4", + "duration_s": 80.4, + "fps": 30.0, + "frames": 2412, + "sha256": "c3d9b8b0a1cb6f5c3049aaee95e1ebf5c48b63f014a79f505215d34628d5b8ee" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 53, + "log_step": null, + "text_zh": "观察：视频 50–70 s 机器人在冰箱前多次伸缩左夹爪，腕部画面主要被白色门板占据；没有显示门板外张或冰箱内腔。" + }, + { + "t": 68, + "log_step": 527, + "text_zh": "推断：视频 53–70 s 可见门面没有明显打开；log step 458、527 对所保存的 task-855 轨迹报告拉门、勾门后 Open=False、门关节约为零，终态为 2412 步且 q_score=1/6，与本视频长度及评分一致，故未记打开事件；不采用其他测试的结果。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 53–63 s 左夹爪在冰箱门面附近开合；门把及手指的接触点被门面和近景遮挡，不能确认抓握或勾住。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 47–53 s 轮式底盘驶到冰箱前，之后在开门尝试中调整前后位置。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [ + [ + 11.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.5, + "log_step": null, + "text_zh": "观察：视频 5.5–10.5 s 左夹爪夹住苹果半块，苹果随手离开砧板并被运至白色打包盒上方；视频 11.0 s 松开后苹果落入盒内，视频 11.5–13.0 s 已离手留在盒底，取约视频 11.5 s 为达到时刻，误差约 0.5 s。" + }, + { + "t": 80.3, + "log_step": null, + "text_zh": "观察：视频 42.5–44.0 s 及视频 77–80.3 s 的左腕画面仍能看到盒内的一块苹果，未见机器人再次取出它。两块苹果按入盒数量计数，此节点不绑定实例身份。" + }, + { + "t": null, + "log_step": 527, + "text_zh": "观察：log step 527 所读 task-855 终态含 Apple 1 Inside=True，评分器 reward.q_score=1/6；视频中确实只有第一块苹果完成入盒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 5.5–10.5 s 左二指夹爪从两侧夹住第一块苹果半块，提起搬运，视频 11.0 s 在盒口松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 0–3 s 底盘驶向砧板，视频 8–10 s 携带第一块苹果驶向打包盒。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 38, + "log_step": null, + "text_zh": "观察：视频 35.5–41.5 s 左夹爪夹持另一块苹果离开砧板，移动至打包盒附近。" + }, + { + "t": 42.25, + "log_step": null, + "text_zh": "观察：视频 41.75–42.25 s 左夹爪松开，第二块苹果从手指下方向盒外一侧落下；视频 42.5–44.0 s 盒内仍仅见先前的一块苹果，没有两块苹果同时落入盒内并静止的画面。" + }, + { + "t": 80.3, + "log_step": 529, + "text_zh": "推断：视频 77–80.3 s 盒内仍只见一块苹果；评分器 q_score=1/6 的唯一新增目标由第一块苹果占用，因此第二块苹果入盒终态为假。log step 527、529 的该次保存轨迹也报告 Apple 2 Inside=False。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 35.5–41.5 s 左二指夹爪夹住并携带第二块苹果；视频约 42.0 s 松开，苹果未落入盒内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 33–35 s 底盘调整取物位置，视频 38–41 s 携带第二块苹果驶向盒子。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30, + "log_step": null, + "text_zh": "观察：视频 26.5–32.5 s 左夹爪在三明治上方闭合，随后抬起；三明治仍留在砧板上，未随手离开，视频 33–35 s 机器人转向另一块苹果。" + }, + { + "t": 75, + "log_step": null, + "text_zh": "观察：视频 74.5–75.0 s 再次经过砧板，三明治仍在那里；视频末尾的盒内未出现三明治，未完成入盒。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 27–32 s 左夹爪对三明治闭合但未提起物体；画面不能确认手指是否实际压到食物或建立对向接触，故不记抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 25.5–27 s 底盘调整到三明治前方的取物位置。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21, + "log_step": null, + "text_zh": "观察：视频 20–21.75 s 左夹爪下降到曲奇旁并闭合，曲奇始终留在砧板上；视频 22–25.5 s 夹爪抬起且没有携带曲奇，随后转向三明治。" + }, + { + "t": 75, + "log_step": null, + "text_zh": "观察：视频 74.5–75.0 s 机器人再次经过砧板时曲奇仍在原处；视频至 80.3 s 未见曲奇被转移入盒。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 20–21.75 s 左二指夹爪在曲奇边缘附近闭合，未形成可见的包夹搬运；无法确认是否有短暂单侧触碰，实际接触方式未知。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 13–15 s 底盘从盒子驶回砧板，视频 19.5–20 s 调整曲奇抓取位置。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 65, + "log_step": null, + "text_zh": "观察：视频 53–70 s 冰箱区域的左腕视野被白色门面遮挡；未见茶瓶离开冰箱或出现在夹爪内，随后机器人空手返回打包盒。" + }, + { + "t": 80.3, + "log_step": 527, + "text_zh": "推断：视频 77–80.3 s 左腕能俯看盒内，只有第一块苹果，没有茶瓶；评分器 q_score=1/6 也不容许在第一块苹果之外再有一个新增入盒目标，故茶瓶入盒终态为假。log step 527 对相同 2412 步保存轨迹报告 Tea inside=False。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "冰箱前的茶瓶取物区域被门面遮挡，不能确认左夹爪是否与瓶身发生接触；视频 77–80.3 s 的盒上动作没有携带茶瓶。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 70–77 s 底盘从冰箱区域驶回打包盒，执行该取茶与入盒流程的返回段，画面中没有携带茶瓶。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 53, + "log_step": 527, + "text_zh": "推断：DAG 记载冰箱初始关闭；视频 50–70 s 到达冰箱后，白色门面始终没有可见的外张或敞开内腔。log step 458、527 对同一保存轨迹的拉门、勾门及关门后读取均为 Open=False，故关闭状态从视频 0 s 保持至末尾，不由 after 边门控。" + }, + { + "t": 68, + "log_step": null, + "text_zh": "观察：视频 63–70 s 机器人在冰箱前调整位置后离开，没有看到打开后的再次合门动作；关门状态是初始保留，不额外计作成功恢复。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 63–70 s 底盘在冰箱前前后调整，日志中的关门段通过底盘靠近再退回；没有可确认的夹爪推门或握把接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.16666666666666666, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cookie_in_box", + "t": 21.75, + "log_step": 527, + "where": "操作中", + "evidence_zh": "观察：视频 20–21.75 s 左夹爪下降并闭合抓曲奇，视频 22–25.5 s 空手抬起，曲奇仍在砧板上；随后机器人改抓三明治和另一块苹果，至视频 75.0 s 曲奇仍在原处。曲奇入盒是第一项已开始却始终未修复的失败，早于第二块苹果掉在盒外和开冰箱失败。" + }, + "unmet": { + "apple_halves_in_box_1": true, + "apple_halves_in_box_2": false, + "sandwich_in_box": false, + "cookie_in_box": false, + "tea_bottle_in_box": false, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 21.75, + "log_step": null, + "evidence_zh": "观察：视频 20.5–21.75 s 左夹爪闭合后，曲奇没有随夹爪移动；视频 22–25.5 s 夹爪升起，曲奇仍平放在砧板上，没有先提起再滑落的过程。所需的有效夹持接触未建立，不能据此声称完全没有任何瞬时触碰。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 20–22.5 s 左夹爪已到达正确的曲奇附近并执行闭合、抬升，但未夹住曲奇，物体位置没有随手改变；视频 22.5–25.5 s 仍维持空手。可支持抓取控制失败这一层级，尚不能从可见接触细节区分接触设计、轨迹跟踪或闭合参数问题。" + } + ], + "gap_zh": "没有状态日志或成功参考视频，不能恢复精确接触对、门关节全过程及速度。冰箱前近景遮挡门把和茶瓶，相关实际接触记未知；曲奇与三明治的短暂接触也不能确认，不能据空手抬起虚构成功抓握。抓取根因仅停在控制层级，未确定其子类。log step 527 的 task-855 终态为 2412 步、q_score=1/6，与评分视频和物体顺序相符；其他会话测试不用于节点进度。" + }, + "summary_zh": "评分视频中，一块苹果约在视频 11.5 s 入盒并保留，冰箱关闭从初始保持，最终 2/7 个节点成立；评分器 q_score=1/6 仅对应新增的苹果入盒目标，不把初始关闭再计分。最早未修复的失败是视频约 21.75 s 曲奇抓取没有建立有效夹持，之后三明治未提起、第二块苹果落在盒外，冰箱也未打开。无状态日志和成功参考，门把、茶瓶及失败抓取的细接触无法确认，根因仅支持控制层级。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频中苹果1入盒、曲奇闭合后留在砧板、三明治未被带走、苹果2松手后盒内仍只一块，均与标注一致；断点在曲奇、q=1/6 与进度一致，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:18:35Z", + "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-preparing-lunch-box-i00-privileged--ubixtpi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-privileged--ubixtpi/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d46592af20023cce30bd1664d5d52705ffeba6620956cd9d03c28464f7c3ef3a", + "video_sha256": "c3d9b8b0a1cb6f5c3049aaee95e1ebf5c48b63f014a79f505215d34628d5b8ee", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--wod3bhe.json b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--wod3bhe.json new file mode 100644 index 0000000000000000000000000000000000000000..f3f30a9ef21316ddbb7960361d2132ea96bf5096 --- /dev/null +++ b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--wod3bhe.json @@ -0,0 +1,344 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-privileged--wod3bhe", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "outcome": { + "success": 0, + "reward": 0.16666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 2025, + "sim_steps": 2025, + "fallen": 0, + "final_reward": 0.16666666666666666, + "q_score": 0.16666666666666666, + "replay_wall_s": 1469.4, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 11, + "agent_resets": 0, + "agent_sim_steps": 3577, + "agent_records": 4, + "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-preparing-lunch-box-i00-privileged--wod3bhe/replay.mp4", + "duration_s": 67.5, + "fps": 30.0, + "frames": 2025, + "sha256": "4efda14a32517bd971e3ca54d58467e45d6498f2a48db3577ee638add0366aa1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 67.466, + "log_step": 252, + "text_zh": "观察：视频 0–67.47 s 的操作均在砧板和打包盒之间，未见机器人接近冰箱、拉门或取茶瓶；log step 252 显示最终生成脚本的冰箱阶段报 KeyError(None)，随后保存2025步轨迹。" + }, + { + "t": 67.466, + "log_step": null, + "text_zh": "推断：结合DAG记载的初始关门状态与整段视频未发生开门操作，打开冰箱事件未达成；冰箱门关节角未被直接测量。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7, + "log_step": 248, + "text_zh": "观察：视频 6.5–10.6 s 左腕画面显示左夹爪夹住红色苹果半块，苹果离开砧板并随机器人移动；视频 10.7–11.0 s 夹爪张开，苹果向下离开腕部画面，未见落入打包盒。" + }, + { + "t": 10.8, + "log_step": 250, + "text_zh": "推断：视频 9.8–10.6 s 盒在头部画面右侧，而左腕中苹果后方是红色墙面；log step 250 的最终生成脚本记录苹果放置 False、盒上方到位误差0.152米，与此次未到位便释放相符。释放后的落点被手臂遮挡，不能确认具体落地位置。" + }, + { + "t": 35, + "log_step": null, + "text_zh": "观察：视频 35.0–36.0 s 盒内只见一块曲奇，没有苹果；此前释放的苹果未见再被捡回。" + }, + { + "t": 67.466, + "log_step": 252, + "text_zh": "推断：评分器 q_score=1/6，视频确认曲奇入盒，占用唯一新增满足字面量；依照初始已成立的冰箱关闭不计入q_score的规则，两块苹果的入盒字面量最终均为假。未观察到满足入盒并离手静止的历史区间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 6.5–10.6 s 左侧二指夹爪夹住并搬运首块苹果，视频 10.7–11.0 s 张开释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–2 s 机器人移车接近砧板，视频 7–10 s 持苹果移向打包盒；底盘移动并支承机器人。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41, + "log_step": 252, + "text_zh": "观察：视频 41.5–67.47 s 左腕画面可见另一块苹果和三明治一直留在砧板上；机器人反复调整左臂和工作位置，未见该苹果离板或被搬到盒内。log step 252 的最终脚本摘要记录该苹果 grasp=False。" + }, + { + "t": 67.466, + "log_step": 252, + "text_zh": "推断：视频仅确认曲奇入盒，评分器 q_score=1/6 也不允许再有苹果入盒字面量最终成立；始终未有两块苹果入盒的证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 41.5–67.47 s 左夹爪对着砧板上的另一块苹果反复对位，但手指与苹果的微小接触区域不能确认；未见夹住或抬起，不据抓取意图标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 37–47 s 机器人从盒处返回砧板，并调整底盘位置以接近另一块苹果。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41, + "log_step": null, + "text_zh": "观察：视频 13.5 s 起砧板上仍见三明治；视频 41.5–67.47 s 左腕画面可见白色面包和绿色夹层一直留在砧板上，机器人没有将其夹起或搬入盒内。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [ + [ + 35.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 27, + "log_step": 252, + "text_zh": "观察：视频约 26.5 s 起曲奇离开砧板并出现在左夹爪之间，视频 27–34.5 s 随左手搬运；旧位置不再有曲奇。" + }, + { + "t": 35.0, + "log_step": 250, + "text_zh": "观察：视频 34.6 s 左夹爪打开、曲奇落入白色打包盒；视频 35.0–36.0 s 腕部和头部画面均显示曲奇已离手、平放盒底且保持不动。时间按可见静止取视频约 35.0 s，精度约0.5秒。" + }, + { + "t": 67.466, + "log_step": 252, + "text_zh": "推断：视频 36 s 后机器人返回砧板，未再次操作盒内曲奇；log step 252 的交付轨迹终态及评分器均为 q_score=1/6，与曲奇保持入盒相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 26.5–34.5 s 左二指夹爪夹住并搬运曲奇，随后在盒口张开，曲奇落入盒底。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 27–29 s 机器人持曲奇从砧板移向打包盒，底盘移动并支承机器人。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36, + "log_step": null, + "text_zh": "观察：视频 35–36 s 可见盒底只有曲奇；视频全程未见机器人从冰箱取茶瓶或将茶瓶搬入盒内。" + }, + { + "t": 67.466, + "log_step": 252, + "text_zh": "推断：DAG记载茶瓶初始在关闭的冰箱内，视频未见开门取瓶，最终生成脚本又在冰箱阶段报 KeyError(None)；结合曲奇已占用评分器 q_score=1/6 的唯一新增满足字面量，茶瓶入盒最终为假。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG的初态记录明确给出冰箱关闭，故该恢复状态从视频 0 s 计入；视频 0–67.47 s 机器人始终操作台面食品，没有触碰冰箱门的动作，保持初始关闭状态。" + }, + { + "t": 67.466, + "log_step": 252, + "text_zh": "观察：log step 252 显示交付脚本在冰箱操作阶段报 KeyError(None)后保存轨迹；视频末秒机器人仍面向砧板，未发生拉门或关门动作。" + }, + { + "t": 67.466, + "log_step": null, + "text_zh": "推断：冰箱关闭从初态保持，因此不贡献评分器的新增目标 q_score；不能把 q_score=1/6 误解为只有一个DAG节点成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.16666666666666666, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "apple_halves_in_box_1", + "t": 10.8, + "log_step": 250, + "where": "操作中", + "evidence_zh": "观察：视频 6.5–10.6 s 机器人已夹起并搬运首块苹果，视频 10.7–11.0 s 左夹爪张开，苹果离开腕部视野；随后转去抓曲奇，视频 35–36 s 盒内只有曲奇。推断：结合 log step 250 记录该苹果 place=False、到位误差0.152米，以及最终 q_score=1/6，此次首块苹果入盒失败且之后未修复，早于末段第二块苹果抓取失败和冰箱脚本异常。" + }, + "unmet": { + "apple_halves_in_box_1": false, + "apple_halves_in_box_2": false, + "sandwich_in_box": false, + "cookie_in_box": true, + "tea_bottle_in_box": false, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 10.8, + "log_step": 250, + "evidence_zh": "观察：视频 9.8–10.6 s 左腕中苹果后方仍是红色墙面，盒在头部画面右侧；视频 10.7–11.0 s 左夹爪张开、苹果下落，视频 35–36 s 盒内没有苹果。推断：结合 log step 250 的苹果 place=False 和0.152米到位误差，机器人未完成盒上方对位便释放苹果，未形成入盒关系；这不是入盒后失稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "t": 10.8, + "log_step": 250, + "source_zh": "日志", + "evidence_zh": "观察：log step 221 编写的放置函数要求先抬高、移到盒正上方，再下降释放；log step 227 将到位容差改为0.14米，log step 243 将该版本复制为最终 gen10；log step 250 的最终运行报告苹果 above=[true,0.152,[4.282,-0.0875,1.5313]]、place=False。该函数在到位失败时直接张开夹爪退出，视频 10.7–11.0 s 可见对应释放。推断：盒上方运动没有达到目标位姿，脚本的失败分支也没有恢复持物或重新对位，而直接释放；证据支持轨迹执行/逆解层面的到位失败，不能再区分具体逆解误差与跟踪误差。" + } + ], + "gap_zh": "没有状态日志或成功参考视频。首块苹果释放后的具体落点被手臂遮挡；其最终未入盒由空盒画面、后续仅曲奇入盒及评分器总分共同推断。冰箱门未有可量取5%行程阈值的近景，关闭区间依据DAG初态、全程无开门动作与最终脚本的冰箱阶段异常推断。第二块苹果尝试的指尖接触不清，保留未知接触；不把后续冰箱 KeyError 当作首块苹果断点的根因。" + }, + "summary_zh": "机器人完成曲奇入盒，冰箱从初始保持关闭，最终语义进度为2/7；两块苹果、三明治和茶瓶均未入盒。最早未修复的失败是首块苹果入盒：视频约 10.8 s 对位未达成便释放，日志记录盒上方误差0.152米；后来第二块苹果抓取失败，冰箱阶段脚本又报 KeyError(None)。无状态日志，苹果落点被遮挡，冰箱关闭及部分终值依初态、操作序列和评分器总分推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频、log一致：仅曲奇入盒、冰箱保持关闭；首块苹果在盒上方位置误差0.152米超过0.14容差后脚本直接张开夹爪（step 221/250），断点、现象、根因均有支撑。", + "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": "2026-10-30T21:20:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-privileged--wod3bhe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-privileged--wod3bhe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ec3e557f2a0b43dad9aed7834d28a69e4dce81df3fb8d63abc6322119ad18893", + "video_sha256": "4efda14a32517bd971e3ca54d58467e45d6498f2a48db3577ee638add0366aa1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--xvnc8rh.json b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--xvnc8rh.json new file mode 100644 index 0000000000000000000000000000000000000000..627479974d42c05edeaf9be12ac85cb55c2b1cca --- /dev/null +++ b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--xvnc8rh.json @@ -0,0 +1,356 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-privileged--xvnc8rh", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "outcome": { + "success": 0, + "reward": 0.6666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 3368, + "sim_steps": 3368, + "fallen": 0, + "final_reward": 0.6666666666666666, + "q_score": 0.6666666666666666, + "replay_wall_s": 2320.6, + "replay_timeout_s": 3600.0, + "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-preparing-lunch-box-i00-privileged--xvnc8rh/replay.mp4", + "duration_s": 112.267, + "fps": 30.0, + "frames": 3368, + "sha256": "a8bca8c2b2d1d4a5031b02b16f5189ef4bb31ed1a02619f9ef8be937d8a33dcf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 5, + "final": 5, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 112.2, + "log_step": 103, + "text_zh": "观察：视频 0–112.2 s 的已检视画面中，机器人始终在砧板与打包盒之间搬运食品，结束时左夹爪刚从盒口抬起，没有到冰箱处操作门。log step 103 的脚本在保存轨迹之后才执行前往冰箱的动作；log step 153、251 均确认交付文件仅有3368个控制动作，与视频帧数一致。" + }, + { + "t": null, + "log_step": 251, + "text_zh": "推断：交付轨迹终止于四件台面食品装盒后的保存点，因此后续会话的开冰箱动作不属于本次评分轨迹，打开冰箱事件未达到。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [ + [ + 30.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.0, + "log_step": 56, + "text_zh": "观察：视频 18–29.3 s 的左腕画面可见第一块红色苹果半块夹在左爪两指间，随机器人离开砧板并到达打包盒；视频 29.7–32.7 s 夹爪张开、撤离，苹果留在盒内。按苹果实际入盒先后计数，不绑定实例名。" + }, + { + "t": 32.7, + "log_step": 59, + "text_zh": "推断：以视频约 30.0 s 作为第一块苹果离手并落稳的起点，时间误差约0.5秒；视频 32.7 s、64.3 s 及112.2 s 的盒内画面支持其持续保留，log step 59 的该次放置检查为 Inside=True。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第一块苹果半块并搬运至打包盒，随后张开松手；视频 18–29.3 s的腕部画面可见物体夹在两指间并随手移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在砧板与打包盒之间往返，搬运第一块苹果半块时视野沿台面移动。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [ + [ + 64.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 54.0, + "log_step": 74, + "text_zh": "观察：视频约 54–63.3 s，左夹爪夹住第二块苹果并沿台面搬往打包盒；视频 63.7–65.3 s 左爪张开并抬离，两块红色苹果同时留在盒中。此前的空夹搬运没有带走第二块苹果。" + }, + { + "t": 65.0, + "log_step": 76, + "text_zh": "推断：第二块苹果离手落稳以视频约 64.0 s 计，误差约0.5秒；视频 65.0 s 和112.2 s 的盒内画面与 log step 76 的两块苹果 Inside=True 一致，后续未见苹果移出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第二块苹果半块并搬运至打包盒，随后张开松手；视频 54–63.3 s的腕部画面可见物体夹在两指间并随手移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在砧板与打包盒之间往返，搬运第二块苹果半块时视野沿台面移动。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [ + [ + 98.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 97.8, + "log_step": 96, + "text_zh": "观察：视频约 90–97.4 s，左夹爪夹着三明治从砧板搬到盒口；视频 97.8–98.6 s 夹爪张开抬起，三明治留在两块苹果旁的盒内，视频 112.2 s 仍可见其处于盒中。" + }, + { + "t": 98.0, + "log_step": 96, + "text_zh": "推断：以视频约 98.0 s 计入离手并落稳，误差约0.5秒；log step 94 的放置脚本与视频的搬运、松手顺序一致，log step 96 的该次结果显示三明治及两块苹果均 Inside=True。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住三明治并搬运至打包盒，随后张开松手；视频 90–97.4 s的腕部画面可见物体夹在两指间并随手移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在砧板与打包盒之间往返，搬运三明治时视野沿台面移动。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [ + [ + 111.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 111.7, + "log_step": 103, + "text_zh": "观察：视频约 102–111.0 s，左夹爪夹住曲奇并搬往盒口；视频 111.3–112.2 s 夹爪张开抬离，曲奇不再随手移动，盒中可见已放入的苹果和三明治。曲奇落点部分被三明治遮挡。" + }, + { + "t": 112.2, + "log_step": 105, + "text_zh": "推断：结合视频 111.3–112.2 s 的释放与撤手、log step 103 在保存交付文件前执行的曲奇放置、log step 105 的四件食品 Inside=True，以及评分器 q_score=4/6，曲奇最终已入盒；以视频约 111.7 s 作为落稳起点，误差约0.5秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住曲奇并搬运至打包盒，随后张开松手；视频 102–111.0 s的腕部画面可见物体夹在两指间并随手移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在砧板与打包盒之间往返，搬运曲奇时视野沿台面移动。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 112.2, + "log_step": 103, + "text_zh": "观察：视频 0–112.2 s 的搬运对象依次是两块苹果、三明治和曲奇，末帧仍在打包盒旁，没有取出或搬运茶瓶的动作；log step 103 的保存语句位于前往冰箱之前。" + }, + { + "t": 112.2, + "log_step": 251, + "text_zh": "推断：四件台面食品入盒已占评分器 q_score=4/6 的四个新增目标字面量；初态保持关闭的冰箱不增加该分数，故茶瓶入盒最终为假。log step 251、256 也明确将交付文件描述为四件食品装盒、茶仍在冰箱内。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：任务 DAG 给出的初态为冰箱关闭；视频 0–112.2 s 机器人仅在台面食品与打包盒间操作，未到冰箱处接触或打开门，因此这一初态在交付轨迹中保持至结束。冰箱门未被这些相机画面完整展示，无法从视频量测5%关节阈值。" + }, + { + "t": 112.2, + "log_step": 251, + "text_zh": "观察：log step 103 的脚本在前往冰箱前保存交付文件；log step 251 确认保存点含四件装盒食品及关闭的冰箱，并验证生成脚本与3368步交付动作完全相同。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.6666666666666666, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 112.2, + "log_step": 103, + "where": "首步前", + "evidence_zh": "观察：视频 111.3–112.2 s 机器人完成曲奇释放后轨迹结束，尚未启动冰箱开门工作。log step 103 将交付保存放在前往冰箱之前，log step 153、251 确认该文件保持3368步；后续会话虽然进行了开门与取茶调试，却未进入这条评分轨迹。因此断点取下一项必需且未启动的打开冰箱，视频 112.2 s 仅作交付终点导航锚点。" + }, + "unmet": { + "apple_halves_in_box_1": true, + "apple_halves_in_box_2": true, + "sandwich_in_box": true, + "cookie_in_box": true, + "tea_bottle_in_box": false, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 112.2, + "log_step": 103, + "evidence_zh": "观察：视频 0–112.2 s 只包含台面食品装盒，评分轨迹在最后一次撤手后结束；log step 103 的保存语句在前往冰箱及开门之前，交付内没有启动开冰箱动作。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 254, + "source_zh": "日志", + "evidence_zh": "推断：agent未能把后续开门取茶控制调试变成完整交付。会话中 log step 151 的取瓶动作末端误差约0.356米且 GRASP=None；log step 171 的双臂逆解虽报告成功，实际执行仍有明显位置误差；log step 254 再次出现约0.435米、0.778米的双手误差及 LASTTEA=None，且列出的交付文件仍为早先保存版本。log step 251 已验证交付动作仅3368步且明确承认茶未装入；这些会话控制结果解释为何最终保留了不含冰箱工作的检查点，子类依据不足，停留在控制。" + } + ], + "gap_zh": "没有状态日志及成功参考视频；冰箱门在评分画面中没有完整呈现，关闭状态依据DAG初态、评分轨迹未操作冰箱及保存点记录推断。食品放入时的局部遮挡使精确Inside几何与线速度阈值无法逐帧量测，曲奇落点由释放前后画面、交付前的检查及评分总量交叉确认，时刻约有0.5秒误差。会话里的冰箱接触和取茶失败发生在保存点之后，只用于根因推断，未当作评分视频中的现象或接触。" + }, + "summary_zh": "评分轨迹把两块苹果、三明治和曲奇放入打包盒，冰箱保持初始关闭，最终5/7节点成立，茶瓶仍未入盒。交付在视频约 112.2 s 的曲奇撤手后结束，打开冰箱尚未启动；后续会话的双臂与门操作控制调试没有形成更新的交付。无状态日志，冰箱关闭及部分被遮挡的盒内关系需要结合初态、保存点记录和评分结果推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值与评分器 q_score=4/6 一致（四件食品入盒、冰箱初态关闭），断点取打开冰箱/首步前/没尝试，根因控制来自会话证据，符合 FAIL-22 的处理；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": "2026-10-30T21:19:20Z", + "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-preparing-lunch-box-i00-privileged--xvnc8rh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-privileged--xvnc8rh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "291aff7cfb8df9cc1fd7ba7a2f9d0fa2cfb4a77237d2d3b493d64448d91e5850", + "video_sha256": "a8bca8c2b2d1d4a5031b02b16f5189ef4bb31ed1a02619f9ef8be937d8a33dcf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--4smuanm.json b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--4smuanm.json new file mode 100644 index 0000000000000000000000000000000000000000..5bc3fbce505ce447246768bcf20f460db4c2dcc9 --- /dev/null +++ b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--4smuanm.json @@ -0,0 +1,400 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-standard--4smuanm", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "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": 14427, + "sim_steps": 14427, + "physics_steps": 57708, + "steps": 13009, + "elapsed_s": 5405.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.323, + "peak_processes": 6, + "peak_disk_gb": 0.302, + "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-preparing-lunch-box-i00-standard--4smuanm/replay.mp4", + "duration_s": 480.9, + "fps": 30.0, + "frames": 14427, + "sha256": "60b80764e563f008b1b2eb08866bf8565002c1338384a6b10fe1a6b541e4ecdb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 213, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 213, + "log_step": 436, + "text_zh": "观察：视频约 213–215 s腕部视角中冰箱门板相对侧框向外移动，门边出现明显黑色缝隙；机器人夹爪在门把附近拉动，记为首次打开，视觉时刻约有1秒不确定性。" + }, + { + "t": 230, + "log_step": null, + "text_zh": "观察：视频 228.5–231 s腕部视角再次显示门板外移、门与框之间的缝隙扩大；这次较清楚的打开也支持前次门板运动的判断。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 212–216 s及225–230 s左夹爪在门把两侧闭合并牵动门板；按可见夹持记抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 150–190 s机器人空手移车并转向到冰箱前，随后进行开门操作。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 66, + "log_step": null, + "text_zh": "观察：视频约 60–85 s的取物尝试中，视频 66 s可见机器人左夹爪伸至台面前沿下方，苹果仍在砧板上；随后多次空手收回，没有将苹果送入打包盒。" + }, + { + "t": 105, + "log_step": null, + "text_zh": "观察：视频 103–111 s机器人右夹爪在近侧苹果旁下降、闭合和抬起；腕部画面仍可见苹果留在砧板上，视频 111 s机器人收臂后苹果原位可见。" + }, + { + "t": 302, + "log_step": null, + "text_zh": "推断：后半段砧板视图仍见苹果；评分器最终 q_score=0，且 live_matches_replay=1，排除任何苹果入盒目标在终态成立。初始冰箱关闭不计入这个新增目标总分。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 104–110 s右夹爪手指在近侧苹果的侧上方接近并拨碰；苹果留在板上，没有可确认的对向夹持及随手抬离。此前左夹爪也多次空夹。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人以轮式底盘移车、转向，调整砧板前的抓取工作位置（视频 28–32 s、88–103 s及后半段重试）。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 103, + "log_step": null, + "text_zh": "观察：视频 103 s近侧及三明治后方的两块苹果均在砧板上；机器人反复针对近侧苹果重试，未见另一块被带往盒内。" + }, + { + "t": 480.5, + "log_step": null, + "text_zh": "推断：评分器最终 q_score=0、live_matches_replay=1，排除两块苹果均入盒；视频最后一秒未发生入盒操作。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 111, + "log_step": null, + "text_zh": "观察：视频 111 s三明治仍在砧板后侧；机器人收回的是空夹爪，没有搬运三明治。" + }, + { + "t": 302, + "log_step": null, + "text_zh": "观察：视频约 302 s及后续砧板画面中三明治仍在原处，未见机器人对它执行抓取或入盒。" + }, + { + "t": 480.5, + "log_step": null, + "text_zh": "推断：评分器最终 q_score=0，结合三明治一直留在砧板上的可见证据，终态入盒为假。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 111, + "log_step": null, + "text_zh": "观察：视频 111 s圆形曲奇仍在砧板上三明治右侧；未随夹爪移动。" + }, + { + "t": 302, + "log_step": null, + "text_zh": "观察：视频约 302 s及后续砧板画面仍可见曲奇，未见抓取或放入打包盒。" + }, + { + "t": 480.5, + "log_step": null, + "text_zh": "推断：评分器最终 q_score=0，排除曲奇入盒在终态成立。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 249, + "log_step": 462, + "text_zh": "观察：视频 238–266 s机器人另一只手臂向冰箱下方探入、闭合并回撤，但门板和机械臂遮挡了茶瓶；无法用这些帧证实瓶子实际离开冰箱或被夹住。" + }, + { + "t": 280, + "log_step": null, + "text_zh": "观察：视频 270–288 s机器人离开冰箱并在岛台附近动作，未见茶瓶到达打包盒或在盒内释放；其后机器人回到砧板重试苹果。" + }, + { + "t": 480.5, + "log_step": 767, + "text_zh": "推断：评分器最终 q_score=0、live_matches_replay=1，确定茶瓶入盒终态为假；log step 767关于已抓住茶瓶的总结只是agent自述，不能替代可见搬运证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 238–266 s有朝茶瓶所在区域的手臂探入与闭合尝试，但茶瓶及手指接触区域被门板遮挡，不能确认实际夹到茶瓶。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 270–288 s机器人从冰箱前移车、转向到岛台附近，正在执行茶瓶入盒的搬运尝试；瓶子是否随车移动不能确认。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 213 + ], + [ + 219, + 229 + ], + [ + 249, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 190, + "log_step": null, + "text_zh": "推断：DAG给定初态冰箱关闭；视频 190 s开门操作前可见门板贴合柜体，故关闭状态从视频 0 s计入。" + }, + { + "t": 219, + "log_step": null, + "text_zh": "观察：视频 213–215 s门板外张，视频约 219–228 s门板回到贴近侧框的位置；视频 229–231 s再次拉开，故关闭状态有第二次中断。" + }, + { + "t": 249, + "log_step": 462, + "text_zh": "推断：视频 246–249 s机器人在门前回送夹爪，门板回向柜体；视频 264–280 s收臂、离开时门板没有继续外张，按可见闭合外观记视频约 249 s恢复，后续没有再到冰箱开门。精确5%关节阈值无法从画面量测。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 246–249 s左夹爪在门把附近保持夹持并回送门板，随后松开、收臂；另一只夹爪是否持有茶瓶不可见，因此不记双臂持物协作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "apple_halves_in_box_1", + "t": 66, + "log_step": 162, + "where": "操作中", + "evidence_zh": "观察：视频约 60–85 s的取物尝试中，视频 66 s可见机器人左夹爪伸到台面前沿下方，苹果仍在砧板上；视频 103–111 s右夹爪在近侧苹果旁闭合、抬起，苹果仍留在板上。log step 161编写苹果抓取入盒脚本，log step 162执行该脚本，此处日志步号用于定位脚本记录，不将agent时间换算为视频时间。推断：这是最早开始、直到终态仍未修复的节点，之后改做冰箱及茶瓶不能修复它。" + }, + "unmet": { + "apple_halves_in_box_1": false, + "apple_halves_in_box_2": false, + "sandwich_in_box": false, + "cookie_in_box": false, + "tea_bottle_in_box": false, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 66, + "log_step": 162, + "evidence_zh": "观察：视频约 60–85 s的取物尝试中，视频 66 s可见机器人左夹爪在台面前沿下方空夹，苹果仍在砧板上；视频 103–111 s右夹爪在近侧苹果旁闭合、抬起，苹果仍留在板上，随后机器人空手收回。推断：所需的稳定抓取从未建立，轻微拨碰不能算已抓起后丢失。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "evidence_zh": "观察：log step 154的深度投影脚本把近侧苹果定位到[4.358,-1.280,0.7555]，log step 161据此发出取物目标；log step 489重新定位同一砧板上的近侧苹果为[4.354,-1.442,0.955]，并在log step 490测得砧板表面约0.931米。视频约 60–85 s的取物尝试中，视频 66 s可见左夹爪伸到台面前沿下方，砧板和食品没有对应的整体升降。推断：早期空间估计的明显高度偏低使机器人向错误位置抓取。", + "source_zh": "日志 / 视频" + }, + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：后续使用约0.948米苹果目标仍未成功；log step 596记录求解目标与实际左臂关节明显不一致，log step 631的腕关节跟踪差约0.724弧度，log step 635左右肩相关关节达到55牛米力矩限幅，log step 663右臂肩关节也达负55牛米。视频后半段机器人多次在柜体前伸臂、收臂，食品继续留在板上。推断：修正目标后的实际执行仍有明显跟踪与接近问题；证据不足以进一步区分碰撞、逆解选择或反馈控制子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志和成功参考视频。冰箱为暗色反光表面，开关的5%关节阈值不能精测；关闭区间根据加密查看的门边外观与后续离开作视觉推断，边界可能有约1–2秒误差。茶瓶的实际抓取被门板遮挡，未将agent自述或夹爪开度当作持瓶证据；茶瓶及其他食品的终态为假同时受到最终q_score=0约束。最后一秒只见倾斜的头部视野，不能仅据相机倾斜确认底盘跌倒。" + }, + "summary_zh": "机器人打开过冰箱并将门回送至闭合外观，终态按视觉判断达到2/7节点；五件食品均无入盒证据，评分器q_score=0。最早未修复的是第1块苹果入盒：早期定位偏低，后续改正目标后仍反复空夹、执行不到位。无状态日志，冰箱开关时刻及闭合阈值有视觉推断误差，茶瓶真实抓取被遮挡；最终保存的gen.py没有在日志中执行，不能作为新增进度。", + "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（终态2/7、五件食品未入盒、冰箱开/关）与 log 步号（按 id）基本可信；主要问题是断点与现象把“夹爪落在台面下方”定在视频 33 s，但该处机器人仍在移车转向，第一次真正的伸臂取苹果在约 60–85 s，需改时间与观察文字。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第1轮修正后，断点（苹果1，视频约66 s）、节点值（终态2/7，五件食品未入盒，冰箱开→关）与现象/根因均有帧和日志支持，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": "2026-10-30T21:47:15Z", + "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-preparing-lunch-box-i00-standard--4smuanm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-standard--4smuanm/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-standard--4smuanm/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-standard--4smuanm/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ac9fde80d0c43ac9923dfcb005c33529319cb6953ac1cc95bfa6054b5b24728c", + "video_sha256": "60b80764e563f008b1b2eb08866bf8565002c1338384a6b10fe1a6b541e4ecdb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--6p5k2pz.json b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--6p5k2pz.json new file mode 100644 index 0000000000000000000000000000000000000000..ae46b3d7db371dcbd78d4028e15219e1f286a2f9 --- /dev/null +++ b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--6p5k2pz.json @@ -0,0 +1,374 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-standard--6p5k2pz", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "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": 9370, + "sim_steps": 9370, + "physics_steps": 37480, + "steps": 1117, + "elapsed_s": 2595.2, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "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-preparing-lunch-box-i00-standard--6p5k2pz/replay.mp4", + "duration_s": 312.333, + "fps": 30.0, + "frames": 9370, + "sha256": "43e8de5572c92494b3fdd510473e7896efe6a204451fb6e86595e40d2a648916" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 4, + "final": 4, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6, + "log_step": null, + "text_zh": "观察：视频 6–7 s 环视时冰箱门贴合柜体；视频 278–290 s 机器人驶向冰箱时仍未见门板打开，随后画面倾倒，至视频 312.3 s 未进行开门操作。" + }, + { + "t": 290, + "log_step": 133, + "text_zh": "观察：log step 133 的机器人控制脚本安排驶向冰箱，log step 135 返回服务判定 failure: the robot fell over；视频 290–312.3 s 显示底盘失衡后倾倒，未见夹爪接触冰箱把手。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 278–290 s，轮式底盘支承机器人驶向冰箱的工作位置；在夹爪开始碰门之前失衡，未建立门把手接触。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [ + [ + 43.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 43.5, + "log_step": 50, + "text_zh": "观察：视频 30–42.5 s，左夹爪夹住一块苹果半块，底盘将其从砧板搬至打包盒；视频 43 s 苹果离开张开的夹爪落入盒内，视频 43.5–46.5 s 停在盒内。以视频 43.5 s 记完成，约有半秒误差。" + }, + { + "t": 270, + "log_step": null, + "text_zh": "观察：视频 242–275 s 盒内持续可见两块苹果半块及曲奇，未见机器人再拿走苹果；视频 278 s 后机器人离开打包盒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左手二指夹爪夹住第一块苹果半块，提离砧板并搬运，在视频约 43 s 于盒口上方张爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘在左爪持有苹果时从砧板处驶至打包盒处。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [ + [ + 241.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 241.5, + "log_step": 116, + "text_zh": "观察：视频 225–240.5 s，左夹爪夹住砧板上剩余苹果半块并随底盘搬运；视频 241 s 松开，视频 241.5–242 s 腕部视角清楚显示两块苹果均离手并停在盒内，旁边是曲奇。两块按入盒先后计数，不绑定实例名。" + }, + { + "t": 270, + "log_step": null, + "text_zh": "观察：视频 267–275 s 的盒内俯视与头部画面仍显示两块苹果和曲奇；此后机器人驶离，未再操作盒内食品。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左手二指夹爪直接夹起砧板上剩余苹果半块，搬至盒口后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "左爪携带第二块苹果期间，轮式底盘从砧板行驶到打包盒。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 210.2, + "log_step": 109, + "text_zh": "观察：视频 198–210 s，三明治离开砧板并随左夹爪搬运；视频 210.2 s 它从夹爪下方落下，视频 211.5–216 s 显示它停在打包盒后侧的台面上，盒内只有苹果和曲奇。三明治未在盒内离手静止。" + }, + { + "t": 264, + "log_step": 132, + "text_zh": "观察：视频 245–265 s 左夹爪多次下降闭合、抬升，三明治被拨动但仍留在盒外台面；视频 267–275 s 机器人撤手时它仍在盒后侧。" + }, + { + "t": 312.3, + "log_step": null, + "text_zh": "推断：两块苹果及曲奇的最终入盒均已由视频确认；评分器 q_score=0.5 对应六个目标字面量中的三个新增满足项，初始即成立且保留的冰箱关闭不计入该分数。因此三明治不能再被计为最终入盒；这与视频 275 s 的盒外位置一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左手二指夹爪多次尝试夹住三明治边角；视频 198–210 s 确实夹起并携带，随后三明治脱手。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频 245–265 s 的重抓过程中，左爪手指闭合时将三明治在台面上拨动、推移，未形成可持续搬运的夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 198–209 s，底盘支承机器人携带三明治从砧板区域驶向盒子；三明治在放入完成前脱手。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [ + [ + 99, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 99, + "log_step": 67, + "text_zh": "观察：视频 85–98 s，曲奇离开砧板并由左夹爪随底盘搬至盒口；视频 98.5 s 曲奇已落入盒内，视频 99–100 s 腕部视角显示其离手停在苹果旁，视频 101–103 s 机器人撤离后仍留在盒内。" + }, + { + "t": 270, + "log_step": null, + "text_zh": "观察：视频 241.5–242 s 及视频 267–275 s，圆形巧克力曲奇仍与两块苹果一起留在盒内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左手二指夹爪经多次调整后夹住曲奇偏离中心的一侧，将其提起、携带并在盒口张爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "左爪持曲奇期间，轮式底盘由砧板处行驶至打包盒处。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 275, + "log_step": null, + "text_zh": "观察：视频 267–275 s 打包盒内可见两块苹果和曲奇，没有茶瓶；全段操作中未见茶瓶离开冰箱或被机器人搬运。" + }, + { + "t": 312.3, + "log_step": 136, + "text_zh": "推断：视频 278–290 s 机器人只是驶向仍关闭的冰箱，随后在视频 292–312.3 s 持续倾倒；log step 136 服务报告 done=true、reason=failure: the robot fell over、resumes=0，取瓶入盒未发生。评分器 q_score=0.5 已由视频确认的两块苹果与曲奇占满三个新增目标，故茶瓶最终不在盒内。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6, + "log_step": null, + "text_zh": "观察：视频 6–7 s 的初始环视中，冰箱门板处于贴合柜体的位置；视频 278–290 s 再次驶近时仍贴合，未见开门或取出茶瓶动作。" + }, + { + "t": 312.3, + "log_step": null, + "text_zh": "推断：视频 0–278 s 机器人仅在砧板与打包盒之间操作，随后接近冰箱时失衡，视频 292–312.3 s 无开门接触。因此初始关闭状态始终保留，按 state 节点规则从视频 0 s 计入，不受打开节点的 after 边门控。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "sandwich_in_box", + "t": 210.2, + "log_step": 109, + "where": "操作中", + "evidence_zh": "观察：视频 198–210 s 左夹爪已夹起三明治并随底盘运向盒子，视频 210.2 s 三明治脱手，视频 211.5–216 s 落在盒外台面；视频 245–265 s 后续重抓未将其入盒。推断：三明治入盒是首个尝试后始终未完成的步骤；后来第二块苹果入盒未修复它。视频 292–312.3 s 的后续跌倒与 log step 135 的服务判负结束回合。" + }, + "unmet": { + "apple_halves_in_box_1": true, + "apple_halves_in_box_2": true, + "sandwich_in_box": false, + "cookie_in_box": true, + "tea_bottle_in_box": false, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 210.2, + "log_step": 109, + "evidence_zh": "观察：视频 198–210 s 三明治离开砧板并随左夹爪移动，视频 210.2 s 从夹爪下落，视频 211.5–216 s 已位于盒外台面；随后夹爪在盒口张开但没有三明治。此前已有夹持，丢失发生在完成放入前。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 210.2, + "log_step": 108, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：左爪对宽而扁的三明治采用边角夹持，接触位置不足以稳定承载；视频 198–210.2 s 可见三明治被提起搬运后脱出，视频 248–250 s、256–258 s、262–265 s 又显示闭爪拨动其边角、抬爪后物体仍留在台面。log step 108 记录偏向边角的单左爪抓取，log step 124、127、132 继续改变边角位置而未实现搬运。可行替代抓法没有在本回合验证；不将 agent 在 log step 140 自述的物体尺寸直接视为已核实几何。" + } + ], + "gap_zh": "无状态日志和成功参考视频，不能精确核验 Inside 的内部几何边界、离手后的速度阈值或辅助抓取附着状态；入盒时刻以可见离手落稳估计，约有半秒误差。最终离开打包盒后内容物不再持续可见，最终值结合最后可见位置、后续无操作及评分总数判断。三明治的具体接触力与滑移机制未记录，可行替代抓法未知。" + }, + "summary_zh": "机器人将两块苹果半块和曲奇放入打包盒，冰箱保持初始关闭，最终达到4/7个节点。三明治搬运中在视频约 210.2 s 脱手落到盒外，重抓未完成；之后机器人驶向冰箱，在视频 292–312.3 s 持续倾倒，服务以跌倒判负，茶瓶未入盒。无状态日志，接触力和精确谓词边界不能核实，放置时刻由视频估计。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间、断点（三明治脱手，未修复）和现象/根因与视频及日志一致；q_score=0.5 对应三个新增目标，推断合理。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": "2026-10-30T21:20:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-standard--6p5k2pz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-standard--6p5k2pz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bdc26976aed10f74c8d2e7ba75b483290b51c4a19c23da6cc6fea480b6aca7df", + "video_sha256": "43e8de5572c92494b3fdd510473e7896efe6a204451fb6e86595e40d2a648916", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--o3y6cnm.json b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--o3y6cnm.json new file mode 100644 index 0000000000000000000000000000000000000000..dbbc23e3a84e79ed39eae1a0f968001d177b73fe --- /dev/null +++ b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--o3y6cnm.json @@ -0,0 +1,388 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-standard--o3y6cnm", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "outcome": { + "success": 0, + "reward": 0.6666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 8835, + "sim_steps": 8835, + "physics_steps": 35340, + "steps": 8343, + "elapsed_s": 4302.6, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.6666666666666666, + "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-preparing-lunch-box-i00-standard--o3y6cnm/replay.mp4", + "duration_s": 294.5, + "fps": 30.0, + "frames": 8835, + "sha256": "88cc12f4570bf62f18b0f6011718f6016d6ca8bf72f04348b87121a0d8cb0366" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 5, + "final": 5, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18, + "log_step": null, + "text_zh": "观察：视频 18 s 可见冰箱黑色门板贴合柜体。视频 258—279.7 s 机器人收臂、空手驶向冰箱；视频 279.7—283.5 s 近距离画面大部被侧板和机身遮挡，随后视野随本体倾倒旋转，没有看到夹爪拉门或门板外张。" + }, + { + "t": 294.46, + "log_step": 256, + "text_zh": "推断：全段视频未见开门操作，末段侧倒后也未取出茶瓶；结合视频 18 s 的关闭初态及视频 293.5—294.46 s 腕部画面中仍贴合的黑色门板，打开事件未达到。log step 256 只发出绕角平移及转向，log step 260 起改做扶正，均无开门动作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人为打开冰箱而空手驶向冰箱并绕角调整朝向；视频 258—284 s 底盘在地面移动支承本体。未见夹爪接触门把手。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [ + [ + 56.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 49, + "log_step": null, + "text_zh": "观察：视频 49 s 左夹爪两指夹住一块苹果，视频 54—56.4 s 苹果随手到盒上方，砧板上该块已不在原处。" + }, + { + "t": 56.7, + "log_step": null, + "text_zh": "观察：视频 56.7—60 s 左夹爪松开并移开，腕部画面可见一块苹果半块落在白色盒内、位置稳定；首次成立约在视频 56.7 s，时间精度约半秒。" + }, + { + "t": 250.2, + "log_step": null, + "text_zh": "观察：视频 90.5 s 及视频 249.6—250.2 s 腕部视角仍可见盒内两块苹果，后续机器人空手离开，未再取出苹果。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住第一块成功搬运的苹果半块，举起、送到盒上方后松开；计数不绑定苹果实例名。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 49—55 s 底盘载着左手所夹苹果沿台面移动至打包盒。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [ + [ + 90.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 86, + "log_step": null, + "text_zh": "观察：视频 81—89.5 s 第二块苹果夹在左爪两指之间随机器人离开砧板并运到盒口；视频 87 s 头部画面同时可见盒中已有第一块苹果。" + }, + { + "t": 90.5, + "log_step": null, + "text_zh": "观察：视频 90 s 第二块苹果正在脱离夹爪，视频 90.5—91 s 腕部俯视中两块苹果均在盒内、夹爪已退出，物体位置稳定；按至少两块计数。" + }, + { + "t": 250.2, + "log_step": null, + "text_zh": "观察：视频 249.6—250.2 s 放入三明治时仍能辨出盒内两块苹果，此后未见机器人再次碰盒内食品。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪重试后夹起余下苹果，搬到打包盒并松开；此节点按盒内至少两块苹果计数。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 81—88.5 s 底盘载着第二块苹果从砧板处移到盒旁。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [ + [ + 249.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 239.8, + "log_step": null, + "text_zh": "观察：早期多次夹取后三明治仍在砧板，视频 238—239.8 s 左夹爪终于夹住三明治，随后视频 240—248.4 s 三明治随手离开砧板并被运到盒口。" + }, + { + "t": 249.6, + "log_step": null, + "text_zh": "观察：视频 248.7—249.2 s 三明治离开左夹爪落下，视频 249.6—250.2 s 腕部视角可见它与苹果、曲奇同处盒内，手指退出，三明治位置稳定；成立锚点取视频 249.6 s。" + }, + { + "t": 256.5, + "log_step": null, + "text_zh": "推断：视频 255.5—256.5 s 检查后机器人收臂离开，后段只在冰箱附近活动，没有再次搬动盒或食品；评分器 q_score=4/6 与四件新增入盒关系相符，三明治入盒保持到终态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪反复调整后夹住三明治并搬运，在盒内松开。另一只手未同时参与夹持三明治。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 240—247.7 s 底盘载着左手所夹三明治移向打包盒。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [ + [ + 206, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 176, + "log_step": null, + "text_zh": "观察：视频 164—174 s 曲奇离开砧板随左手搬向盒旁；第一次放下后，视频 180—185 s 腕部画面显示曲奇在盒旁台面而非盒内，该次不计入盒。" + }, + { + "t": 206, + "log_step": null, + "text_zh": "推断：视频 199.5 s 曲奇仍在台面，视频 202—205.3 s 左爪已重新夹起曲奇并移到盒口，视频 205.6 s 曲奇仍在指间，视频 206—208 s 指间已空、左手退出；视频 211.5 s 腕部俯视清楚显示曲奇与两块苹果在盒内。由连续放下动作与随后检查，将落稳锚点记为约视频 206 s，误差约半秒。" + }, + { + "t": 249.6, + "log_step": null, + "text_zh": "观察：视频 249.6 s 腕部俯视可见曲奇仍在盒内苹果旁，随后机器人未再夹取曲奇。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪抓起曲奇搬运，首次落在盒旁后重抓，最终在盒内松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 164—175 s 底盘载着左手所夹曲奇从砧板处移到盒旁，并在回收曲奇时调整工作位置。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 258.4, + "log_step": null, + "text_zh": "观察：视频 249.6—256.5 s 盒内仅见两块苹果、曲奇和三明治，未见茶瓶；机器人随后空手离开前往冰箱。" + }, + { + "t": 294.46, + "log_step": 286, + "text_zh": "推断：视频全段未见机器人打开冰箱或夹取、搬运茶瓶，视频 283.5—294.46 s 本体侧倒、尝试扶正后结束；茶瓶没有到达盒内。评分器 q_score=0.6666666666666666，即六项目标字面量中四项新增成立；关闭冰箱是初态已真的条件、不贡献该分数，四件台面食品已占满四项，故茶瓶入盒终态为假。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18, + "log_step": null, + "text_zh": "观察：视频 18 s 机器人尚未操作冰箱，可见黑色门板贴合柜体，无外张门缝。" + }, + { + "t": 294.46, + "log_step": null, + "text_zh": "推断：DAG 指明冰箱初态关闭；全段视频机器人未做开门或关门操作，视频 279.7—286.9 s 在冰箱旁空手移位并失衡，视频 293.5—294.46 s 腕部视角可见门板仍贴合。无证据显示关闭状态曾失去，区间从视频 0 s 保持到结束。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.6666666666666666, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 284, + "log_step": 256, + "where": "转场", + "evidence_zh": "观察：视频 256.5 s 后机器人空手驶向冰箱，视频 279.7—283.5 s 贴近冰箱侧面绕角，视频 284—286.9 s 视野显著倾斜并降到侧倒高度，未进入夹爪拉门动作。log step 256 发出绕角、向冰箱正面平移及转向；log step 260—284 尝试后退、移重与撑地仍未扶正，log step 286 服务返回 done=true、reason=\"failure: the robot fell over\"，视频 294.46 s 仍侧倒。四件食品的早期偏差均已修复，首次未修复失败发生在去打开冰箱的转场。" + }, + "unmet": { + "apple_halves_in_box_1": true, + "apple_halves_in_box_2": true, + "sandwich_in_box": true, + "cookie_in_box": true, + "tea_bottle_in_box": false, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 284, + "log_step": 286, + "evidence_zh": "观察：视频 283.5—286.9 s 靠近冰箱的机器人发生明显侧倾，视频 288 s 及视频 293.5—294.46 s 地板、门框相对相机大幅旋转，本体始终未恢复直立。log step 279 的本体姿态读数给出 up 轴 z=0.16350145，log step 286 服务明确以机器人跌倒结束回合。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 284, + "log_step": 256, + "evidence_zh": "推断：log step 256 中 agent 的控制脚本连续执行绕冰箱角平移、朝门平移、转向三段底盘动作，log step 258 才汇总这些动作的结果；视频 279.7—286.9 s 机器人在这一移位过程中贴近侧板并失去直立支撑。log step 260—284 的后退、移重和手臂撑地动作均未恢复平衡，与视频 288—294.46 s 的持续侧倒一致。失败与本体移动及稳定控制有关；没有足够接触力和跟踪数据确定更细控制子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志、接触对或门关节角记录；末段头部相机被机身和冰箱侧板遮挡，不能精确确认触发倾倒的碰撞部位、受力与控制误差，故不细分控制根因。盒内最后一次清楚检查后相机离开，终态关系结合后续未再碰触的画面及评分器总分推断；食品落稳时间约有半秒误差，门的5%阈值无法直接测量。" + }, + "summary_zh": "两块苹果、曲奇和三明治均已入盒，曲奇首次放在盒旁后被重新抓回；冰箱保持初始关闭，终态完成5/7个节点。机器人空手驶向冰箱、绕到门前时于视频约284 s失衡，扶正未果，未能开门取茶，服务最终以跌倒判失败；根因归于移动与稳定控制。无状态及接触力日志，具体触倒部位和控制子类不能确定，盒内终态结合最后可见关系、后续行为及q_score=4/6判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点进度、q_score=4/6 的约束、断点（fridge_opened，转场，视频约284 s 跌倒）与 log step 256–286 及帧一致；平衡现象与控制根因有证据且 gap_zh 已说明不确定性。未发现需要修改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:22:33Z", + "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-preparing-lunch-box-i00-standard--o3y6cnm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-standard--o3y6cnm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "898a96601470358c89d9111ee6f412e62f2f25a8c99e10c087b46b603b129cbc", + "video_sha256": "88cc12f4570bf62f18b0f6011718f6016d6ca8bf72f04348b87121a0d8cb0366", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--s4a7dwb.json b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--s4a7dwb.json new file mode 100644 index 0000000000000000000000000000000000000000..b9ae4967d49765a7ed0f7fcfe76a9f40eb6f5ba3 --- /dev/null +++ b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--s4a7dwb.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-standard--s4a7dwb", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "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": 5118, + "sim_steps": 5117, + "physics_steps": 20468, + "steps": 3089, + "elapsed_s": 3004.3, + "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-preparing-lunch-box-i00-standard--s4a7dwb/replay.mp4", + "duration_s": 166.667, + "fps": 30.0, + "frames": 5000, + "sha256": "63b02dd2f3b475066a07163cbb208201b9d7297477759268c0a4d3cdf609ca8e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频 2.5 s、36.0 s、58.5 s 可见厨房冰箱门处于贴合柜体的位置；全片粗查及倾倒前后密查未见机器人夹爪伸向门把手或门板向外打开。" + }, + { + "t": 166.6, + "log_step": null, + "text_zh": "推断：视频 60.5–166.6 s 机器人主要在岛台、座椅附近倾倒、滑动和尝试起身，没有开冰箱动作，因此打开事件未发生。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频 1.5–2.0 s 和39.0 s 的头部视角仍见砧板上的食物；视频中的机器人夹爪没有从砧板夹起苹果并送入打包盒，之后主要为倾倒及起身动作。" + }, + { + "t": 166.6, + "log_step": null, + "text_zh": "推断：未见任一苹果完成搬运入盒，终值为假；inputs/run.json 的实时 q_score=0.0（live_matches_replay=0）与这一视频判断一致，仅作终态总量约束，不用零分代替动作观察。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频 1.5–2.0 s、39.0 s 可见砧板上仍有食物；全片未见机器人把第一块或第二块苹果从砧板搬入盒中。" + }, + { + "t": 166.6, + "log_step": null, + "text_zh": "推断：视频后段机器人未返回食物操作，至视频 166.6 s 也未出现两块苹果入盒结果，故至少两块入盒的条件从未成立；实时 q_score=0.0 与此相容。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频 1.5–2.0 s、39.0 s 食物仍在砧板区域，机器人未执行三明治的夹取、搬运或释放；视频 60.5 s 后主要在地面附近翻滚和伸臂自救。" + }, + { + "t": 166.6, + "log_step": null, + "text_zh": "推断：未见三明治离开砧板进入打包盒的过程，至视频 166.6 s 仍无该结果，终值为假；实时 q_score=0.0 与此判断相容。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频 1.5–2.0 s、39.0 s 砧板上仍有食物，左右腕部画面未见夹爪持曲奇；全片未见机器人将曲奇放入打包盒。" + }, + { + "t": 166.6, + "log_step": null, + "text_zh": "推断：视频后段的伸臂和夹爪动作发生在座椅、地面附近，未构成曲奇搬运，故曲奇入盒从未成立；实时 q_score=0.0 与此判断相容。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 58.5, + "log_step": null, + "text_zh": "观察：视频 2.5 s、36.0 s、58.5 s 可见冰箱门未外张，全片未见机器人打开冰箱、持茶瓶或把茶瓶送入打包盒。" + }, + { + "t": 166.6, + "log_step": null, + "text_zh": "推断：结合初始茶瓶在关闭冰箱内、未见开门或取瓶，以及视频 60.5–166.6 s 主要为倒地自救，茶瓶入盒从未成立；实时 q_score=0.0 与此相容。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频 2.5 s、36.0 s、58.5 s 可见冰箱门贴合柜体，没有外张；机器人未在这些画面中操作冰箱。" + }, + { + "t": 166.6, + "log_step": null, + "text_zh": "推断：DAG 记载初始冰箱关闭，全片未见开门或门把手操作，故关闭状态从视频 0 s 延续至视频 166.6 s。末段相机远离厨房，终态延续依据未受操作的上下文推断；实时 q_score=0.0 不否定这个初始已成立、计分时跳过的条件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 8.0, + "log_step": null, + "where": "探索", + "evidence_zh": "观察：视频 0–7.5 s 机器人空手旋转、平移巡视厨房；视频 8.0–13.5 s 头部和腕部画面大幅翻转，机器人倒向地面，之后反复滑动、翻滚和起身，始终未装入任何食物。推断：失衡发生在选定具体物品之前的场景探索，无法从画面将其唯一归入苹果、三明治、曲奇或冰箱步骤，故 ref 为 unknown；视频 8.0 s 是早期明显失衡的导航锚点。" + }, + "unmet": { + "apple_halves_in_box_1": false, + "apple_halves_in_box_2": false, + "sandwich_in_box": false, + "cookie_in_box": false, + "tea_bottle_in_box": false, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 8.0, + "log_step": null, + "evidence_zh": "观察：视频 7.5 s 视野尚朝向餐厅，视频 8.0–13.5 s 三路相机共同剧烈倾转并降到地面附近；视频 33–41 s 短暂升起后再倾倒，视频 60.5–64.5 s 及146–157 s 又出现翻滚和侧卧。机器人未恢复持续稳定的工作姿态，所有食物搬运均未完成。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 22, + "source_zh": "日志", + "evidence_zh": "观察：agent 的控制脚本在 log step 22 向底盘发送每步0.10米、连续10步的位移命令；log step 29 又连续发送前向和侧向0.10米命令，服务返回的基体姿态明显偏离水平；log step 90 的平移加转向命令后，log step 91 服务读数 bodyZ=[-0.99,-0.06,0.15]。视频 8–32 s、60.5–64.5 s 可见同类失稳与翻滚。推断：底盘及全身运动控制未维持支撑和平衡，阻断了后续操作；实时记录与回放不一致，不能把上述 log step 精确绑定到视频某次翻倒，也不足以确定具体控制子类。" + } + ], + "gap_zh": "观察：inputs/ 提供视频和完整运行记录，但没有状态日志或成功参考视频；reward 中 deterministic=0、live_matches_replay=0。推断：节点主要由视频中没有目标搬运、冰箱未受操作的过程判断，末段厨房离开视野，冰箱终态为上下文延续推断；无法测量门关节5%阈值。机器人未明确选定具体食物或门把手，因此断点节点无法唯一定位。log step 131、135–136 记录实时基体数值发散、NaN四元数和服务 error；视频 158–166.6 s 只见场景外天空及地形，无法确认同一数值异常，故不将该服务报错作为视频的独立现象或环境根因。" + }, + "summary_zh": "评分视频没有完成任何食物入盒或打开冰箱的步骤，仅初始冰箱关闭状态延续，最终进度为1/7。机器人在视频约8.0 s 开始明显失衡，之后反复翻滚和尝试起身；底盘及全身运动控制失稳阻断任务，但尚未选定具体对象，断点节点记为未知。没有状态日志，且实时记录与回放不一致，冰箱末态依据未受操作的上下文推断，不能把实时NaN报错直接当作视频中失败的原因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频一致：视频约8 s 起机器人倾倒并反复翻滚，未完成任何食物入盒或开冰箱，仅初始冰箱关闭延续，1/7 与 q_score=0 相容；断点 unknown/探索、平衡、控制根因均有证据支持，log step 引用（id 22/29/90/91/131/135-136）核对无误。", + "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": "2026-10-30T21:23:33Z", + "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-preparing-lunch-box-i00-standard--s4a7dwb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-standard--s4a7dwb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "98b2f64eaddec331ffc14c115a52edf6cf2d5671198156171e06e4360d0d1163", + "video_sha256": "63b02dd2f3b475066a07163cbb208201b9d7297477759268c0a4d3cdf609ca8e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--v32z6pp.json b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--v32z6pp.json new file mode 100644 index 0000000000000000000000000000000000000000..7a318ff4b16475940d54ed35e87c535255fcc83c --- /dev/null +++ b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--v32z6pp.json @@ -0,0 +1,387 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-standard--v32z6pp", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "outcome": { + "success": 0, + "reward": 0.6666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 4854, + "sim_steps": 4854, + "physics_steps": 19416, + "steps": 795, + "elapsed_s": 6559.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.6666666666666666, + "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-preparing-lunch-box-i00-standard--v32z6pp/replay.mp4", + "duration_s": 161.8, + "fps": 30.0, + "frames": 4854, + "sha256": "e43655f0b2d68663dec7c98bcb0b2aef07dd386f269f3372b4fa691db5ce1d59" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 5, + "final": 5, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 118.0, + "log_step": 259, + "text_zh": "观察：视频 116–122 s，机器人左夹爪夹住深色高柜的横把手并向外拉，视频 127–131 s 可见打开的柜内有深色搁板；并未出现白色冰箱门打开的画面。" + }, + { + "t": 161.5, + "log_step": 303, + "text_zh": "推断：log step 259–270 将深色高柜当作冰箱操作，log step 291、298–303 随后改为定位另一处白色冰箱及其竖把手；视频 160.8–161.5 s 白色门板仍闭合，双爪空着，故不将先前的高柜开门计为目标冰箱已打开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 117–120 s 左二指夹爪夹住被误认作冰箱的深色高柜横把手并拉门；接触对象是高柜把手。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频 126–130 s 左侧张开夹爪接触已拉开的深色高柜门板，将其继续推开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 91–116 s 底盘驶向并对齐被当作冰箱的高柜，视频 123–126 s 又调整位置，随后继续寻找目标冰箱。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [ + [ + 42.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 42.5, + "log_step": 117, + "text_zh": "观察：视频 12–14 s 第一块苹果离开砧板并随右夹爪抬起；视频 41.5–43.5 s 右夹爪将它送入白色打包盒后张开、撤离，腕部和头部画面显示苹果留在盒内。以视频约 42.5 s 为离手落定锚点。" + }, + { + "t": 131.0, + "log_step": null, + "text_zh": "观察：视频 85–87 s 和视频 130–131 s 的打包盒画面仍可见苹果；此后机器人空手离开台面，未再搬出盒内食品。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪夹住第一块苹果半块，搬到打包盒上方后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 38–40 s 底盘在右手持苹果时沿台面驶向打包盒。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [ + [ + 85.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 85.0, + "log_step": 196, + "text_zh": "观察：视频 51–55 s 第二块苹果从砧板离开并随右夹爪抬起；视频 82.5–84 s 右夹爪持苹果移向盒内，视频 84.5–85.5 s 右腕画面显示夹爪撤离，第二块苹果留在第一块旁边的盒内。按入盒次序计数，完成锚点约为视频 85.0 s。" + }, + { + "t": 131.0, + "log_step": null, + "text_zh": "推断：视频 85–87 s、视频 130–131 s 两块苹果保持在盒内；评分器 q_score=4/6 与两块苹果、曲奇、三明治这四个新增放入关系相符，初始即关闭的冰箱不贡献新增得分。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪夹住剩余苹果半块，将其送到盒内第一块苹果旁后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 72–77 s 底盘在右手携带第二块苹果时驶回打包盒前。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [ + [ + 81.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 81.0, + "log_step": 196, + "text_zh": "观察：视频 64–65 s 左夹爪夹起三明治，视频 65–77 s 三明治随左手移动且砧板原处空出；视频 79–80.5 s 左手将其降入盒，视频 81–82 s 左夹爪张开撤走，三明治留在盒中靠边位置，完成时刻约为视频 81.0 s。" + }, + { + "t": 131.0, + "log_step": 204, + "text_zh": "观察：视频 127.5–130 s 左侧张开夹爪再次进入盒口推拨三明治，视频 130.5–131 s 手已撤离，三明治仍在盒内。" + }, + { + "t": 131.0, + "log_step": null, + "text_zh": "推断：三明治先前靠盒沿，视频不能精确测定其包围盒中心；最终评分器 q_score=4/6，结合两块苹果和曲奇的入盒及茶瓶从未取出，支持三明治最终也通过 inside 检查；未见推拨期间它离开盒内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪以倾斜夹持方式夹住三明治并送入盒内后松开。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频 127.5–130 s 左侧张开夹爪推拨盒内靠边的三明治。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 72–77 s 底盘在左手携带三明治时驶回打包盒前。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [ + [ + 45.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 45.5, + "log_step": 117, + "text_zh": "观察：视频 33–37 s 左夹爪将曲奇从砧板夹起，原处随后不再有曲奇；视频 44–45 s 左夹爪将曲奇送入打包盒，视频 45.5–47 s 左夹爪已空、曲奇与第一块苹果均留在盒内，完成锚点约为视频 45.5 s。" + }, + { + "t": 131.0, + "log_step": null, + "text_zh": "推断：视频 77–87 s、视频 130–131 s 盒内曲奇部分被后放入的三明治和盒壁遮住，但未见其被取出；评分器 q_score=4/6 支持四件台面食品最终均已入盒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住曲奇，搬到打包盒后松开；早先数次抓取未带走曲奇，后续抓取和放入完成。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 38–40 s 底盘在左手携带曲奇时沿台面驶向打包盒。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 131.0, + "log_step": null, + "text_zh": "观察：视频 0–91 s 的两轮搬运对象依次为苹果与曲奇、第二块苹果与三明治；后续视频 91–161.5 s 中双手没有持茶瓶，也没有从冰箱到打包盒的茶瓶搬运。" + }, + { + "t": 161.5, + "log_step": null, + "text_zh": "推断：视频末尾目标冰箱仍未打开，茶瓶没有完成取出和入盒；评分器 q_score=4/6 的新增关系已由四件台面食品占满，故茶瓶入盒最终为假。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：DAG 记录冰箱初始关闭；视频 3–4 s、视频 94–95 s 可见电器列中白色门板闭合，整段未见机器人打开这块白色门板，因此该状态从视频 0 s 起计。" + }, + { + "t": 161.5, + "log_step": 303, + "text_zh": "观察：视频 160.8–161.5 s 白色冰箱门板仍与柜体贴合，机器人双爪空着停在前方；先前被拉开的深色高柜门与该白色门板是不同对象。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.6666666666666666, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 118.0, + "log_step": 259, + "where": "操作中", + "evidence_zh": "推断：视频 117–122 s 机器人左手拉开深色高柜而非目标白色冰箱，视频 127–131 s 继续推开并查看深色搁板；log step 259–270 的脚本将这个对象标作冰箱，log step 291、298–303 才转向另一处白色冰箱。视频 161.5 s 白色门板仍闭合，开目标冰箱这一步始终未补成，茶瓶也未搬运。" + }, + "unmet": { + "apple_halves_in_box_1": true, + "apple_halves_in_box_2": true, + "sandwich_in_box": true, + "cookie_in_box": true, + "tea_bottle_in_box": false, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "其他", + "item": "操作错对象", + "t": 118.0, + "log_step": 259, + "evidence_zh": "观察：视频 117–122 s 左夹爪夹住深色高柜横把手并拉开门，视频 127–131 s 可见高柜内的深色搁板；视频 160.8–161.5 s 另一处白色冰箱门板仍闭合，机器人没有取出茶瓶。", + "note_zh": "候选现象“操作错对象”：已对错误的柜门建立接触并成功使其转动，既非未建立接触，也非门拉不开；现有接触、运动或全身条目不能准确表达目标对象选错。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 259–270 把深色高柜及其横把手识别为冰箱并执行拉门、推门；视频 118–131 s 对应的是打开深色搁板高柜。log step 291、298–303 又改为测量另一处白色冰箱及其竖把手，视频 161.5 s 才停到白色闭合门前，说明先前物体身份和位置的辨认错误使操作落在错误对象上，目标冰箱和茶瓶尚未处理。" + } + ], + "gap_zh": "没有状态日志和成功参考视频，冰箱的对象身份依据外观、日志中操作目标的变更及最终闭合门板作推断，无法核实门关节5%阈值；食品离手入盒的锚点约有0.5秒误差。三明治靠盒沿时的包围盒中心无法直接测量，最终 inside 判断结合四件食品的搬运画面和评分器 q_score=4/6；盒内曲奇在后段部分被遮挡。" + }, + "summary_zh": "机器人将两块苹果、曲奇和三明治放入打包盒，冰箱保持初始关闭，最终节点为5/7，评分器新增目标得分为4/6。断点是打开冰箱：机器人把深色高柜当作冰箱拉开并查看，随后重新定位白色冰箱，直到视频结束仍未开目标门或搬运茶瓶；日志与视频共同支持物体辨认错误。无状态日志与成功参考，门阈值和盒内精确几何只能结合视频及总分推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点进度（4件食品入盒、冰箱初始关闭、茶瓶未入盒）与评分器 q=4/6 及视频一致；断点 fridge_opened 与视频一致：机器人拉开的是深色高柜（烤箱/柜体），白色冰箱门至视频结束仍闭合。现象与根因有证据支持，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": "2026-10-30T21:23:20Z", + "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-preparing-lunch-box-i00-standard--v32z6pp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-standard--v32z6pp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b8dc4e4ffe3e70972b940bcb7d7e47d9901d61afc1c7093ea6b0dbef28bafc14", + "video_sha256": "e43655f0b2d68663dec7c98bcb0b2aef07dd386f269f3372b4fa691db5ce1d59", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--y3qrwvm.json b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--y3qrwvm.json new file mode 100644 index 0000000000000000000000000000000000000000..edbb718c2f81b42ab313338587c7df5a80400738 --- /dev/null +++ b/phase2/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--y3qrwvm.json @@ -0,0 +1,353 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-standard--y3qrwvm", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "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": 25204, + "sim_steps": 25354, + "physics_steps": 101416, + "steps": 3202, + "elapsed_s": 6636.3, + "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-preparing-lunch-box-i00-standard--y3qrwvm/replay.mp4", + "duration_s": 845.2, + "fps": 10.0, + "frames": 8452, + "sha256": "630e37e2c5e09baec0abd718be78ac8fb55bbcd7bdbd1ac1b8c9ba0e89513368" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 43, + "log_step": null, + "text_zh": "观察：视频 38–54 s，机器人移车、转头查看厨房，没有夹爪拉开冰箱门的动作；视频 54–845.1 s，机器人持续在砧板、水槽及相邻台面附近伸臂，没有显示冰箱内腔的开门过程。" + }, + { + "t": 845.1, + "log_step": 116, + "text_zh": "推断：全段视频未见冰箱门板张开或取出茶瓶；log step 113 只是编写后续冰箱阶段，log step 116 仅返回脚本启动状态，不能把计划中的开门计为完成。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124, + "log_step": 59, + "text_zh": "观察：视频 120–170 s，机器人双臂在食品所在砧板区域接近、调整并悬停，腕部画面可见苹果仍在砧板上，没有被夹住并带离，也没有向打包盒转移。视频 124–164 s 的画面不能支持原文所称的完整“合拢再抬起”动作序列。" + }, + { + "t": 590, + "log_step": 96, + "text_zh": "观察：视频 570–605 s，机器人右臂再次下降并撤回，红色苹果仍在砧板旁台面上，未见随夹爪离开；不据遮挡中的动作判定夹爪已合拢。log step 96 的脚本执行输出记录 appleD: SKIP (pick failed)、PROGRESS []，该脚本输出仅作辅助，未带走苹果以画面为据。" + }, + { + "t": 810, + "log_step": null, + "text_zh": "推断：视频 810 s，苹果仍与三明治、曲奇一起留在原工作台一侧，没有任何苹果入盒的可见转移；评分器 reward.q_score=0.0 也排除终态已有一块苹果满足新增入盒目标。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 120–170 s，机器人夹爪在苹果和曲奇所在砧板区域接近、调整和悬停，未见食品被夹住并带离；腕体及另一机械臂遮挡部分接近过程，无法确认是否有短暂指尖碰触，实际接触保留未知，不能记为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 54–92 s，轮式底盘移回砧板前并调整朝向，随后进行首轮食品抓取；后续也在砧板前调整工作位置。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122, + "log_step": null, + "text_zh": "观察：视频 120–122 s，腕部视角可见两块红色苹果半块仍在砧板上；视频 124–164 s，首轮尝试没有将苹果带离砧板。" + }, + { + "t": 810, + "log_step": null, + "text_zh": "推断：视频 810 s 仍可见两块苹果分布在砧板及邻近台面，未见两块进入打包盒；全段无食品送盒动作，reward.q_score=0.0 排除终态满足两个苹果入盒字面量。反复尝试先取得一块苹果，不据此视为已开始第2块入盒。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120, + "log_step": null, + "text_zh": "观察：视频 120–129.5 s，三明治仍在砧板旁、灶台左侧台面上，未见机器人夹爪携带它。" + }, + { + "t": 810, + "log_step": null, + "text_zh": "观察：视频 800–810 s，头部视角仍显示三明治在砧板旁台面，与曲奇和苹果相邻；未见机器人将三明治搬至打包盒。" + }, + { + "t": 845.1, + "log_step": null, + "text_zh": "推断：视频 844.2–845.1 s，机器人仍停在水槽/砧板附近，空爪悬在台面上；reward.q_score=0.0 排除三明治终态入盒。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120, + "log_step": 56, + "text_zh": "观察：视频 118–129.5 s，机器人双臂在砧板区域接近和调整，浅色圆形曲奇仍在三明治旁、靠近灶台的台面上，未见被带离；log step 56 的脚本把这一轮左爪目标定义为曲奇、右爪目标定义为苹果。" + }, + { + "t": 810, + "log_step": null, + "text_zh": "观察：视频 800–810 s，曲奇仍在三明治右侧台面上；全段未见机器人携带它到打包盒并松手。" + }, + { + "t": 845.1, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0 与食品仍留在原工作台的画面一致，曲奇终态入盒为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 120–170 s，机器人夹爪在苹果和曲奇所在砧板区域接近、调整和悬停，未见食品被夹住并带离；腕体及另一机械臂遮挡部分接近过程，无法确认是否有短暂指尖碰触，实际接触保留未知，不能记为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 54–92 s，机器人底盘驶回砧板工作位置，为左爪取曲奇和右爪取苹果的首轮尝试定位。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 845.1, + "log_step": null, + "text_zh": "推断：视频全程没有开冰箱、从冰箱抓出茶瓶或携瓶到盒内的可见动作；视频 844.2–845.1 s 末段仍是机器人空爪停在水槽旁。结合 DAG 的茶瓶初始在关闭冰箱内以及 reward.q_score=0.0，茶瓶未入盒。" + } + ] + }, + "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 0–54 s 机器人仅移车、转向侦察，随后视频 54–845.1 s 均在砧板及相邻台面操作，没有拉开冰箱或取瓶，故关闭状态保持初值。" + }, + { + "t": 845.1, + "log_step": null, + "text_zh": "推断：没有开门后需恢复的过程，关闭状态持续至视频结束；BEHAVIOR 的 q_score 不计持续保持的初始目标，因此 reward.q_score=0.0 不否定此节点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "apple_halves_in_box_1", + "t": 124.0, + "log_step": 59, + "where": "操作中", + "evidence_zh": "观察：视频 120–170 s，首轮双臂尝试中夹爪在食品所在砧板区域接近、调整并悬停，苹果仍留在砧板上，未见建立可搬运的夹持或向盒内转移；不把这一段写成已观察到“合拢再抬起”。后续视频 570–605 s，右臂下降、撤回后苹果仍在台面，直到视频 845.1 s 结束也没有完成第1块苹果入盒。首轮同时尝试的曲奇也未被带走。" + }, + "unmet": { + "apple_halves_in_box_1": false, + "apple_halves_in_box_2": false, + "sandwich_in_box": false, + "cookie_in_box": false, + "tea_bottle_in_box": false, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 124.0, + "log_step": 59, + "evidence_zh": "观察：视频 124–170 s，苹果仍在砧板上，夹爪未将它夹住并带离；视频 570–605 s 右臂再次下降、撤回，苹果仍留在台面。所需的可搬运夹持没有建立；没有抓住后滑落的可见过程，不以是否发生过短暂指尖触碰替代夹持判据。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "note_zh": "控制脚本异常；不再细分为抓取几何或跟踪误差。", + "evidence_zh": "推断：本次为单个实时回合，inputs/run.json 的 reward.video_live=1、graded_by_live=1、sim_startups=1、resumes=0。DAG 的控制频率为30 Hz，reward.sim_steps=25354，25354/30=视频 845.13 s，与 inputs/video.json 的视频 845.2 s 相符，因此该回合服务的 control_steps/30 可作视频时间近似映射，不使用 steps[].t 或墙钟。log step 60 的 control_steps=4969 对应视频约165.6 s，服务返回左右末端高度分别约1.222、1.239 m；该时刻以及视频 138–164 s 的腕部悬停画面与高位保持相符，已据此核对映射。log step 59 的 submit_chunk 使用 i += len(chunk)-1，最后剩1行时增量为0，使末行反复提交、函数不能返回，阻断后续阶段；不能由此断言该序列较早的闭合命令从未执行。log step 71 的 control_steps=6285 对应视频约209.5 s，其输出另见 rows=5..6 重复提交；log step 72 是 agent 对循环错误的自述，log step 74 返回 fixed: True。后续 log step 111 的自编重试脚本又因 NumPy 数组布尔判断报错。代码和执行输出支持控制脚本异常导致流程受阻，但不足以确定未夹住食品的具体几何或力学原因。" + } + ], + "gap_zh": "没有状态日志或成功参考视频；腕部画面部分被腕体及另一机械臂遮挡，无法确认各次尝试是否有短暂指尖触碰，实际接触保留未知。对审阅 I1 的证据分歧：视频 120–170 s 没有可确认的完整闭合、夹持、抬升序列，但 log step 60 的服务 gripper_opening 两值约为6.94e-6、1.91e-6，不能据画面断定两爪全程张开；log step 59 的代码只证明末行重复提交，不能证明较早的闭合命令未执行。具体闭合时刻及其与首次未夹住的因果关系未能确定，故 conf 从7降至6。苹果和曲奇并行尝试，失败先后难以严格区分，断点保留第1块苹果未被带走的可见锚点；未把日志中的冰箱计划当作已执行。日志还出现连接超时，但后续恢复执行，评分器 infra_error、sim_error、sim_breakdown 均为0，已有食品操作失败不能由此改成无交付的外因中断。" + }, + "summary_zh": "机器人反复尝试取得砧板上的食品，没有一件被搬入打包盒；冰箱保持初始关闭，最终节点为1/7。首轮第1块苹果未建立可搬运夹持，控制脚本的末行重复提交及后续异常又阻断流程。没有状态日志和成功参考视频，首次闭合动作的时刻及未夹住的具体原因未定；删除原有“合拢再抬起”和“空夹”的确定描述，因这一关键证据分歧将 conf 从7降至6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值（仅 fridge_closed 为真、其余未达成）和断点（第1块苹果、操作中）与视频、q_score=0 一致；但首轮抓取的可见描述有误：视频 120–170 s 右腕视角夹爪始终张开，没有『合拢再抬起』，这改变了对失败机理的叙述（脚本卡在重复提交，夹持动作从未执行），需要改写证据。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（仅 fridge_closed 为真）、断点（第1块苹果、操作中）、没建立接触现象和控制根因与视频（食品全程留在砧板旁，视频 165、400、810 s 所见）及 q_score=0 一致；上一轮的『合拢再抬起』措辞已删除，时钟映射（control_steps/30）有核对依据。", + "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": "2026-10-30T21:49:29Z", + "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-preparing-lunch-box-i00-standard--y3qrwvm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-standard--y3qrwvm/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-standard--y3qrwvm/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-standard--y3qrwvm/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "11abd24b314c3828f6e5840e85a5f1d889d7c93b5868a79eaa1a8e9a6090eded", + "video_sha256": "630e37e2c5e09baec0abd718be78ac8fb55bbcd7bdbd1ac1b8c9ba0e89513368", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--3kkvqdu.json b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--3kkvqdu.json new file mode 100644 index 0000000000000000000000000000000000000000..926f450012b498f9505508154e6704ad91664a7a --- /dev/null +++ b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--3kkvqdu.json @@ -0,0 +1,341 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-books-on-shelf-i00-privileged--3kkvqdu", + "taskKey": "behavior-1k/sorting_books_on_shelf", + "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce", + "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": 130, + "sim_steps": 130, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 475.2, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 4, + "agent_resets": 32, + "agent_sim_steps": 766, + "agent_records": 9, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-books-on-shelf-i00-privileged--3kkvqdu/replay.mp4", + "duration_s": 4.333, + "fps": 30.0, + "frames": 130, + "sha256": "60a9e506f0600c11615b3dd2699c2ed70cccaf23dc3ab75f0a1a4f13ee89b463" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 7, + "peak": 7, + "final": 7, + "nodes": { + "comics_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG已核实初态3本漫画、2本笔记本和2本精装书均在柜内，因此至少1本漫画入柜从视频0 s成立。视频0–4.30 s机器人仅空手行驶，双腕视角未见持书、伸手取书或移书；视频4.30 s头部视角下缘可见柜格内书本。结合交付记录仅含驶近书柜的130步（log step 168、173），该初始关系保持至结束；柜格没有完整入镜，持续成立为上下文推断。" + } + ] + }, + "comics_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG已核实初态3本漫画、2本笔记本和2本精装书均在柜内，因此至少2本漫画入柜从视频0 s成立。视频0–4.30 s机器人仅空手行驶，双腕视角未见持书、伸手取书或移书；视频4.30 s头部视角下缘可见柜格内书本。结合交付记录仅含驶近书柜的130步（log step 168、173），该初始关系保持至结束；柜格没有完整入镜，持续成立为上下文推断。" + } + ] + }, + "comics_in_bookcase_3": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG已核实初态3本漫画、2本笔记本和2本精装书均在柜内，因此至少3本漫画入柜从视频0 s成立。视频0–4.30 s机器人仅空手行驶，双腕视角未见持书、伸手取书或移书；视频4.30 s头部视角下缘可见柜格内书本。结合交付记录仅含驶近书柜的130步（log step 168、173），该初始关系保持至结束；柜格没有完整入镜，持续成立为上下文推断。" + } + ] + }, + "notebooks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG已核实初态3本漫画、2本笔记本和2本精装书均在柜内，因此至少1本笔记本入柜从视频0 s成立。视频0–4.30 s机器人仅空手行驶，双腕视角未见持书、伸手取书或移书；视频4.30 s头部视角下缘可见柜格内书本。结合交付记录仅含驶近书柜的130步（log step 168、173），该初始关系保持至结束；柜格没有完整入镜，持续成立为上下文推断。" + } + ] + }, + "notebooks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG已核实初态3本漫画、2本笔记本和2本精装书均在柜内，因此至少2本笔记本入柜从视频0 s成立。视频0–4.30 s机器人仅空手行驶，双腕视角未见持书、伸手取书或移书；视频4.30 s头部视角下缘可见柜格内书本。结合交付记录仅含驶近书柜的130步（log step 168、173），该初始关系保持至结束；柜格没有完整入镜，持续成立为上下文推断。" + } + ] + }, + "hardbacks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG已核实初态3本漫画、2本笔记本和2本精装书均在柜内，因此至少1本精装书入柜从视频0 s成立。视频0–4.30 s机器人仅空手行驶，双腕视角未见持书、伸手取书或移书；视频4.30 s头部视角下缘可见柜格内书本。结合交付记录仅含驶近书柜的130步（log step 168、173），该初始关系保持至结束；柜格没有完整入镜，持续成立为上下文推断。" + } + ] + }, + "hardbacks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG已核实初态3本漫画、2本笔记本和2本精装书均在柜内，因此至少2本精装书入柜从视频0 s成立。视频0–4.30 s机器人仅空手行驶，双腕视角未见持书、伸手取书或移书；视频4.30 s头部视角下缘可见柜格内书本。结合交付记录仅含驶近书柜的130步（log step 168、173），该初始关系保持至结束；柜格没有完整入镜，持续成立为上下文推断。" + } + ] + }, + "comics_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.3, + "log_step": 168, + "text_zh": "推断：DAG核实初态未形成同类漫画堆叠。视频0–4.30 s只见机器人驶近书柜，腕部视角未见取书或携书，末段视频3.33–4.30 s逐帧检查也未见搬放；log step 168、173确认交付文件只录入导航，未包含后续抓取测试。因此该堆叠节点全程未达成；评分器q_score=0与此一致，且该分数不计仍保持的初始柜内条件。" + } + ] + }, + "comics_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.3, + "log_step": 168, + "text_zh": "推断：DAG核实初态未形成同类漫画堆叠。视频0–4.30 s只见机器人驶近书柜，腕部视角未见取书或携书，末段视频3.33–4.30 s逐帧检查也未见搬放；log step 168、173确认交付文件只录入导航，未包含后续抓取测试。因此该堆叠节点全程未达成；评分器q_score=0与此一致，且该分数不计仍保持的初始柜内条件。" + } + ] + }, + "notebooks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.3, + "log_step": 168, + "text_zh": "推断：DAG核实初态未形成同类笔记本堆叠。视频0–4.30 s只见机器人驶近书柜，腕部视角未见取书或携书，末段视频3.33–4.30 s逐帧检查也未见搬放；log step 168、173确认交付文件只录入导航，未包含后续抓取测试。因此该堆叠节点全程未达成；评分器q_score=0与此一致，且该分数不计仍保持的初始柜内条件。" + } + ] + }, + "hardbacks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.3, + "log_step": 168, + "text_zh": "推断：DAG核实初态未形成同类精装书堆叠。视频0–4.30 s只见机器人驶近书柜，腕部视角未见取书或携书，末段视频3.33–4.30 s逐帧检查也未见搬放；log step 168、173确认交付文件只录入导航，未包含后续抓取测试。因此该堆叠节点全程未达成；评分器q_score=0与此一致，且该分数不计仍保持的初始柜内条件。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频0–4.30 s轮式底盘经地板支撑机身，空手驶往书柜，为首个计划的精装书堆叠操作接近工位；交付在伸手抓书之前结束，未见夹爪与书本接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "hardbacks_stacked", + "t": null, + "log_step": 173, + "where": "首步前", + "evidence_zh": "观察：视频0–4.30 s机器人仅空手驶向白色书柜，最后一秒也未开始抓书或搬放；log step 158以gen.py 0生成导航文件，log step 168、173确认交付仅130行、未执行任何堆叠操作。log step 177展示的生成器将精装书2叠到精装书1列为首个操作，故断点为精装书堆叠的首步前；没有可定位的失败瞬间。" + }, + "unmet": { + "comics_in_bookcase_1": true, + "comics_in_bookcase_2": true, + "comics_in_bookcase_3": true, + "notebooks_in_bookcase_1": true, + "notebooks_in_bookcase_2": true, + "hardbacks_in_bookcase_1": true, + "hardbacks_in_bookcase_2": true, + "comics_stacked_1": false, + "comics_stacked_2": false, + "notebooks_stacked": false, + "hardbacks_stacked": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0, + "log_step": 173, + "evidence_zh": "观察：视频0–4.30 s机器人只移动底盘，未对精装书实施抓取、搬运或放置；log step 173的交付说明明确写生成器参数为0、仅驶近书柜。会话内其他抓书试验没有出现在这次评分轨迹中。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：会话测试暴露了尚未解决的机械臂执行与运动学预测偏差，解释为何最终只交付导航基线。log step 122记录左臂第4关节命令约-0.256 rad而实测约0.226 rad，额外运行120个控制步仍偏差约0.483 rad；log step 171的独立测试记录末端相对抓书目标误差约0.35–0.37 m、抓取候选为空。log step 172、173中agent据这些测试结束调试并保留不含操作的文件。这里只据测试归为控制问题，不能将agent关于自碰撞或重力的解释当成已核实的具体机制。", + "source_zh": "日志" + } + ], + "gap_zh": "没有逐帧状态日志。头部视角在大部分评分视频中朝向墙面，末段仅露出部分柜格；七本书的柜内保持由DAG核实的初态、全程无操作及交付导航记录联合推断，不能直接逐本检验包围盒中心。控制根因来自会话测试，评分轨迹本身没有抓书动作，无法进一步确定其具体接触或控制机制。" + }, + "summary_zh": "评分轨迹只驶近书柜，七个初始柜内节点保持成立，四个同类堆叠节点均未达成，最终7/11。首个计划的精装书堆叠未启动；会话测试中的机械臂执行偏差支持控制根因，不能将那些测试中的碰撞或抓取失败算入评分视频。无状态日志且柜内视野不完整，柜内保持为结合已核实初态与无操作记录的推断。", + "conf": 6, + "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：评分视频（4.33 s/130步）只含空手驶近书柜，七个初始柜内节点按S4自0 s成立、四个堆叠节点未达成，final 7/11与q_score=0（不计初态）相容；断点在精装书堆叠首步前、现象没尝试，根因控制来自会话测试（符合FAIL-22处理），停在泛化的控制未编造子类。", + "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": "2026-10-30T21:39:33Z", + "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-sorting-books-on-shelf-i00-privileged--3kkvqdu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-privileged--3kkvqdu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2a59646bf099130b56627bcab28dbaa0a1b2148914061a17456179c770d7f8c2", + "video_sha256": "60a9e506f0600c11615b3dd2699c2ed70cccaf23dc3ab75f0a1a4f13ee89b463", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--8zdf7vu.json b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--8zdf7vu.json new file mode 100644 index 0000000000000000000000000000000000000000..d32efd508431503f511cf677af2bb8e8265a634c --- /dev/null +++ b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--8zdf7vu.json @@ -0,0 +1,428 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-books-on-shelf-i00-privileged--8zdf7vu", + "taskKey": "behavior-1k/sorting_books_on_shelf", + "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 0, + "n_actions": 11692, + "sim_steps": 11692, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1929.7, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 5, + "agent_resets": 7, + "agent_sim_steps": 31677, + "agent_records": 3, + "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-sorting-books-on-shelf-i00-privileged--8zdf7vu/replay.mp4", + "duration_s": 389.733, + "fps": 30.0, + "frames": 11692, + "sha256": "9c7666a36b0c0dd1379a64cb1ae65a08711b0de5b3e4b38cfcad90dd50f335b6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 7, + "peak": 7, + "final": 7, + "nodes": { + "comics_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20, + "log_step": null, + "text_zh": "推断：DAG记载三本漫画初始均在书柜内；视频 20 s、120–145 s 可见分散柜格中的蓝色及彩色书本和混类书堆，未见机器人将漫画取出柜外，故至少1本漫画的柜内条件从视频 0 s 保持。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "推断：视频全程抽查及视频 380–389.6 s 末段未见漫画落地或被搬出柜外，操作集中于青绿色精装书所在柜格；结合初始布局，至少1本漫画仍在柜内。" + } + ] + }, + "comics_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20, + "log_step": null, + "text_zh": "推断：DAG记载三本漫画初始均在书柜内；视频 20 s、120–145 s 可见分散柜格中的蓝色及彩色书本和混类书堆，未见机器人将漫画取出柜外，故至少2本漫画的柜内条件从视频 0 s 保持。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "推断：视频全程抽查及视频 380–389.6 s 末段未见漫画落地或被搬出柜外，操作集中于青绿色精装书所在柜格；结合初始布局，至少2本漫画仍在柜内。" + } + ] + }, + "comics_in_bookcase_3": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20, + "log_step": null, + "text_zh": "推断：DAG记载三本漫画初始均在书柜内；视频 20 s、120–145 s 可见分散柜格中的蓝色及彩色书本和混类书堆，未见机器人将漫画取出柜外，故至少3本漫画的柜内条件从视频 0 s 保持。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "推断：视频全程抽查及视频 380–389.6 s 末段未见漫画落地或被搬出柜外，操作集中于青绿色精装书所在柜格；结合初始布局，至少3本漫画仍在柜内。" + } + ] + }, + "notebooks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20, + "log_step": null, + "text_zh": "推断：DAG记载两本笔记本初始均在书柜内；视频 20 s、108–119.5 s 可见柜中原有书本，机器人虽向较低柜格探入，但未见笔记本离开原柜格并转移至柜外，至少1本笔记本的柜内关系自视频 0 s 保持。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "推断：视频 120–389.6 s 未见机器人带出或掉落笔记本；结合原有柜内布局和较低柜格探入前后的连续画面，至少1本笔记本仍在柜内。" + } + ] + }, + "notebooks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20, + "log_step": null, + "text_zh": "推断：DAG记载两本笔记本初始均在书柜内；视频 20 s、108–119.5 s 可见柜中原有书本，机器人虽向较低柜格探入，但未见笔记本离开原柜格并转移至柜外，至少2本笔记本的柜内关系自视频 0 s 保持。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "推断：视频 120–389.6 s 未见机器人带出或掉落笔记本；结合原有柜内布局和较低柜格探入前后的连续画面，至少2本笔记本仍在柜内。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 108–119.5 s 左夹爪向笔记本所在较低柜格探入；书边与夹爪被柜板和腕部视角遮挡，不能分辨是否接触到笔记本及接触方式。未见笔记本被取走。" + } + ] + }, + "hardbacks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 38, + "log_step": null, + "text_zh": "推断：DAG记载两本精装书初始在柜内；视频 20 s、36–47 s 青绿色精装书及另一柜格原有书本可见，机器人伸手时未将书带出柜外，至少1本精装书的柜内关系从视频 0 s 保持。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "观察：视频 70–92 s、150–380 s 操作中青绿色精装书在柜格内受推而改变位置；视频 389.6 s 腕部近景仍见该书，未见其离柜或落地，另一精装书未被搬运。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "推断：结合初始两本在柜内及全程未见出柜、掉落，至少1本精装书仍在柜内；无逐帧包围盒数据，柜内关系依据可见的柜格承托及动作前后位置判断。" + } + ] + }, + "hardbacks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 38, + "log_step": null, + "text_zh": "推断：DAG记载两本精装书初始在柜内；视频 20 s、36–47 s 青绿色精装书及另一柜格原有书本可见，机器人伸手时未将书带出柜外，至少2本精装书的柜内关系从视频 0 s 保持。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "观察：视频 70–92 s、150–380 s 操作中青绿色精装书在柜格内受推而改变位置；视频 389.6 s 腕部近景仍见该书，未见其离柜或落地，另一精装书未被搬运。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "推断：结合初始两本在柜内及全程未见出柜、掉落，至少2本精装书仍在柜内；无逐帧包围盒数据，柜内关系依据可见的柜格承托及动作前后位置判断。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 70–92 s、150–163 s 及后续伸手中，机器人夹爪接近并推挤青绿色精装书的书边，使书在柜格内移位；左右夹爪依次尝试，未见双手共同夹持，也未见稳定夹住后提走，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–24 s 底盘驶到书柜前，视频 119–148 s 机器人又在柜前换位以接近精装书；移动时轮式底盘支撑机身。" + } + ] + }, + "comics_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 38, + "log_step": null, + "text_zh": "观察：视频 20 s、36–47 s 可见书本分处柜格、青绿色精装书覆盖另一类书；视频 120–145 s 各柜格仍有分散的书本，未出现参考成功录像中漫画逐本取走并合并成堆的变化。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "推断：视频 0–389.6 s 未见漫画从原处离开并完成同类转移；最终评分 q_score=0，初态已成立的七个柜内关系不贡献该分数，因此新增的第1本漫画叠放关系最终不成立，不能仅因末帧遮挡而留为未知。" + } + ] + }, + "comics_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 38, + "log_step": null, + "text_zh": "观察：视频 20 s、36–47 s 可见书本分处柜格、青绿色精装书覆盖另一类书；视频 120–145 s 各柜格仍有分散的书本，未出现参考成功录像中漫画逐本取走并合并成堆的变化。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "推断：视频 0–389.6 s 未见漫画从原处离开并完成同类转移；最终评分 q_score=0，初态已成立的七个柜内关系不贡献该分数，因此新增的第2本漫画叠放关系最终不成立，不能仅因末帧遮挡而留为未知。" + } + ] + }, + "notebooks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 114, + "log_step": null, + "text_zh": "观察：视频 108–119.5 s 机器人左夹爪向较低柜格探入后撤离，腕部能见原有竖斜书边，未见笔记本随夹爪离开原处或被放到另一本上。" + }, + { + "t": 389.6, + "log_step": null, + "text_zh": "推断：视频后续至视频 389.6 s 无笔记本合堆的转移；评分 q_score=0 也排除最终新增笔记本同类堆叠关系。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 108–119.5 s 左夹爪向笔记本所在较低柜格探入；书边与夹爪被柜板和腕部视角遮挡，不能分辨是否接触到笔记本及接触方式。未见笔记本被取走。" + } + ] + }, + "hardbacks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 40, + "log_step": null, + "text_zh": "观察：视频 36–47 s 左夹爪在青绿色精装书前闭合、探入和撤回，书仍留在原柜格，未随夹爪转移到另一精装书上。" + }, + { + "t": 150, + "log_step": null, + "text_zh": "观察：视频 70–92 s 及视频 150–163 s 腕部近景和头部视角可见青绿色精装书仍留在原柜格；后续反复伸手和推移未完成同类搬运。" + }, + { + "t": 389.6, + "log_step": 534, + "text_zh": "推断：视频 380–389.6 s 青绿色书仍在操作柜格，未见两本精装书合堆；log step 534 保存的轨迹形状为 (11692,25)，与本视频帧数相同，且其输出 H2 held: None、q_score=0，与画面中未完成转移一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 70–92 s、150–163 s 及后续伸手中，机器人夹爪接近并推挤青绿色精装书的书边，使书在柜格内移位；左右夹爪依次尝试，未见双手共同夹持，也未见稳定夹住后提走，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–24 s 底盘驶到书柜前，视频 119–148 s 机器人又在柜前换位以接近精装书；移动时轮式底盘支撑机身。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "hardbacks_stacked", + "t": 27.0, + "log_step": 514, + "where": "操作中", + "evidence_zh": "观察：视频 26–31 s 机器人先向青绿色精装书所在柜格伸手后空手撤回，视频 36–47 s 再次闭爪仍未带走书，之后不断重试直到视频 389.6 s，也未将两本精装书叠到一起。log step 514 的该保存轨迹生成过程输出 CLOSE 30 HAND None，log step 534 保存 11692 步且仍 H2 held: None；这是最早开始而始终未完成的堆叠步骤，中间探向较低柜格未修复它。" + }, + "unmet": { + "comics_in_bookcase_1": true, + "comics_in_bookcase_2": true, + "comics_in_bookcase_3": true, + "notebooks_in_bookcase_1": true, + "notebooks_in_bookcase_2": true, + "hardbacks_in_bookcase_1": true, + "hardbacks_in_bookcase_2": true, + "comics_stacked_1": false, + "comics_stacked_2": false, + "notebooks_stacked": false, + "hardbacks_stacked": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 40.0, + "log_step": 515, + "evidence_zh": "观察：视频 36–47 s 机器人夹爪在青绿色精装书前闭合和撤回，书未随手离开原处；视频 70–92 s 及视频 150–389.6 s 的重试仍只在原柜格中推移书本，未形成搬运所需的夹持。log step 515 输出 CLOSEFRONT、CLOSE2、CLOSE3 均 HAND None；log step 534 保存时仍未持书。这里缺少的是有效抓握接触，不是从已持书状态滑脱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 514–517 的保存轨迹生成输出显示，机器人多次接近和闭爪后仍 HAND None，部分 move_ee 目标误差显著，而另一些接近位置误差很小仍无法抓住；log step 530–534 的末段局部搜索输出 contact True、ray False，最后 H2 held: None。结合视频 36–47 s、70–92 s 和视频 380–389.6 s 中书未随手提走，失败来自有效抓取未能执行出来；现有证据不足以将其进一步唯一归为接触几何或轨迹跟踪。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有逐帧状态日志；头部视角被书柜顶板遮住部分柜内区域，腕部视角亦有近距离遮挡，七个柜内保持关系依据DAG初态及前后画面连续性推断，不能精确核验各书包围盒中心。视频 108–119.5 s 的笔记本接触方式不能确定。四个堆叠终值同时受评分 q_score=0 约束，七个初始柜内真值不计入该分数。日志含多次会话重置；本次只采用 log step 534 保存的11692步轨迹作为交付对应记录，log step 536 以后新一轮未保存的抓取改动不计入节点。控制子类缺少足够的接触与关节跟踪数据。" + }, + "summary_zh": "交付录像保留七本书在柜内的初始关系，进度从7/11维持到7/11，四个同类堆叠节点均未达成；原生 q_score=0 不包含初态已满足的柜内关系。机器人从视频约26 s 开始尝试抓取青绿色精装书，反复闭爪、推挤和换位仍未形成有效抓握，最早未修复断点为精装书叠好，根因归为控制。无逐帧状态日志，柜内保持及部分接触依靠前后画面推断；本运行文本采用目标成立即结束的旧规则，未因DAG较新的联合静置窗口另加失败。", + "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（七个初态柜内关系保持、四个堆叠未达成）、断点 hardbacks_stacked、现象“没建立接触”和根因“控制”均与日志（step 514–517、534 的 11692 步保存轨迹，HAND None、q_score 0）及视频一致；视频画面较模糊，未发现可证实的错误。", + "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": "2026-10-30T21:37:15Z", + "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-sorting-books-on-shelf-i00-privileged--8zdf7vu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-privileged--8zdf7vu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "309934853849e569fecf84784ddef472e33dd5c72ddd08e6362408124edb6073", + "video_sha256": "9c7666a36b0c0dd1379a64cb1ae65a08711b0de5b3e4b38cfcad90dd50f335b6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--kuaudny.json b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--kuaudny.json new file mode 100644 index 0000000000000000000000000000000000000000..b4bbc592eebecc953f95c32644ae285216255a14 --- /dev/null +++ b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--kuaudny.json @@ -0,0 +1,581 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-books-on-shelf-i00-privileged--kuaudny", + "taskKey": "behavior-1k/sorting_books_on_shelf", + "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce", + "outcome": { + "success": 0, + "reward": 0.18181818181818182, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 2762, + "sim_steps": 2762, + "fallen": 0, + "final_reward": 0.18181818181818182, + "q_score": 0.18181818181818182, + "replay_wall_s": 845.1, + "replay_timeout_s": 3600.0, + "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-sorting-books-on-shelf-i00-privileged--kuaudny/replay.mp4", + "duration_s": 92.067, + "fps": 30.0, + "frames": 2762, + "sha256": "a8350df84cca527cc496cff09523e304cb3fcc35be03beedd3c7f368cce09ccd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 7, + "peak": 9, + "final": 9, + "nodes": { + "comics_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8, + "log_step": null, + "text_zh": "推断：任务DAG已核实三本漫画初始均在柜内；视频 8–14 s 的四个有书柜格与这一初态相符，因此至少1本漫画入柜从视频 0 s 计入。" + }, + { + "t": 48.5, + "log_step": null, + "text_zh": "观察：视频 37–48.5 s，右夹爪把黑白边封面漫画从右下格搬到右上格；视频 72–82 s 黑黄封面漫画仍在左下格，随后被夹起。" + }, + { + "t": 92.03, + "log_step": null, + "text_zh": "观察：视频 91.8–92.03 s，黑黄封面漫画随右夹爪送入右上格原书堆，其他两本漫画仍在该格，未见漫画掉落柜外。推断：依据D17，持书搬运阶段冻结此前柜内真值，放置后中心仍在柜格内，故本计数未失去。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 37–48 s、82–92.03 s，机器人右二指夹爪夹住漫画书角，书本随夹爪离开原柜格并搬运；左爪未协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 37–48 s、82–92.03 s的搬运中轮式底盘后退、横移及向书柜驶入，支撑机器人和所持漫画。" + } + ] + }, + "comics_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8, + "log_step": null, + "text_zh": "推断：任务DAG已核实三本漫画初始均在柜内；视频 8–14 s 的四个有书柜格与这一初态相符，因此至少2本漫画入柜从视频 0 s 计入。" + }, + { + "t": 48.5, + "log_step": null, + "text_zh": "观察：视频 37–48.5 s，右夹爪把黑白边封面漫画从右下格搬到右上格；视频 72–82 s 黑黄封面漫画仍在左下格，随后被夹起。" + }, + { + "t": 92.03, + "log_step": null, + "text_zh": "观察：视频 91.8–92.03 s，黑黄封面漫画随右夹爪送入右上格原书堆，其他两本漫画仍在该格，未见漫画掉落柜外。推断：依据D17，持书搬运阶段冻结此前柜内真值，放置后中心仍在柜格内，故本计数未失去。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 37–48 s、82–92.03 s，机器人右二指夹爪夹住漫画书角，书本随夹爪离开原柜格并搬运；左爪未协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 37–48 s、82–92.03 s的搬运中轮式底盘后退、横移及向书柜驶入，支撑机器人和所持漫画。" + } + ] + }, + "comics_in_bookcase_3": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8, + "log_step": null, + "text_zh": "推断：任务DAG已核实三本漫画初始均在柜内；视频 8–14 s 的四个有书柜格与这一初态相符，因此至少3本漫画入柜从视频 0 s 计入。" + }, + { + "t": 48.5, + "log_step": null, + "text_zh": "观察：视频 37–48.5 s，右夹爪把黑白边封面漫画从右下格搬到右上格；视频 72–82 s 黑黄封面漫画仍在左下格，随后被夹起。" + }, + { + "t": 92.03, + "log_step": null, + "text_zh": "观察：视频 91.8–92.03 s，黑黄封面漫画随右夹爪送入右上格原书堆，其他两本漫画仍在该格，未见漫画掉落柜外。推断：依据D17，持书搬运阶段冻结此前柜内真值，放置后中心仍在柜格内，故本计数未失去。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 37–48 s、82–92.03 s，机器人右二指夹爪夹住漫画书角，书本随夹爪离开原柜格并搬运；左爪未协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 37–48 s、82–92.03 s的搬运中轮式底盘后退、横移及向书柜驶入，支撑机器人和所持漫画。" + } + ] + }, + "notebooks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8, + "log_step": null, + "text_zh": "推断：任务DAG已核实两本笔记本初始均在柜内，视频 20–28 s 可见左下格蓝紫薄本与右下格黑色线圈本，支持至少1本入柜自视频 0 s 成立。" + }, + { + "t": 70, + "log_step": null, + "text_zh": "观察：视频 62–70 s，机器人将蓝紫薄本从左下格移到右下格黑色线圈本上；视频 69.5–71.5 s 夹爪张开并退离，两本仍叠放于柜格内。推断：D17冻结持书阶段，未发生离手掉出，柜内计数持续保持。" + }, + { + "t": 91.1, + "log_step": null, + "text_zh": "观察：视频 89–91.1 s 的头部视角仍可见右下格的笔记本，末尾右手操作的是上层漫画，没有再取走笔记本。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 62–70 s，机器人右二指夹爪夹住蓝紫封面笔记本书角，书本随夹爪离开原柜格并搬运；左爪未协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 62–70 s的搬运中轮式底盘后退、横移及向书柜驶入，支撑机器人和所持蓝紫封面笔记本。" + } + ] + }, + "notebooks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8, + "log_step": null, + "text_zh": "推断：任务DAG已核实两本笔记本初始均在柜内，视频 20–28 s 可见左下格蓝紫薄本与右下格黑色线圈本，支持至少2本入柜自视频 0 s 成立。" + }, + { + "t": 70, + "log_step": null, + "text_zh": "观察：视频 62–70 s，机器人将蓝紫薄本从左下格移到右下格黑色线圈本上；视频 69.5–71.5 s 夹爪张开并退离，两本仍叠放于柜格内。推断：D17冻结持书阶段，未发生离手掉出，柜内计数持续保持。" + }, + { + "t": 91.1, + "log_step": null, + "text_zh": "观察：视频 89–91.1 s 的头部视角仍可见右下格的笔记本，末尾右手操作的是上层漫画，没有再取走笔记本。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 62–70 s，机器人右二指夹爪夹住蓝紫封面笔记本书角，书本随夹爪离开原柜格并搬运；左爪未协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 62–70 s的搬运中轮式底盘后退、横移及向书柜驶入，支撑机器人和所持蓝紫封面笔记本。" + } + ] + }, + "hardbacks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8, + "log_step": null, + "text_zh": "推断：任务DAG已核实两本精装书初始在柜内；视频 8–18 s 可见蓝色精装书在左上格、浅青色精装书在右上格，支持至少1本入柜自视频 0 s 成立。" + }, + { + "t": 24, + "log_step": null, + "text_zh": "观察：视频 14.5–19 s 右夹爪尝试取右上格精装书，退开后该书仍在原格；视频 22–24 s 夹爪在左上格做放置方向的空手运动，两本精装书均未掉出。" + }, + { + "t": 90, + "log_step": null, + "text_zh": "观察：视频 64–90 s 左上格蓝色精装书仍单独平放，右上格浅青色精装书位于新增漫画下方；两本一直留在柜内。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 14.5–19 s，机器人右夹爪在右上格浅青色精装书前缘收拢，视频 22–24 s 又抵近左上格蓝色精装书；腕部近景有手指和书缘重叠，但无法确认有效对向夹持或具体接触方式，未见精装书随手搬出。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 18.5–24 s，轮式底盘后退、横移并向左上柜格驶入，支撑机器人；这段移动没有带走右上格精装书。" + } + ] + }, + "hardbacks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8, + "log_step": null, + "text_zh": "推断：任务DAG已核实两本精装书初始在柜内；视频 8–18 s 可见蓝色精装书在左上格、浅青色精装书在右上格，支持至少2本入柜自视频 0 s 成立。" + }, + { + "t": 24, + "log_step": null, + "text_zh": "观察：视频 14.5–19 s 右夹爪尝试取右上格精装书，退开后该书仍在原格；视频 22–24 s 夹爪在左上格做放置方向的空手运动，两本精装书均未掉出。" + }, + { + "t": 90, + "log_step": null, + "text_zh": "观察：视频 64–90 s 左上格蓝色精装书仍单独平放，右上格浅青色精装书位于新增漫画下方；两本一直留在柜内。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 14.5–19 s，机器人右夹爪在右上格浅青色精装书前缘收拢，视频 22–24 s 又抵近左上格蓝色精装书；腕部近景有手指和书缘重叠，但无法确认有效对向夹持或具体接触方式，未见精装书随手搬出。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 18.5–24 s，轮式底盘后退、横移并向左上柜格驶入，支撑机器人；这段移动没有带走右上格精装书。" + } + ] + }, + "comics_stacked_1": { + "method": "visual", + "intervals": [ + [ + 92.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 48.5, + "log_step": null, + "text_zh": "观察：视频 47–49.5 s，第一本被搬运的黑白边封面漫画放到右上格浅青色精装书上；该精装书仍隔在它与底层漫画之间，因此这次放置不能计作漫画同类堆叠。" + }, + { + "t": 92.0, + "log_step": null, + "text_zh": "观察：视频 82–91.8 s，黑黄封面漫画被右夹爪夹起并送向右上格，视频 92.0–92.03 s 到达已有漫画上方的书堆，夹爪仍贴近书角。推断：结合已直接看到的笔记本堆叠、精装书未堆叠及评分器q_score=2/11，末尾另一个成立的新目标是一本漫画叠在另一漫画上，约视频 92.0 s 计入；没有把会话日志的全部堆叠结果移入本回放。" + }, + { + "t": 92.03, + "log_step": null, + "text_zh": "推断：本次原生评分记录没有goal_held_steps或settle_steps字段，末帧仍见夹爪贴近而无完整松手静置窗口；此处按本次评分已计入的关系标真（P19），不声称验证了当前DAG的一秒联合静置要求。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 37–48 s、82–92.03 s，机器人右二指夹爪夹住漫画书角，书本随夹爪离开原柜格并搬运；左爪未协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 37–48 s、82–92.03 s的搬运中轮式底盘后退、横移及向书柜驶入，支撑机器人和所持漫画。" + } + ] + }, + "comics_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 48.5, + "log_step": null, + "text_zh": "观察：视频 48.5–71 s，右上格黑白边漫画下面仍隔着浅青色精装书，底层漫画未直接承托它。" + }, + { + "t": 92.03, + "log_step": null, + "text_zh": "观察：视频 91.8–92.03 s，机器人把黑黄漫画送到上方漫画处，没有移开书堆中间的浅青色精装书。推断：至多新增一本漫画的同类堆叠；已成立的笔记本堆叠和评分器总数2/11也排除两本漫画同时满足目标，故final=false。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 37–48 s、82–92.03 s，机器人右二指夹爪夹住漫画书角，书本随夹爪离开原柜格并搬运；左爪未协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 37–48 s、82–92.03 s的搬运中轮式底盘后退、横移及向书柜驶入，支撑机器人和所持漫画。" + } + ] + }, + "notebooks_stacked": { + "method": "visual", + "intervals": [ + [ + 69.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 62, + "log_step": null, + "text_zh": "观察：视频 62–64 s，蓝紫封面薄笔记本离开左下格，随右夹爪横移；左下格原位置露出黑黄封面漫画。" + }, + { + "t": 69.5, + "log_step": null, + "text_zh": "观察：视频 68–69.25 s 的右腕近景显示蓝紫薄本已位于黑色线圈笔记本之上；视频 69.5–71.5 s 右夹爪张开后退，两本保持上下接触，故约视频 69.5 s 达成（时间约有0.5秒误差）。" + }, + { + "t": 91.1, + "log_step": null, + "text_zh": "观察：视频 89–91.1 s，右下格笔记本仍在，之后机器人只在右上格操作漫画。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 62–70 s，机器人右二指夹爪夹住蓝紫封面笔记本书角，书本随夹爪离开原柜格并搬运；左爪未协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 62–70 s的搬运中轮式底盘后退、横移及向书柜驶入，支撑机器人和所持蓝紫封面笔记本。" + } + ] + }, + "hardbacks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.5, + "log_step": null, + "text_zh": "观察：视频 14.5–18.5 s，右夹爪抵近浅青色精装书并收拢；视频 19–24 s 夹爪退开和横移时，该书仍留在右上格，左上格蓝色精装书上没有增加一本书。" + }, + { + "t": 48.5, + "log_step": null, + "text_zh": "观察：视频 48.5 s 腕部近景显示新增漫画落在右上格浅青色精装书上；视频 64–90 s 左上格仍只有蓝色精装书。推断：精装书同类堆叠从未完成，后续漫画搬运未修复此步。" + }, + { + "t": 24, + "log_step": 81, + "text_zh": "观察：log step 77 的脚本拟将右上格精装书搬到左上格，log step 81 保存after_move1并得到现场q_score=1/11；这些是恢复检查点后的会话结果，视频 19–24 s 没有相应搬运，不能据此给本节点记真。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 14.5–19 s，机器人右夹爪在右上格浅青色精装书前缘收拢，视频 22–24 s 又抵近左上格蓝色精装书；腕部近景有手指和书缘重叠，但无法确认有效对向夹持或具体接触方式，未见精装书随手搬出。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 18.5–24 s，轮式底盘后退、横移并向左上柜格驶入，支撑机器人；这段移动没有带走右上格精装书。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.18181818181818182, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "hardbacks_stacked", + "t": 18.5, + "log_step": 77, + "where": "操作中", + "evidence_zh": "观察：视频 14.5–18.5 s，机器人右夹爪收拢到右上格浅青色精装书前缘，随后退开；视频 19–24 s 该精装书始终留在右上格，机器人空手横移到左上格，蓝色精装书上没有新书。视频 48.5–90 s 右上格浅青色精装书仍位于漫画之间，左右精装书没有叠到一起；这是最早尝试而始终未修复的一步。log step 77 的会话脚本也表明该段意在完成精装书堆叠，但节点判定取自回放。" + }, + "unmet": { + "comics_in_bookcase_1": true, + "comics_in_bookcase_2": true, + "comics_in_bookcase_3": true, + "notebooks_in_bookcase_1": true, + "notebooks_in_bookcase_2": true, + "hardbacks_in_bookcase_1": true, + "hardbacks_in_bookcase_2": true, + "comics_stacked_1": true, + "comics_stacked_2": false, + "notebooks_stacked": true, + "hardbacks_stacked": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 18.5, + "log_step": null, + "evidence_zh": "观察：视频 15–18.5 s，右夹爪在右上格精装书书缘收拢，视频 19–20 s 退开后书仍在原格；视频 22–24 s 的移送和放置方向运动没有带书。推断：此步所需的有效抓取未建立；没有可见的先持书离架再滑落过程，因此不是没保持住。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "日志 / 评分器字段 / 视频", + "evidence_zh": "观察：log step 6 的自制save_ckpt/load_ckpt保存扁平仿真状态和动作前缀，再恢复并重置策略；log step 77 从at_bookcase恢复后执行精装书搬运，log step 81保存after_move1。log step 93才把恢复流程改为先清除辅助抓握约束和手中对象信息；log step 121、161、169继续从中途检查点拼续录制，log step 173加载after_move4并直接导出2762行动作，未见从初态完整回放验收；评分器agent_replays=0、deterministic=1、q_score=2/11。推断：这份基于恢复检查点的录制被直接当作可交付轨迹，现场精装书堆叠结果未在视频 19–24 s 重现，交付缺少有效的回放验收；现有证据不足以进一步锁定是哪项辅助抓握或控制器内部状态导致偏差。" + } + ], + "gap_zh": "观察：inputs/有完整回放和运行日志，但没有逐帧状态日志；精装书抓取处手指与书缘局部遮挡，不能核实对向接触或力值，contact_actual保留未知。推断：七个初始柜内条件结合DAG核实初态和视频判定，持书阶段按D17冻结；末尾一本漫画堆叠结合视频 92.0–92.03 s 与评分器2/11判定，未独立验证完整松手静置窗口，不能把会话恢复检查点的成功状态当成视频事实。观察：log step 182出现模型提供方过滤信息，但log step 173已写出被评分的2762行动作，且视频内此前已发生未修复的精装书抓取失败，故仍标该物理失败。" + }, + "summary_zh": "七本书的初始柜内关系保持，视频约69.5 s完成笔记本堆叠，末尾约92.0 s有一本漫画叠在另一漫画上，最终为9/11；本次q_score=2/11不计仍保持的七个初始目标。最早未修复的断点是精装书堆叠：视频约18.5 s右夹爪未把书带离右上格，后续又把漫画叠到未移开的精装书上；会话从多个检查点恢复并直接导出动作，缺少从初态回放验收。无逐帧状态日志，末帧也未显示完整松手静置窗口；按本次原生关系评分计入末尾漫画关系，不追加当前DAG的一秒联合静置要求。", + "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、时间、断点（精装书堆叠，约18.5 s 未建立接触）与交付类根因都与帧和 q_score=2/11 相符；末尾漫画堆叠属推断，已标明依据，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:44:26Z", + "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-sorting-books-on-shelf-i00-privileged--kuaudny/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-privileged--kuaudny/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "75f5c55934b888a8a6ffaf3530b28f2634505ea6dcc344e51f507b41e3469eb1", + "video_sha256": "a8350df84cca527cc496cff09523e304cb3fcc35be03beedd3c7f368cce09ccd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--atcdjqe.json b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--atcdjqe.json new file mode 100644 index 0000000000000000000000000000000000000000..62086553dcb7292dd482320cd0d9e26b82946ab6 --- /dev/null +++ b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--atcdjqe.json @@ -0,0 +1,502 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-books-on-shelf-i00-standard--atcdjqe", + "taskKey": "behavior-1k/sorting_books_on_shelf", + "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce", + "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": 40602, + "sim_steps": 40602, + "physics_steps": 162408, + "steps": 8570, + "elapsed_s": 14006.7, + "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": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.811, + "peak_processes": 6, + "peak_disk_gb": 0.314, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-books-on-shelf-i00-standard--atcdjqe/replay.mp4", + "duration_s": 1353.4, + "fps": 30.0, + "frames": 40602, + "sha256": "9ae75419332edcb7e650dbc420bb8c8949a6c7ec9dfd820fd976dfdd57a58282" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 7, + "peak": 7, + "final": 5, + "nodes": { + "comics_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 120, + "log_step": null, + "text_zh": "推断：任务DAG说明七本书的柜内关系初始均成立；视频60、120、210 s的书柜视角显示书本分散在相邻四格，开始整理前未见出柜。因此柜内数量节点从视频0 s计入，按同类数量而非实例编号判断。" + }, + { + "t": 1040, + "log_step": null, + "text_zh": "观察：视频820、980、1040 s的书柜总览及之后的腕部扫视仍见柜内余书；未见这1本漫画所需的柜内数量条件被破坏。视频1352.5、1353.0 s核对终帧，柜前落书仍未放回，其余书维持此前格内位置。" + } + ] + }, + "comics_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 120, + "log_step": null, + "text_zh": "推断：任务DAG说明七本书的柜内关系初始均成立；视频60、120、210 s的书柜视角显示书本分散在相邻四格，开始整理前未见出柜。因此柜内数量节点从视频0 s计入，按同类数量而非实例编号判断。" + }, + { + "t": 1040, + "log_step": null, + "text_zh": "观察：视频820、980、1040 s的书柜总览及之后的腕部扫视仍见柜内余书；未见这2本漫画所需的柜内数量条件被破坏。视频1352.5、1353.0 s核对终帧，柜前落书仍未放回，其余书维持此前格内位置。" + } + ] + }, + "comics_in_bookcase_3": { + "method": "visual", + "intervals": [ + [ + 0, + 684.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 120, + "log_step": null, + "text_zh": "推断：任务DAG说明七本书的柜内关系初始均成立；视频60、120、210 s的书柜视角显示书本分散在相邻四格，开始整理前未见出柜。因此柜内数量节点从视频0 s计入，按同类数量而非实例编号判断。" + }, + { + "t": 684.5, + "log_step": 652, + "text_zh": "观察：视频672—684 s右夹爪携漫画离开原格，视频684.25—684.75 s漫画脱手，视频694、720、820 s清楚可见一本白背漫画躺在柜前地板上。持书期间沿用D17冻结；离手后柜内仅余两本漫画，失去至少三本的条件，时间约有0.5 s误差。" + }, + { + "t": 1353.0, + "log_step": null, + "text_zh": "观察：视频1048—1076 s和1140—1200 s的拾取尝试后，该白背漫画仍在柜前；视频1352.5、1353.0 s终帧未见它返回柜格。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频672—684 s右二指夹爪夹住黑封面白边漫画并随臂搬运；视频684.25 s附近漫画脱离夹爪，随后在柜前地板上可见白色背面。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频1048—1076 s左夹爪在柜前反复探入、推挤地上的漫画，使其一侧竖起靠向柜前；没有把它放回格内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频1240—1260 s机器人底盘小幅换位，仍在接近柜前两本落书；log step1768—1769的脚本说明同时为两本落书调整接近位置。" + } + ] + }, + "notebooks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 120, + "log_step": null, + "text_zh": "推断：任务DAG说明七本书的柜内关系初始均成立；视频60、120、210 s的书柜视角显示书本分散在相邻四格，开始整理前未见出柜。因此柜内数量节点从视频0 s计入，按同类数量而非实例编号判断。" + }, + { + "t": 1040, + "log_step": null, + "text_zh": "观察：视频820、980、1040 s的书柜总览及之后的腕部扫视仍见柜内余书；未见这1本笔记本所需的柜内数量条件被破坏。视频1352.5、1353.0 s核对终帧，柜前落书仍未放回，其余书维持此前格内位置。" + } + ] + }, + "notebooks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 120, + "log_step": null, + "text_zh": "推断：任务DAG说明七本书的柜内关系初始均成立；视频60、120、210 s的书柜视角显示书本分散在相邻四格，开始整理前未见出柜。因此柜内数量节点从视频0 s计入，按同类数量而非实例编号判断。" + }, + { + "t": 1040, + "log_step": null, + "text_zh": "观察：视频820、980、1040 s的书柜总览及之后的腕部扫视仍见柜内余书；未见这2本笔记本所需的柜内数量条件被破坏。视频1352.5、1353.0 s核对终帧，柜前落书仍未放回，其余书维持此前格内位置。" + } + ] + }, + "hardbacks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 120, + "log_step": null, + "text_zh": "推断：任务DAG说明七本书的柜内关系初始均成立；视频60、120、210 s的书柜视角显示书本分散在相邻四格，开始整理前未见出柜。因此柜内数量节点从视频0 s计入，按同类数量而非实例编号判断。" + }, + { + "t": 1040, + "log_step": null, + "text_zh": "观察：视频820、980、1040 s的书柜总览及之后的腕部扫视仍见柜内余书；未见这1本精装书所需的柜内数量条件被破坏。视频1352.5、1353.0 s核对终帧，柜前落书仍未放回，其余书维持此前格内位置。" + } + ] + }, + "hardbacks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + 933.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 120, + "log_step": null, + "text_zh": "推断：任务DAG说明七本书的柜内关系初始均成立；视频60、120、210 s的书柜视角显示书本分散在相邻四格，开始整理前未见出柜。因此柜内数量节点从视频0 s计入，按同类数量而非实例编号判断。" + }, + { + "t": 933.0, + "log_step": null, + "text_zh": "观察：视频927—932.5 s机器人右夹爪把右上格青色精装书带到柜外，视频932.75—933.5 s该书离手下落；视频940、980 s它与白背漫画并列躺在柜前地板上，左上蓝色花纹精装书仍在柜内。按D17持书时冻结，松脱后至少两本精装书在柜内的条件失去。" + }, + { + "t": 1353.0, + "log_step": null, + "text_zh": "观察：视频1100—1240 s右臂多次下探后青色书仍未入柜；视频1352.5、1353.0 s头部视角仍见它在柜前地板上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频927—932.5 s右二指夹爪夹住青色精装书并向柜前搬运；视频932.75 s附近松脱，视频940 s该书已在地板上。" + }, + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频1100—1240 s右夹爪反复向柜前青色书下降、闭合及抬升；书多次被手臂遮挡，不能逐次确认指垫接触方式，未见成功带回柜格。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频1240—1260 s底盘小幅前移，为右臂拾取柜前青色精装书调整接近位置；log step1768—1769记录该前移动作。" + } + ] + }, + "comics_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 354, + "log_step": 215, + "text_zh": "观察：视频340—362 s左夹爪在左下格附近闭合、抬起和撤离时未带走书；视频380—412 s左上格仍只有原有蓝色花纹书，左下格漫画仍在原处，没有新增同类上下叠放。" + }, + { + "t": 824, + "log_step": 986, + "text_zh": "观察：视频818—824 s左臂再次向左上格做放置及撤离动作，左下漫画仍未随夹爪搬走，左上蓝色花纹书上没有新增漫画；不能把log step238或986的放置脚本当成已叠好。" + }, + { + "t": 1353.0, + "log_step": null, + "text_zh": "推断：全片抽帧及操作段加密检查未见一次有效的同类漫画堆叠；视频1040 s仍见漫画分散，另一本在地板上。评分器q_score=0进一步限定终态没有新增堆叠目标成立；初始已真的柜内关系不计入该q_score。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频340—412 s和818—824 s左夹爪对左下漫画做闭爪、提臂及向左上格放置的尝试，书未随动；关键指垫区域被书柜与腕部遮挡，不能认定已形成抓握或区分擦碰方式。" + } + ] + }, + "comics_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 684.5, + "log_step": 652, + "text_zh": "观察：log step651—653的脚本把右下漫画送往其称作已有漫画堆的左上格；视频672—684 s实际夹起漫画，但视频684.25 s附近脱手，视频694 s已在柜前地板上，没有形成第二本漫画的同类上下接触。" + }, + { + "t": 1353.0, + "log_step": null, + "text_zh": "推断：视频694—1353.0 s反复拾取这本落书均未形成同类堆叠，第一本漫画堆叠条件也未曾完成；终态q_score=0与此一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频672—684 s右二指夹爪夹住黑封面白边漫画并随臂搬运；视频684.25 s附近漫画脱离夹爪，随后在柜前地板上可见白色背面。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频1048—1076 s左夹爪在柜前反复探入、推挤地上的漫画，使其一侧竖起靠向柜前；没有把它放回格内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频1240—1260 s机器人底盘小幅换位，仍在接近柜前两本落书；log step1768—1769的脚本说明同时为两本落书调整接近位置。" + } + ] + }, + "notebooks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 998, + "log_step": 1322, + "text_zh": "观察：log step1320—1323明确执行所谓右上书移到右下书的笔记本堆叠脚本；视频980—998 s右臂做相应伸入和撤出动作，原右上深色书仍在原格，右下未出现两本笔记本的新增上下叠放。" + }, + { + "t": 1353.0, + "log_step": null, + "text_zh": "推断：对照成功参考视频128 s两本带线圈笔记本上下接触的外观，本片整理前后的书柜扫视未显示相应变化；终态q_score=0也不允许该新增目标为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频980—998 s右夹爪向右上深色书伸入、闭合并执行移向右下格的动作；关键接触面遮挡，书未随动，不能据脚本中的“抓取”认定实际抓握。" + } + ] + }, + "hardbacks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 847.6, + "log_step": 1044, + "text_zh": "观察：log step1042—1045计划把右上青色精装书放到左下格；视频830—857 s这次动作后青色书仍在右上格，未在左下形成精装书堆叠。" + }, + { + "t": 933.0, + "log_step": null, + "text_zh": "观察：视频927—932.5 s右夹爪终于携青色精装书出柜，视频932.75 s附近该书掉到柜前；左上另一精装书未与它上下接触。视频940—1353.0 s该书一直未放回。" + }, + { + "t": 1353.0, + "log_step": null, + "text_zh": "推断：对照成功参考视频43 s两本青蓝色精装书在同一格上下叠放，本片没有形成该状态；评分器q_score=0与未完成相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频927—932.5 s右二指夹爪夹住青色精装书并向柜前搬运；视频932.75 s附近松脱，视频940 s该书已在地板上。" + }, + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频1100—1240 s右夹爪反复向柜前青色书下降、闭合及抬升；书多次被手臂遮挡，不能逐次确认指垫接触方式，未见成功带回柜格。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频1240—1260 s底盘小幅前移，为右臂拾取柜前青色精装书调整接近位置；log step1768—1769记录该前移动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "comics_stacked_1", + "t": 354.0, + "log_step": 215, + "where": "操作中", + "evidence_zh": "观察：机器人首先反复尝试从左下格取漫画并送往左上格；视频340—362 s提臂后夹爪为空，视频380—412 s原处漫画未被移走，目标格没有新增同类堆叠。log step215、220、233、238记录相应取放尝试；之后虽换书、重试并拾取落书，该堆叠节点始终未完成，故以首次未修复的漫画堆叠为断点，视频354 s仅为失败尝试的导航锚点。" + }, + "unmet": { + "comics_in_bookcase_1": true, + "comics_in_bookcase_2": true, + "comics_in_bookcase_3": false, + "notebooks_in_bookcase_1": true, + "notebooks_in_bookcase_2": true, + "hardbacks_in_bookcase_1": true, + "hardbacks_in_bookcase_2": false, + "comics_stacked_1": false, + "comics_stacked_2": false, + "notebooks_stacked": false, + "hardbacks_stacked": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 354.0, + "log_step": 215, + "evidence_zh": "观察：视频340—362 s左夹爪在左下格附近合拢、抬起并后撤，书没有跟随夹爪，随后视频380—412 s仍可见原处漫画；这一次取书没有建立搬运所需的夹持。后续视频672—684 s对另一本漫画的成功夹持不代表最初这次夹取成功，也没有修复同类堆叠。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频340—412 s及818—824 s机器人能到达书柜目标格附近并执行闭爪、抬升和放置动作，但漫画不随夹爪运动；log step215、220、233多次调整同一取书动作，log step986仍继续空手放置。这支持抓取执行控制未能建立有效夹持；缺乏指垫接触与受力日志，不能进一步区分接触设计或跟踪控制。" + }, + { + "cat": "认知", + "item": "感知", + "source_zh": "日志", + "evidence_zh": "推断：log step238把左上位置[-4.898,-0.722,0.747]的书称为Comic 1，并把该处作为漫画堆叠目标；视频390—412、820 s该处可见蓝色花纹精装书，对照成功参考视频43 s精装书堆叠的同款外观可辨认书类。agent把异类书误认为漫画支撑物，因而后续即使抓取成功，所选目标也不能满足同类漫画堆叠。参考录像仅用于书类与完成外观比较。" + } + ], + "gap_zh": "未提供逐帧状态日志；柜格与夹爪经常遮住指垫，无法逐次判定擦碰、辅助抓握锁定以及精确静止窗口。柜内数量的初始值依据DAG初态与本片后续扫视推断，持书期沿用D17冻结；两次掉书的失去时刻约有0.5 s误差。未将agent自述或其深度分割数值当成节点完成证据；评分器总分只约束终态，不用于推定未执行过动作。最后记录是log step1769等待前移完成，评分记录显示无基础设施错误；不将预算耗尽本身作为现象或根因。" + }, + "summary_zh": "初态七个柜内保持节点成立，但四个同类堆叠节点均未完成；视频684.5 s附近一本漫画掉到柜前，视频933 s附近一本青色精装书也掉到柜前，最终保留5/11个节点。最早未修复的步骤是第1本漫画叠好：左夹爪反复空取，且agent把左上蓝色精装书误认为漫画堆叠目标。缺少状态与接触日志，接触细节及两次失去柜内关系的时刻存在约0.5 s不确定性。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值与时间（684.5 s、933 s两次掉书，终态5/11，q_score=0与之相容）、断点（首个未修复的漫画堆叠）和现象/根因与我抽查的帧一致；未发现需要改动的内容。接触细节和log_step映射只能粗查，故置信度中等。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:47:08Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-standard--atcdjqe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-standard--atcdjqe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "66a8c0e5411bf09f962cedb9c9fcc9cbe38daf4c0eb2566700cba0bf7db161fd", + "video_sha256": "9ae75419332edcb7e650dbc420bb8c8949a6c7ec9dfd820fd976dfdd57a58282", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--qnpfrgg.json b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--qnpfrgg.json new file mode 100644 index 0000000000000000000000000000000000000000..b6b97f3dd44d836c4c4f4cf1973f7153cc66d325 --- /dev/null +++ b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--qnpfrgg.json @@ -0,0 +1,379 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-books-on-shelf-i00-standard--qnpfrgg", + "taskKey": "behavior-1k/sorting_books_on_shelf", + "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce", + "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": 45575, + "sim_steps": 45575, + "physics_steps": 182300, + "steps": 36605, + "elapsed_s": 10309.7, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-books-on-shelf-i00-standard--qnpfrgg/replay.mp4", + "duration_s": 1519.167, + "fps": 30.0, + "frames": 45575, + "sha256": "486a347b5cee96c067290dfc59f153adf3f51fb6183333a349bd859fb73ec845" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 7, + "peak": 7, + "final": 7, + "nodes": { + "comics_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 的本节点 note_zh 与 open_questions_zh 明确给出该类书全部初始在柜内、初始进度7/11；据此至少1本漫画在视频0.0 s即满足柜内条件。这是沿用DAG核实的初态，当前录像起始视角未直接展示目标书籍。" + }, + { + "t": 1519.1, + "log_step": 400, + "text_zh": "推断：视频0.0–1519.1 s的粗查及视频725–780 s的加密帧只见机器人在阁楼家具与楼梯口探索、倾倒和自救，未见机器人抓取或搬动目标书籍；视频1518.0–1519.1 s仍侧卧，夹爪空。结合上述初态，至少1本漫画的柜内条件沿用至终态；agent在log step 400也自述未接近目标书柜，但该自述不替代画面证据。" + } + ] + }, + "comics_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 的本节点 note_zh 与 open_questions_zh 明确给出该类书全部初始在柜内、初始进度7/11；据此至少2本漫画在视频0.0 s即满足柜内条件。这是沿用DAG核实的初态，当前录像起始视角未直接展示目标书籍。" + }, + { + "t": 1519.1, + "log_step": 400, + "text_zh": "推断：视频0.0–1519.1 s的粗查及视频725–780 s的加密帧只见机器人在阁楼家具与楼梯口探索、倾倒和自救，未见机器人抓取或搬动目标书籍；视频1518.0–1519.1 s仍侧卧，夹爪空。结合上述初态，至少2本漫画的柜内条件沿用至终态；agent在log step 400也自述未接近目标书柜，但该自述不替代画面证据。" + } + ] + }, + "comics_in_bookcase_3": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 的本节点 note_zh 与 open_questions_zh 明确给出该类书全部初始在柜内、初始进度7/11；据此至少3本漫画在视频0.0 s即满足柜内条件。这是沿用DAG核实的初态，当前录像起始视角未直接展示目标书籍。" + }, + { + "t": 1519.1, + "log_step": 400, + "text_zh": "推断：视频0.0–1519.1 s的粗查及视频725–780 s的加密帧只见机器人在阁楼家具与楼梯口探索、倾倒和自救，未见机器人抓取或搬动目标书籍；视频1518.0–1519.1 s仍侧卧，夹爪空。结合上述初态，至少3本漫画的柜内条件沿用至终态；agent在log step 400也自述未接近目标书柜，但该自述不替代画面证据。" + } + ] + }, + "notebooks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 的本节点 note_zh 与 open_questions_zh 明确给出该类书全部初始在柜内、初始进度7/11；据此至少1本笔记本在视频0.0 s即满足柜内条件。这是沿用DAG核实的初态，当前录像起始视角未直接展示目标书籍。" + }, + { + "t": 1519.1, + "log_step": 400, + "text_zh": "推断：视频0.0–1519.1 s的粗查及视频725–780 s的加密帧只见机器人在阁楼家具与楼梯口探索、倾倒和自救，未见机器人抓取或搬动目标书籍；视频1518.0–1519.1 s仍侧卧，夹爪空。结合上述初态，至少1本笔记本的柜内条件沿用至终态；agent在log step 400也自述未接近目标书柜，但该自述不替代画面证据。" + } + ] + }, + "notebooks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 的本节点 note_zh 与 open_questions_zh 明确给出该类书全部初始在柜内、初始进度7/11；据此至少2本笔记本在视频0.0 s即满足柜内条件。这是沿用DAG核实的初态，当前录像起始视角未直接展示目标书籍。" + }, + { + "t": 1519.1, + "log_step": 400, + "text_zh": "推断：视频0.0–1519.1 s的粗查及视频725–780 s的加密帧只见机器人在阁楼家具与楼梯口探索、倾倒和自救，未见机器人抓取或搬动目标书籍；视频1518.0–1519.1 s仍侧卧，夹爪空。结合上述初态，至少2本笔记本的柜内条件沿用至终态；agent在log step 400也自述未接近目标书柜，但该自述不替代画面证据。" + } + ] + }, + "hardbacks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 的本节点 note_zh 与 open_questions_zh 明确给出该类书全部初始在柜内、初始进度7/11；据此至少1本精装书在视频0.0 s即满足柜内条件。这是沿用DAG核实的初态，当前录像起始视角未直接展示目标书籍。" + }, + { + "t": 1519.1, + "log_step": 400, + "text_zh": "推断：视频0.0–1519.1 s的粗查及视频725–780 s的加密帧只见机器人在阁楼家具与楼梯口探索、倾倒和自救，未见机器人抓取或搬动目标书籍；视频1518.0–1519.1 s仍侧卧，夹爪空。结合上述初态，至少1本精装书的柜内条件沿用至终态；agent在log step 400也自述未接近目标书柜，但该自述不替代画面证据。" + } + ] + }, + "hardbacks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 的本节点 note_zh 与 open_questions_zh 明确给出该类书全部初始在柜内、初始进度7/11；据此至少2本精装书在视频0.0 s即满足柜内条件。这是沿用DAG核实的初态，当前录像起始视角未直接展示目标书籍。" + }, + { + "t": 1519.1, + "log_step": 400, + "text_zh": "推断：视频0.0–1519.1 s的粗查及视频725–780 s的加密帧只见机器人在阁楼家具与楼梯口探索、倾倒和自救，未见机器人抓取或搬动目标书籍；视频1518.0–1519.1 s仍侧卧，夹爪空。结合上述初态，至少2本精装书的柜内条件沿用至终态；agent在log step 400也自述未接近目标书柜，但该自述不替代画面证据。" + } + ] + }, + "comics_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 的 open_questions_zh 明确初始进度为7/11，由七个柜内条件构成，因此“第1本漫画叠好”初态不成立；视频0.0 s机器人面向阁楼墙壁，并未开始整理书籍。" + }, + { + "t": 1519.1, + "log_step": 400, + "text_zh": "推断：本次视频全段粗查、视频725–780 s加密帧及视频1518.0–1519.1 s终帧未见目标书籍被拿起或重新堆放，故初始未成立的“第1本漫画叠好”没有可见达成事件。评分器reward.q_score=0.0、live_matches_replay=1也约束其终态为false；q_score不计仍保持的七个初始柜内条件，不能据零分将它们判为失败。" + } + ] + }, + "comics_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 的 open_questions_zh 明确初始进度为7/11，由七个柜内条件构成，因此“第2本漫画叠好”初态不成立；视频0.0 s机器人面向阁楼墙壁，并未开始整理书籍。" + }, + { + "t": 1519.1, + "log_step": 400, + "text_zh": "推断：本次视频全段粗查、视频725–780 s加密帧及视频1518.0–1519.1 s终帧未见目标书籍被拿起或重新堆放，故初始未成立的“第2本漫画叠好”没有可见达成事件。评分器reward.q_score=0.0、live_matches_replay=1也约束其终态为false；q_score不计仍保持的七个初始柜内条件，不能据零分将它们判为失败。" + } + ] + }, + "notebooks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 的 open_questions_zh 明确初始进度为7/11，由七个柜内条件构成，因此“笔记本叠好”初态不成立；视频0.0 s机器人面向阁楼墙壁，并未开始整理书籍。" + }, + { + "t": 1519.1, + "log_step": 400, + "text_zh": "推断：本次视频全段粗查、视频725–780 s加密帧及视频1518.0–1519.1 s终帧未见目标书籍被拿起或重新堆放，故初始未成立的“笔记本叠好”没有可见达成事件。评分器reward.q_score=0.0、live_matches_replay=1也约束其终态为false；q_score不计仍保持的七个初始柜内条件，不能据零分将它们判为失败。" + } + ] + }, + "hardbacks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 的 open_questions_zh 明确初始进度为7/11，由七个柜内条件构成，因此“精装书叠好”初态不成立；视频0.0 s机器人面向阁楼墙壁，并未开始整理书籍。" + }, + { + "t": 1519.1, + "log_step": 400, + "text_zh": "推断：本次视频全段粗查、视频725–780 s加密帧及视频1518.0–1519.1 s终帧未见目标书籍被拿起或重新堆放，故初始未成立的“精装书叠好”没有可见达成事件。评分器reward.q_score=0.0、live_matches_replay=1也约束其终态为false；q_score不计仍保持的七个初始柜内条件，不能据零分将它们判为失败。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 769.0, + "log_step": 328, + "where": "探索", + "evidence_zh": "观察：视频768.5–770.5 s机器人在楼梯口附近转动后视野急剧侧翻，随后头部视野贴着木色竖面与白墙；视频780 s至1519.1 s未恢复正常行驶姿态。log step 327现场本体读数up_z=1.0，log step 328发出面向走廊的底盘转向命令后up_z=-0.05，log steps 332–333显示恢复失败且底座高度约-0.22 m。机器人此时仍在探查路线，未接触或选定任何一类目标书，因此无法把该失败唯一绑定到四个堆叠节点中的一个。" + }, + "unmet": { + "comics_in_bookcase_1": true, + "comics_in_bookcase_2": true, + "comics_in_bookcase_3": true, + "notebooks_in_bookcase_1": true, + "notebooks_in_bookcase_2": true, + "hardbacks_in_bookcase_1": true, + "hardbacks_in_bookcase_2": true, + "comics_stacked_1": false, + "comics_stacked_2": false, + "notebooks_stacked": false, + "hardbacks_stacked": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 769.0, + "log_step": 328, + "evidence_zh": "观察：视频768.5–771.0 s楼梯口、门框和天花板随机器人侧翻旋转约四分之一圈，头部相机最终贴近木色竖面；视频775–780 s以及1518.0–1519.1 s仍为侧卧视角。log step 328的现场底座竖直轴z分量为-0.05，log step 332自救后为-0.428，log step 399终态为-0.378，支持机器人失去支撑后一直未恢复。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 327在楼梯边后退后本体读数已恢复up_z=1.0，agent紧接着在log step 328让底盘在该处转向，命令结束时现场读数降至up_z=-0.05；与视频768.5–770.5 s的快速侧翻相符，说明这次底盘转向没有维持机身稳定。log steps 329、332、335、339反复驱动自救仍未恢复，视频至1519.1 s亦未脱困。证据支持移动与姿态控制失败，但不足以区分轨迹设计、姿态跟踪或接触几何的具体子类。" + } + ], + "gap_zh": "未提供逐帧状态日志；目标书柜与七本书未在本次录像中获得可核验的近景，七个柜内节点依据DAG明确的初始真值及机器人未搬动目标书籍作保持推断，四个堆叠终值同时受评分器q_score=0约束。未见机器人选定漫画、笔记本或精装书开始操作，故断点ref保留unknown；DAG没有对应此次路线探索的节点。机载相机可确认侧翻与持续受限，但不能看全底座、楼梯边和家具的接触链，无法核实agent在log steps 398、400所称的具体机械楔紧机制，根因只标到控制。" + }, + "summary_zh": "本次轨迹未见任何目标书籍搬运或同类堆叠；依据DAG明确的初态和未受机器人扰动的过程，七个柜内条件从视频0.0 s保持至终态，进度为7/11，四个堆叠节点均未达成。机器人在路线探索中多次倾倒，视频约769 s在楼梯口转向时侧翻，此后自救未能恢复，失败现象为平衡、根因为移动与姿态控制失败。目标书柜没有本次近景核验，且尚未选定具体书类，故保持条件为推断、断点节点为unknown；运行task_text使用目标成立即结束的旧规则，与DAG联合静置窗口的版本差异不影响本次未堆叠的结论。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "七个柜内节点从0.0 s沿用DAG初态并受q_score=0约束，四个堆叠节点未达成，与画面一致；视频约769 s楼梯口侧翻、此后未恢复，平衡+控制标注有帧和log支持。断点ref为unknown尚可接受。", + "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": "2026-10-30T21:43:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-standard--qnpfrgg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-standard--qnpfrgg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2f9765c0ce52f84015f6e2bd6530b1e134e5e76e6078db5a9a7d30e854096f93", + "video_sha256": "486a347b5cee96c067290dfc59f153adf3f51fb6183333a349bd859fb73ec845", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--qy65ox4.json b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--qy65ox4.json new file mode 100644 index 0000000000000000000000000000000000000000..0706f4f5fb5a5bbc99edf62f06f1d7a92b2fa342 --- /dev/null +++ b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--qy65ox4.json @@ -0,0 +1,521 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-books-on-shelf-i00-standard--qy65ox4", + "taskKey": "behavior-1k/sorting_books_on_shelf", + "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce", + "outcome": { + "success": 0, + "reward": 0.09090909090909091, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3228, + "sim_steps": 3228, + "physics_steps": 12912, + "steps": 520, + "elapsed_s": 6847.4, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.09090909090909091, + "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": 0.306, + "peak_processes": 9, + "peak_disk_gb": 0.389, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-books-on-shelf-i00-standard--qy65ox4/replay.mp4", + "duration_s": 107.6, + "fps": 30.0, + "frames": 3228, + "sha256": "54b2519d8e187c181b23ce17b43f7dd4b9fd4944cac7c4e11e9f34756fdab375" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 7, + "peak": 7, + "final": 7, + "nodes": { + "comics_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21.0, + "log_step": null, + "text_zh": "观察：视频 20.0–22.0 s 的头部及腕部近景可见三本漫画分布在右上、左中、右中柜格，分别处于精装书或笔记本下方，尚未形成同类堆叠。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 明确七本书初始均在柜内；视频 0.0–20.0 s 机器人只扫描和接近书柜，首次操作前各书仍在原柜格，因此相应柜内数量条件从视频 0.0 s 计入。" + }, + { + "t": 103.0, + "log_step": null, + "text_zh": "观察：视频 72.7–73.5 s，右夹爪已撤离，黑白封面漫画留在右上柜格的紫边漫画上；视频 102.5–104.0 s 头部视角仍见这两本，左中柜格另有一本漫画，未见漫画落到柜外。" + } + ] + }, + "comics_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21.0, + "log_step": null, + "text_zh": "观察：视频 20.0–22.0 s 的头部及腕部近景可见三本漫画分布在右上、左中、右中柜格，分别处于精装书或笔记本下方，尚未形成同类堆叠。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 明确七本书初始均在柜内；视频 0.0–20.0 s 机器人只扫描和接近书柜，首次操作前各书仍在原柜格，因此相应柜内数量条件从视频 0.0 s 计入。" + }, + { + "t": 103.0, + "log_step": null, + "text_zh": "观察：视频 72.7–73.5 s，右夹爪已撤离，黑白封面漫画留在右上柜格的紫边漫画上；视频 102.5–104.0 s 头部视角仍见这两本，左中柜格另有一本漫画，未见漫画落到柜外。" + } + ] + }, + "comics_in_bookcase_3": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21.0, + "log_step": null, + "text_zh": "观察：视频 20.0–22.0 s 的头部及腕部近景可见三本漫画分布在右上、左中、右中柜格，分别处于精装书或笔记本下方，尚未形成同类堆叠。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 明确七本书初始均在柜内；视频 0.0–20.0 s 机器人只扫描和接近书柜，首次操作前各书仍在原柜格，因此相应柜内数量条件从视频 0.0 s 计入。" + }, + { + "t": 72.7, + "log_step": 171, + "text_zh": "观察：视频 66.5–72.0 s 右夹爪持漫画搬运，视频 72.7–73.5 s 松手后该漫画与另一本漫画一起留在右上柜格；第三本仍在左中柜格。持书期间依 DAG 的 freeze_held 默认保留入柜状态，不因搬运中短暂出柜另开缺口。" + }, + { + "t": 103.0, + "log_step": null, + "text_zh": "观察：视频 72.7–73.5 s，右夹爪已撤离，黑白封面漫画留在右上柜格的紫边漫画上；视频 102.5–104.0 s 头部视角仍见这两本，左中柜格另有一本漫画，未见漫画落到柜外。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 66.5–72.0 s，机器人右二指夹爪夹住黑白封面漫画的前角，将其从右侧中层柜格提起，搬到右上柜格的另一漫画上，张爪释放。此前同一右夹爪在原柜格中反复推挤书角后才夹起。" + } + ] + }, + "notebooks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21, + "log_step": null, + "text_zh": "观察：视频 20.0–22.0 s 左腕视角显示左中柜格的深蓝笔记本，右腕视角显示右中柜格的线圈笔记本位于黑白封面漫画下，两本均在柜内。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 明确七本书初始均在柜内；视频 0.0–20.0 s 机器人只扫描和接近书柜，首次操作前各书仍在原柜格，因此相应柜内数量条件从视频 0.0 s 计入。" + }, + { + "t": 107.5, + "log_step": null, + "text_zh": "观察：视频 72.7–73.5 s 黑白封面漫画被搬走后，线圈笔记本仍在右中柜格；视频 102.5–104.0 s 可见其留在该格，视频 106.5–107.5 s 另一深蓝笔记本仍平放左中柜格内，未被带出。" + } + ] + }, + "notebooks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21, + "log_step": null, + "text_zh": "观察：视频 20.0–22.0 s 左腕视角显示左中柜格的深蓝笔记本，右腕视角显示右中柜格的线圈笔记本位于黑白封面漫画下，两本均在柜内。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 明确七本书初始均在柜内；视频 0.0–20.0 s 机器人只扫描和接近书柜，首次操作前各书仍在原柜格，因此相应柜内数量条件从视频 0.0 s 计入。" + }, + { + "t": 107.5, + "log_step": null, + "text_zh": "观察：视频 72.7–73.5 s 黑白封面漫画被搬走后，线圈笔记本仍在右中柜格；视频 102.5–104.0 s 可见其留在该格，视频 106.5–107.5 s 另一深蓝笔记本仍平放左中柜格内，未被带出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 79.5–98.0 s，机器人左夹爪多次靠近左侧中层的深蓝色笔记本前缘并向柜内推挤，书向后移动；未见笔记本随夹爪稳定提离原处。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 96.0–98.0 s 左夹爪、视频 105.0–107.5 s 右夹爪先后以闭合指尖接触笔记本附近书面并向前拖动；两臂依次尝试，未见双臂同时夹持或形成稳定抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 98.5–104.5 s，机器人在继续抓取笔记本的过程中驱动底盘靠近书柜、后退并横移到左列前方，车轮经地板支撑机身。" + } + ] + }, + "hardbacks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21, + "log_step": null, + "text_zh": "观察：视频 20.0–23.0 s 可见上层两个相邻柜格内各有一本精装书：左边亮蓝封面，右边青绿色封面；两书各自留在柜格内，没有互相叠放。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 明确七本书初始均在柜内；视频 0.0–20.0 s 机器人只扫描和接近书柜，首次操作前各书仍在原柜格，因此相应柜内数量条件从视频 0.0 s 计入。" + }, + { + "t": 102.5, + "log_step": null, + "text_zh": "观察：视频 87.5–91.0 s、视频 101.5–102.5 s 腕部视角仍见亮蓝封面精装书留在原上层柜格，机器人未将其取走。" + } + ] + }, + "hardbacks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + 46.7 + ] + ], + "final": false, + "evidence": [ + { + "t": 21, + "log_step": null, + "text_zh": "观察：视频 20.0–23.0 s 可见上层两个相邻柜格内各有一本精装书：左边亮蓝封面，右边青绿色封面；两书各自留在柜格内，没有互相叠放。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 明确七本书初始均在柜内；视频 0.0–20.0 s 机器人只扫描和接近书柜，首次操作前各书仍在原柜格，因此相应柜内数量条件从视频 0.0 s 计入。" + }, + { + "t": 46.7, + "log_step": 99, + "text_zh": "观察：视频 45.8–46.4 s 青绿色精装书仍被右夹爪持在柜外，视频 46.6–47.0 s 夹爪张开后书直接下落；视频 50.0 s、视频 98.5–102.0 s 腕部视角可见它平躺柜前木地板上，后续没有取回。持书期间按 freeze_held 保留原值，约视频 46.7 s 松手后失去第二本入柜条件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 42.5–46.6 s，机器人右二指夹爪夹住青绿色精装书的前边并持书撤出柜格，随后在柜外张爪；此前右夹爪曾推挤这本书，书在柜格内改变位置。" + } + ] + }, + "comics_stacked_1": { + "method": "visual", + "intervals": [ + [ + 72.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21, + "log_step": null, + "text_zh": "观察：视频 20.0–22.0 s 的头部及腕部近景可见三本漫画分布在右上、左中、右中柜格，分别处于精装书或笔记本下方，尚未形成同类堆叠。" + }, + { + "t": 72.2, + "log_step": 171, + "text_zh": "观察：视频 66.5–69.0 s 右夹爪把黑白封面漫画从原中层柜格提起并移向右上柜格；视频 71.9–72.5 s 夹爪张开、书落在紫边漫画上，视频 72.7–73.5 s 夹爪撤走后两本保持上下接触，约视频 72.2 s 达成。" + }, + { + "t": 103.0, + "log_step": null, + "text_zh": "观察：视频 102.5–104.0 s 头部视角中黑白封面漫画仍叠在右上柜格的另一漫画上，之后机器人只在左侧中层柜格继续操作。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 66.5–72.0 s，机器人右二指夹爪夹住黑白封面漫画的前角，将其从右侧中层柜格提起，搬到右上柜格的另一漫画上，张爪释放。此前同一右夹爪在原柜格中反复推挤书角后才夹起。" + } + ] + }, + "comics_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21, + "log_step": null, + "text_zh": "观察：视频 20.0–22.0 s 的头部及腕部近景可见三本漫画分布在右上、左中、右中柜格，分别处于精装书或笔记本下方，尚未形成同类堆叠。" + }, + { + "t": 103.0, + "log_step": null, + "text_zh": "观察：视频 72.7–104.0 s 右上柜格只有两本漫画相叠，另一漫画始终在左中柜格的笔记本下方，未见它移到同类漫画上。" + }, + { + "t": 107.5, + "log_step": null, + "text_zh": "推断：评分器 q_score=1/11，live_matches_replay=1；初态已经成立的柜内关系不计新增得分。已见一本漫画堆叠对应这一项新增关系，结合视频中另一漫画未转移，第二本漫画堆叠终值为假。" + } + ] + }, + "notebooks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21, + "log_step": null, + "text_zh": "观察：视频 20.0–22.0 s 左腕视角显示左中柜格的深蓝笔记本，右腕视角显示右中柜格的线圈笔记本位于黑白封面漫画下，两本均在柜内。" + }, + { + "t": 98.0, + "log_step": 226, + "text_zh": "观察：视频 74.0–98.0 s 机器人左夹爪反复接近深蓝笔记本、推挤并试图提起，但每次撤手后笔记本仍在左中柜格；另一线圈笔记本留在右中柜格，两本没有上下接触。" + }, + { + "t": 107.5, + "log_step": 249, + "text_zh": "观察：视频 105.0–107.5 s 机器人改用右夹爪在左中柜格笔记本附近拖动，末尾笔记本仍留原格；未见它离开原处到达另一笔记本上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 79.5–98.0 s，机器人左夹爪多次靠近左侧中层的深蓝色笔记本前缘并向柜内推挤，书向后移动；未见笔记本随夹爪稳定提离原处。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 96.0–98.0 s 左夹爪、视频 105.0–107.5 s 右夹爪先后以闭合指尖接触笔记本附近书面并向前拖动；两臂依次尝试，未见双臂同时夹持或形成稳定抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 98.5–104.5 s，机器人在继续抓取笔记本的过程中驱动底盘靠近书柜、后退并横移到左列前方，车轮经地板支撑机身。" + } + ] + }, + "hardbacks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21, + "log_step": null, + "text_zh": "观察：视频 20.0–23.0 s 可见上层两个相邻柜格内各有一本精装书：左边亮蓝封面，右边青绿色封面；两书各自留在柜格内，没有互相叠放。" + }, + { + "t": 46.7, + "log_step": 99, + "text_zh": "观察：视频 43.5–46.4 s 右夹爪持青绿色精装书撤出后，在低于上层目标柜格的位置停留，未把它移到亮蓝精装书上；视频 46.6–47.0 s 于柜外松爪，书下落至地面。" + }, + { + "t": 102.0, + "log_step": null, + "text_zh": "观察：视频 98.5–102.0 s 青绿色精装书仍在柜前地板，亮蓝精装书留在上层柜格，整个后续录像没有恢复两书堆叠。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 42.5–46.6 s，机器人右二指夹爪夹住青绿色精装书的前边并持书撤出柜格，随后在柜外张爪；此前右夹爪曾推挤这本书，书在柜格内改变位置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.09090909090909091, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "hardbacks_stacked", + "t": 46.7, + "log_step": 99, + "where": "操作中", + "evidence_zh": "观察：log step 99 的脚本目标是把青绿色精装书放到相邻柜格的亮蓝精装书上；视频 43.5–46.4 s 机器人右夹爪持书向柜外下方移动，视频 46.6–47.0 s 未到目标便张爪，书直接落到地板。视频 50.0 s 及视频 98.5–102.0 s 可见书仍在地板；后续机器人转做漫画及笔记本，没有修复精装书堆叠，因此这是首个未修复的失败步骤。" + }, + "unmet": { + "comics_in_bookcase_1": true, + "comics_in_bookcase_2": true, + "comics_in_bookcase_3": true, + "notebooks_in_bookcase_1": true, + "notebooks_in_bookcase_2": true, + "hardbacks_in_bookcase_1": true, + "hardbacks_in_bookcase_2": false, + "comics_stacked_1": true, + "comics_stacked_2": false, + "notebooks_stacked": false, + "hardbacks_stacked": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 46.7, + "log_step": 99, + "evidence_zh": "观察：视频 45.8–46.4 s 青绿色精装书被右夹爪持在柜格外，下面可见木地板，目标亮蓝精装书仍在上层另一柜格；视频 46.6–47.0 s 夹爪张开，书从柜外直接落下。释放前没有到达另一精装书上方或与其接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "evidence_zh": "推断：log step 99 将移动、下降、张爪和撤回拼成一次 joint_position 提交，张爪只按预定行序执行，未以实际末端到位为条件。log step 98、107 的 IK 返回目标位置可解；但 log step 105 的实测末端在释放段约为 [-4.54,-0.93,0.493] 米，明显偏离脚本放置目标 [-4.995,-0.785,0.773] 米，log step 108 也显示右臂关节命令与实测不一致。视频 43.5–47.0 s 对应地显示机械臂偏离上层目标且仍按序松爪；未用执行反馈阻止未到位释放，导致书落到地板。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "未提供逐帧状态日志；柜内包围盒中心和精确接触对无法直接测量，按操作前、操作后多视角位置及持物冻结规则判断，关键节点时间约有半秒误差。日志与视频能确认精装书放置轨迹未到位仍被释放，但不能进一步确定跟踪偏差源于哪一处自碰撞、外部阻挡或动力学限制；原始 run.json 的 task_text 为空，最后的 agent 文字（log step 220）仍是等待执行完成，没有最终完成报告。" + }, + "summary_zh": "初态七本书均在柜内，进度为 7/11；视频约 46.7 s 青绿色精装书在柜外松手落地，第二本精装书入柜条件失去，进度降至 6/11，视频约 72.2 s 完成一本漫画的同类堆叠后回到 7/11。首个未修复断点为精装书堆叠：放置执行偏离目标，脚本仍按预定序列张爪；随后虽完成漫画堆叠并反复尝试笔记本，精装书未被取回，另一本漫画及笔记本堆叠也未完成。无逐帧状态日志，柜内关系和节点时间来自多视角录像，原生 q_score=1/11 不计已保持的初态关系，与 DAG 最终 7/11 的计数口径不同。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查未发现需改动之处：精装书约 46.7 s 在柜外松手落地并留在地板（视频 50 s 可见），断点、节点进度（q_score=1/11 与 final 7 的口径已在摘要说明）和根因与所见一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:45:36Z", + "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-sorting-books-on-shelf-i00-standard--qy65ox4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-standard--qy65ox4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "df5446d4c49cbd0cd06fcf2b0f522b1901aea7dc21c3920800434efd9ffc0bb3", + "video_sha256": "54b2519d8e187c181b23ce17b43f7dd4b9fd4944cac7c4e11e9f34756fdab375", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--wwo8vmn.json b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--wwo8vmn.json new file mode 100644 index 0000000000000000000000000000000000000000..63068f782234b3edfacad393db4d1e249b420af2 --- /dev/null +++ b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--wwo8vmn.json @@ -0,0 +1,547 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-books-on-shelf-i00-standard--wwo8vmn", + "taskKey": "behavior-1k/sorting_books_on_shelf", + "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce", + "outcome": { + "success": 0, + "reward": 0.2727272727272727, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 28723, + "sim_steps": 28723, + "physics_steps": 114892, + "steps": 28723, + "elapsed_s": 14196.2, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.2727272727272727, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-books-on-shelf-i00-standard--wwo8vmn/replay.mp4", + "duration_s": 957.433, + "fps": 30.0, + "frames": 28723, + "sha256": "22b96365b4081b477e29674a5e940d84ada78aa2ea30726fd18ffab7db2c8cb0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 7, + "peak": 10, + "final": 10, + "nodes": { + "comics_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37.5, + "log_step": null, + "text_zh": "推断：视频37.5 s首次清楚看到四个有书柜格，随后腕部近景分辨出上左单本精装书、上右精装书压漫画、下左蓝色笔记本压漫画、下右漫画压黑色笔记本；机器人此前仅导航、未操作书本，结合DAG初态说明，七本书的柜内关系从视频0 s即成立。" + }, + { + "t": 704, + "log_step": 492, + "text_zh": "观察：视频689–704 s机器人左爪把下右漫画搬到上右漫画上并松手；视频937–940 s最后一本漫画脱离夹爪后仍落在下左柜格。视频957.4 s末帧仍见上层两本漫画和下层单本漫画，未见漫画掉到柜外；持书搬运期间按DAG冻结柜内节点，离手后的三本漫画仍在柜内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住下右漫画并移入上层漫画柜格（视频689–704 s）；整理最后一本漫画时也短暂夹住书角（视频933–937 s）。这些计数节点共用同一整理过程，不表示各有一次独立搬运。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频887–938 s左夹爪多次碰动下左剩余漫画，漫画在柜格内转动、向柜口移动。" + } + ] + }, + "comics_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37.5, + "log_step": null, + "text_zh": "推断：视频37.5 s首次清楚看到四个有书柜格，随后腕部近景分辨出上左单本精装书、上右精装书压漫画、下左蓝色笔记本压漫画、下右漫画压黑色笔记本；机器人此前仅导航、未操作书本，结合DAG初态说明，七本书的柜内关系从视频0 s即成立。" + }, + { + "t": 704, + "log_step": 492, + "text_zh": "观察：视频689–704 s机器人左爪把下右漫画搬到上右漫画上并松手；视频937–940 s最后一本漫画脱离夹爪后仍落在下左柜格。视频957.4 s末帧仍见上层两本漫画和下层单本漫画，未见漫画掉到柜外；持书搬运期间按DAG冻结柜内节点，离手后的三本漫画仍在柜内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住下右漫画并移入上层漫画柜格（视频689–704 s）；整理最后一本漫画时也短暂夹住书角（视频933–937 s）。这些计数节点共用同一整理过程，不表示各有一次独立搬运。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频887–938 s左夹爪多次碰动下左剩余漫画，漫画在柜格内转动、向柜口移动。" + } + ] + }, + "comics_in_bookcase_3": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37.5, + "log_step": null, + "text_zh": "推断：视频37.5 s首次清楚看到四个有书柜格，随后腕部近景分辨出上左单本精装书、上右精装书压漫画、下左蓝色笔记本压漫画、下右漫画压黑色笔记本；机器人此前仅导航、未操作书本，结合DAG初态说明，七本书的柜内关系从视频0 s即成立。" + }, + { + "t": 704, + "log_step": 492, + "text_zh": "观察：视频689–704 s机器人左爪把下右漫画搬到上右漫画上并松手；视频937–940 s最后一本漫画脱离夹爪后仍落在下左柜格。视频957.4 s末帧仍见上层两本漫画和下层单本漫画，未见漫画掉到柜外；持书搬运期间按DAG冻结柜内节点，离手后的三本漫画仍在柜内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住下右漫画并移入上层漫画柜格（视频689–704 s）；整理最后一本漫画时也短暂夹住书角（视频933–937 s）。这些计数节点共用同一整理过程，不表示各有一次独立搬运。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频887–938 s左夹爪多次碰动下左剩余漫画，漫画在柜格内转动、向柜口移动。" + } + ] + }, + "notebooks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37.5, + "log_step": null, + "text_zh": "推断：视频37.5 s首次清楚看到四个有书柜格，随后腕部近景分辨出上左单本精装书、上右精装书压漫画、下左蓝色笔记本压漫画、下右漫画压黑色笔记本；机器人此前仅导航、未操作书本，结合DAG初态说明，七本书的柜内关系从视频0 s即成立。" + }, + { + "t": 859, + "log_step": 554, + "text_zh": "观察：视频660–664 s蓝色笔记本在上层空柜格内松手，视频858.5–862.5 s黑色笔记本在同一柜格内松手并落在蓝色本上，视频957.4 s两本仍在该柜格内；先前抓取失败没有把笔记本留在柜外。持书搬运时沿用DAG冻结默认。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪先夹蓝色笔记本并放入空上层柜格（视频638–663 s），再夹黑色笔记本搬到蓝色本上松手（视频756–859 s）。两个柜内计数节点共享这两次实际搬运。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：左夹爪在薄笔记本边角抓取失败后拨动、滑移书本，见视频198–235 s及视频600–622 s。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人持蓝色笔记本横移底盘至空柜格（视频645–651 s），持黑色笔记本横移及前后调整底盘（视频761–766 s、795–799 s、850–852 s）。" + } + ] + }, + "notebooks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37.5, + "log_step": null, + "text_zh": "推断：视频37.5 s首次清楚看到四个有书柜格，随后腕部近景分辨出上左单本精装书、上右精装书压漫画、下左蓝色笔记本压漫画、下右漫画压黑色笔记本；机器人此前仅导航、未操作书本，结合DAG初态说明，七本书的柜内关系从视频0 s即成立。" + }, + { + "t": 859, + "log_step": 554, + "text_zh": "观察：视频660–664 s蓝色笔记本在上层空柜格内松手，视频858.5–862.5 s黑色笔记本在同一柜格内松手并落在蓝色本上，视频957.4 s两本仍在该柜格内；先前抓取失败没有把笔记本留在柜外。持书搬运时沿用DAG冻结默认。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪先夹蓝色笔记本并放入空上层柜格（视频638–663 s），再夹黑色笔记本搬到蓝色本上松手（视频756–859 s）。两个柜内计数节点共享这两次实际搬运。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：左夹爪在薄笔记本边角抓取失败后拨动、滑移书本，见视频198–235 s及视频600–622 s。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人持蓝色笔记本横移底盘至空柜格（视频645–651 s），持黑色笔记本横移及前后调整底盘（视频761–766 s、795–799 s、850–852 s）。" + } + ] + }, + "hardbacks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37.5, + "log_step": null, + "text_zh": "推断：视频37.5 s首次清楚看到四个有书柜格，随后腕部近景分辨出上左单本精装书、上右精装书压漫画、下左蓝色笔记本压漫画、下右漫画压黑色笔记本；机器人此前仅导航、未操作书本，结合DAG初态说明，七本书的柜内关系从视频0 s即成立。" + }, + { + "t": 504, + "log_step": 413, + "text_zh": "观察：视频296–298 s机器人把青色精装书松手放回上左柜格，视频502–504 s把浅绿色精装书松手叠在其上；视频957.4 s两本仍在上左柜格。持书暂时移出柜口时按DAG冻结节点，离手后两本均留在柜内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左二指夹爪夹住青色精装书角，取出后放回上左柜格（视频285–298 s）；随后夹住邻格浅绿色精装书并叠到青色书上（视频486–504 s）。两个柜内计数节点共享这两次实际整理。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频365–400 s机器人左夹爪在浅绿色精装书边缘碰推，使书在柜格内平移、转动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人夹持浅绿色精装书时横移底盘，把书带向上左柜格，见视频491–496 s。" + } + ] + }, + "hardbacks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37.5, + "log_step": null, + "text_zh": "推断：视频37.5 s首次清楚看到四个有书柜格，随后腕部近景分辨出上左单本精装书、上右精装书压漫画、下左蓝色笔记本压漫画、下右漫画压黑色笔记本；机器人此前仅导航、未操作书本，结合DAG初态说明，七本书的柜内关系从视频0 s即成立。" + }, + { + "t": 504, + "log_step": 413, + "text_zh": "观察：视频296–298 s机器人把青色精装书松手放回上左柜格，视频502–504 s把浅绿色精装书松手叠在其上；视频957.4 s两本仍在上左柜格。持书暂时移出柜口时按DAG冻结节点，离手后两本均留在柜内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左二指夹爪夹住青色精装书角，取出后放回上左柜格（视频285–298 s）；随后夹住邻格浅绿色精装书并叠到青色书上（视频486–504 s）。两个柜内计数节点共享这两次实际整理。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频365–400 s机器人左夹爪在浅绿色精装书边缘碰推，使书在柜格内平移、转动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人夹持浅绿色精装书时横移底盘，把书带向上左柜格，见视频491–496 s。" + } + ] + }, + "comics_stacked_1": { + "method": "visual", + "intervals": [ + [ + 703.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 703.5, + "log_step": 492, + "text_zh": "观察：视频689–702.5 s机器人左爪把下右漫画抬到上右漫画上方；视频703–703.5 s张爪后上本落在下本上，视频705–708 s夹爪撤离、两本漫画保持叠放。视频957.4 s该两本堆叠仍在，第三本单留下层柜格。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频689–704 s机器人左二指夹爪夹住下右漫画的书角，抬起并放到上右漫画上后张开；另一只手没有同时接触这两本漫画。" + } + ] + }, + "comics_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 889, + "log_step": 559, + "text_zh": "观察：视频886–897.5 s机器人左爪在下左单本漫画边角反复闭合，漫画只在原柜格内移动，没有被搬到上层两本漫画上。" + }, + { + "t": 938, + "log_step": 571, + "text_zh": "观察：视频933.5–937 s左爪回撤时漫画书角随爪移动，视频937.5–939 s漫画与指爪分离，左爪继续空手退出；漫画留在下左柜格。视频957.4 s最后一帧仍为上层两本漫画叠放、下层一本单独放置，未出现第二本上层漫画。" + }, + { + "t": 957.4, + "log_step": null, + "text_zh": "推断：评分器q_score=0.2727272727272727（3/11），live_matches_replay=1；七个初始柜内目标不计新增得分，终态可见的精装书、笔记本、第一层漫画三个新堆叠与该总分相符，不能再容纳第二层漫画堆叠。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住下右漫画并移入上层漫画柜格（视频689–704 s）；整理最后一本漫画时也短暂夹住书角（视频933–937 s）。这些计数节点共用同一整理过程，不表示各有一次独立搬运。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频887–938 s左夹爪多次碰动下左剩余漫画，漫画在柜格内转动、向柜口移动。" + } + ] + }, + "notebooks_stacked": { + "method": "visual", + "intervals": [ + [ + 859, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 859, + "log_step": 554, + "text_zh": "观察：视频857–858 s黑色笔记本仍由左夹爪夹持，位于蓝色笔记本上方；视频858.5–859 s夹爪张开，黑色本落到蓝色本上，视频861–869 s手撤离后两本仍上下接触。视频957.4 s上层右侧柜格仍见该叠放，边缘错开没有使上下接触消失。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪先夹蓝色笔记本并放入空上层柜格（视频638–663 s），再夹黑色笔记本搬到蓝色本上松手（视频756–859 s）。两个柜内计数节点共享这两次实际搬运。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：左夹爪在薄笔记本边角抓取失败后拨动、滑移书本，见视频198–235 s及视频600–622 s。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人持蓝色笔记本横移底盘至空柜格（视频645–651 s），持黑色笔记本横移及前后调整底盘（视频761–766 s、795–799 s、850–852 s）。" + } + ] + }, + "hardbacks_stacked": { + "method": "visual", + "intervals": [ + [ + 502.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 502.5, + "log_step": 413, + "text_zh": "观察：视频500–501.5 s左夹爪仍夹着浅绿色精装书悬在青色精装书上；视频502–502.5 s夹爪张开，浅绿色书下落贴在青色书上，视频504–505.5 s手撤离后两书保持上下接触；视频957.4 s仍在。首次成立约有0.5 s误差。" + }, + { + "t": 504, + "log_step": 413, + "text_zh": "推断：log step 413服务记录release_teal结束于control_steps=15113；本单回合28723控制步/30 Hz=视频957.433 s，且视频502–504 s可见的张爪及静置与该映射相符。只用控制步核对视频锚点，未把agent工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左二指夹爪夹住青色精装书角，取出后放回上左柜格（视频285–298 s）；随后夹住邻格浅绿色精装书并叠到青色书上（视频486–504 s）。两个柜内计数节点共享这两次实际整理。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频365–400 s机器人左夹爪在浅绿色精装书边缘碰推，使书在柜格内平移、转动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人夹持浅绿色精装书时横移底盘，把书带向上左柜格，见视频491–496 s。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2727272727272727, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "comics_stacked_2", + "t": 937.5, + "log_step": 571, + "where": "操作中", + "evidence_zh": "观察：视频886–957.4 s机器人持续尝试下左最后一本漫画的边角抓取；视频933.5–937 s书角随左爪回撤，视频937.5–939 s书与夹爪分离，留在原下层柜格。此后只继续调角闭爪，没有把它叠上上层两本漫画，前面的精装书、笔记本和第一层漫画堆叠均保留。" + }, + "unmet": { + "comics_in_bookcase_1": true, + "comics_in_bookcase_2": true, + "comics_in_bookcase_3": true, + "notebooks_in_bookcase_1": true, + "notebooks_in_bookcase_2": true, + "hardbacks_in_bookcase_1": true, + "hardbacks_in_bookcase_2": true, + "comics_stacked_1": true, + "comics_stacked_2": false, + "notebooks_stacked": true, + "hardbacks_stacked": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 937.5, + "log_step": 571, + "evidence_zh": "观察：视频933.5–937 s最后一本漫画的书角随闭合左夹爪向柜口移动，视频937.5–939 s漫画从指爪接触处脱开、留在下层柜格，左爪继续空手退出。log step 570命令这两段回撤均为grip=0，没有计划松手；log step 571末尾夹爪开口读数降至约0.00000076 m。" + } + ], + "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933.5–938.5 s左爪仅夹住最后一本漫画的局部书角，开始回撤后书角相对夹爪持续偏移直至分离，说明该次角部夹持不足以稳定承载撤出运动。log step 568选择后左角并闭爪，log step 570在grip=0条件下抬升及回撤，排除了主动张爪放书；log step 571的开口读数也由log step 569约0.049 m降至近零。现有证据没有验证这本书在当时姿态下的另一可行夹持。" + } + ], + "gap_zh": "本回合没有逐帧状态日志、辅助抓握附件状态或接触力；柜内中心位置和松手静止采用多视角画面推断，节点首次成立时间约有0.5 s误差。最后漫画书角的夹持失效可见，但不能从画面精确区分指垫落点、夹持力及辅助抓握触发各自的影响。日志在log step 576的最后一次闭爪命令后结束，没有最终文字报告；已检查视频956.4–957.4 s及末帧，未见最后漫画转移。" + }, + "summary_zh": "七个柜内计数节点从初态成立；机器人在视频约502.5 s完成精装书堆叠、约703.5 s完成第一层漫画堆叠、约859 s完成笔记本堆叠，终态10/11。断点为第二层漫画堆叠：最后一本漫画在视频约937.5 s的角部夹持回撤中脱开，之后未再搬离下层柜格。没有状态日志，书本中心及精确接触机制由画面推断；评分器q_score=3/11与三个新增堆叠目标一致，不能当作本DAG仅完成3/11。", + "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、时间与断点（第二层漫画堆叠）与视频末段及q_score=3/11一致；未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:43:08Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-standard--wwo8vmn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-standard--wwo8vmn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5ebf104e4a3545acae2e1b81f72e281540861f6f58faba4fedfdf2b580378ed0", + "video_sha256": "22b96365b4081b477e29674a5e940d84ada78aa2ea30726fd18ffab7db2c8cb0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--zcihzbj.json b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--zcihzbj.json new file mode 100644 index 0000000000000000000000000000000000000000..b68eea993eaff1cc40894d08f18d3b2223db696f --- /dev/null +++ b/phase2/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--zcihzbj.json @@ -0,0 +1,368 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-books-on-shelf-i00-standard--zcihzbj", + "taskKey": "behavior-1k/sorting_books_on_shelf", + "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce", + "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": 1642, + "sim_steps": 1642, + "physics_steps": 6568, + "steps": 548, + "elapsed_s": 554.4, + "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-sorting-books-on-shelf-i00-standard--zcihzbj/replay.mp4", + "duration_s": 54.733, + "fps": 30.0, + "frames": 1642, + "sha256": "3212118dea33e46bfec56d7a5d0fe283e82806a42ce8a930be95e9d1d3d06c6c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 7, + "peak": 7, + "final": 7, + "nodes": { + "comics_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务DAG本节点note_zh及open_questions_zh记载初态七本书均在柜内，因此至少1本漫画在柜内的条件自视频0 s成立。视频0–54.65 s机器人只在门、墙、沙发和楼梯附近转向、试探躯干及移动，两个腕部视角始终没有书，未见搬书或碰及书柜；据已知初态与无相关扰动推断该关系保持至末尾。柜内区域未进入本次视野，非逐本直接目视确认；参考成功视频仅用于识别书柜外观，不作本次状态证据。" + } + ] + }, + "comics_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务DAG本节点note_zh及open_questions_zh记载初态七本书均在柜内，因此至少2本漫画在柜内的条件自视频0 s成立。视频0–54.65 s机器人只在门、墙、沙发和楼梯附近转向、试探躯干及移动，两个腕部视角始终没有书，未见搬书或碰及书柜；据已知初态与无相关扰动推断该关系保持至末尾。柜内区域未进入本次视野，非逐本直接目视确认；参考成功视频仅用于识别书柜外观，不作本次状态证据。" + } + ] + }, + "comics_in_bookcase_3": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务DAG本节点note_zh及open_questions_zh记载初态七本书均在柜内，因此至少3本漫画在柜内的条件自视频0 s成立。视频0–54.65 s机器人只在门、墙、沙发和楼梯附近转向、试探躯干及移动，两个腕部视角始终没有书，未见搬书或碰及书柜；据已知初态与无相关扰动推断该关系保持至末尾。柜内区域未进入本次视野，非逐本直接目视确认；参考成功视频仅用于识别书柜外观，不作本次状态证据。" + } + ] + }, + "notebooks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务DAG本节点note_zh及open_questions_zh记载初态七本书均在柜内，因此至少1本笔记本在柜内的条件自视频0 s成立。视频0–54.65 s机器人只在门、墙、沙发和楼梯附近转向、试探躯干及移动，两个腕部视角始终没有书，未见搬书或碰及书柜；据已知初态与无相关扰动推断该关系保持至末尾。柜内区域未进入本次视野，非逐本直接目视确认；参考成功视频仅用于识别书柜外观，不作本次状态证据。" + } + ] + }, + "notebooks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务DAG本节点note_zh及open_questions_zh记载初态七本书均在柜内，因此至少2本笔记本在柜内的条件自视频0 s成立。视频0–54.65 s机器人只在门、墙、沙发和楼梯附近转向、试探躯干及移动，两个腕部视角始终没有书，未见搬书或碰及书柜；据已知初态与无相关扰动推断该关系保持至末尾。柜内区域未进入本次视野，非逐本直接目视确认；参考成功视频仅用于识别书柜外观，不作本次状态证据。" + } + ] + }, + "hardbacks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务DAG本节点note_zh及open_questions_zh记载初态七本书均在柜内，因此至少1本精装书在柜内的条件自视频0 s成立。视频0–54.65 s机器人只在门、墙、沙发和楼梯附近转向、试探躯干及移动，两个腕部视角始终没有书，未见搬书或碰及书柜；据已知初态与无相关扰动推断该关系保持至末尾。柜内区域未进入本次视野，非逐本直接目视确认；参考成功视频仅用于识别书柜外观，不作本次状态证据。" + } + ] + }, + "hardbacks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务DAG本节点note_zh及open_questions_zh记载初态七本书均在柜内，因此至少2本精装书在柜内的条件自视频0 s成立。视频0–54.65 s机器人只在门、墙、沙发和楼梯附近转向、试探躯干及移动，两个腕部视角始终没有书，未见搬书或碰及书柜；据已知初态与无相关扰动推断该关系保持至末尾。柜内区域未进入本次视野，非逐本直接目视确认；参考成功视频仅用于识别书柜外观，不作本次状态证据。" + } + ] + }, + "comics_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.65, + "log_step": 78, + "text_zh": "推断：评分器reward.q_score=0.0且live_matches_replay=1，对应没有新增满足的目标文字条件，故“第1本漫画叠好”终值为false；七项初始柜内条件不计入该原生分数，不能据此否定它们。视频0–54.65 s没有抓书、移书或释放堆叠动作，log step 72只执行空手移动，log step 76的转向扫描以翻倒结束，log step 78服务报告done=true；结合初始待分类状态，未出现本节点的成立区间。" + } + ] + }, + "comics_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.65, + "log_step": 78, + "text_zh": "推断：评分器reward.q_score=0.0且live_matches_replay=1，对应没有新增满足的目标文字条件，故“第2本漫画叠好”终值为false；七项初始柜内条件不计入该原生分数，不能据此否定它们。视频0–54.65 s没有抓书、移书或释放堆叠动作，log step 72只执行空手移动，log step 76的转向扫描以翻倒结束，log step 78服务报告done=true；结合初始待分类状态，未出现本节点的成立区间。" + } + ] + }, + "notebooks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.65, + "log_step": 78, + "text_zh": "推断：评分器reward.q_score=0.0且live_matches_replay=1，对应没有新增满足的目标文字条件，故“笔记本叠好”终值为false；七项初始柜内条件不计入该原生分数，不能据此否定它们。视频0–54.65 s没有抓书、移书或释放堆叠动作，log step 72只执行空手移动，log step 76的转向扫描以翻倒结束，log step 78服务报告done=true；结合初始待分类状态，未出现本节点的成立区间。" + } + ] + }, + "hardbacks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.65, + "log_step": 78, + "text_zh": "推断：评分器reward.q_score=0.0且live_matches_replay=1，对应没有新增满足的目标文字条件，故“精装书叠好”终值为false；七项初始柜内条件不计入该原生分数，不能据此否定它们。视频0–54.65 s没有抓书、移书或释放堆叠动作，log step 72只执行空手移动，log step 76的转向扫描以翻倒结束，log step 78服务报告done=true；结合初始待分类状态，未出现本节点的成立区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "comics_stacked_1", + "t": 44.5, + "log_step": 76, + "where": "首步前", + "evidence_zh": "观察：视频0–54.65 s机器人在门、墙和沙发附近空手转向及移动，两个腕部视角未见持书或整理书籍；视频38–43 s空手靠近挂画墙面，视频约44–45 s头部画面突然大幅倾斜，之后一直倾斜至视频54.65 s。log step 72脚本执行朝向调整和四段前进，尚未抓书；log step 76继续转向扫描时服务返回failure: the robot fell over，log step 78确认评分局结束。推断：机器人在寻找书柜的途中翻倒，所有堆叠步骤的工作均未启动；按DAG顺序将断点记在首个未完成步骤comics_stacked_1，位置为首步前。" + }, + "unmet": { + "comics_in_bookcase_1": true, + "comics_in_bookcase_2": true, + "comics_in_bookcase_3": true, + "notebooks_in_bookcase_1": true, + "notebooks_in_bookcase_2": true, + "hardbacks_in_bookcase_1": true, + "hardbacks_in_bookcase_2": true, + "comics_stacked_1": false, + "comics_stacked_2": false, + "notebooks_stacked": false, + "hardbacks_stacked": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 44.5, + "log_step": 76, + "evidence_zh": "观察：视频约44–45 s开始，墙面及房门在头部视角内迅速旋转，两个腕部视角亦随机身倾倒，视频54.65 s仍未恢复直立；log step 76及78由机器人服务报告failure: the robot fell over。log step 98读取的已终止机器人本体数据base_joint_pos含rx=4.657 rad、ry=0.337 rad，支持机身已翻倒。" + }, + { + "cat": "没尝试", + "item": "没尝试", + "t": 44.5, + "log_step": 76, + "evidence_zh": "观察：视频0–54.65 s机器人只在房间内空手移动、转向及试探躯干，未见抓书或堆叠；log step 72执行空手前进，log step 76转向扫描时服务报告翻倒，log step 78报告done=true。推断：首个未完成步骤comics_stacked_1的整理工作始终没有启动；依docs/03_trajectory.md:255-257的首步前规则记录没尝试。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：底盘移动及近墙转向缺少障碍距离与机身倾斜的停止反馈，使探索运动发展为翻倒。log step 72的脚本以0.35 m/s连续执行四段各1 s的前进，仅在每段后读位姿和截图，未按障碍距离或倾角终止；log step 76的扫描只根据偏航误差继续转向，也未检查机身倾斜。视频38–43 s墙面持续贴近，视频约44–45 s开始翻倒，log step 78确认结束。具体哪个机体部位先接触墙面及接触力没有记录，因此根因保留在控制大类。" + } + ], + "gap_zh": "本次没有状态日志，书柜内部未进入任何已查看视角：七项柜内保持依据DAG明确记载的初态与全程无搬书行为推断，无法直接复核各书中心及速度。四项堆叠终值由原生q_score=0与未进入书籍操作共同判定；所有堆叠步骤均未开始，断点按DAG顺序记为首个未完成步骤comics_stacked_1的首步前。底盘及墙面的首个接触点被机体和视角遮挡，不能确定翻倒的详细接触机制。log step 113之后编写的脚本及后续模拟测试均在本次评分局结束后，不算修复。" + }, + "summary_zh": "本次保留DAG明确记载的七项初始柜内关系，未完成四项同类堆叠目标，最终为7/11；柜内保持由已知初态及视频全程未搬书推断。机器人寻找书柜时靠近墙面，视频约44–45 s翻倒，服务在log step 76–78确认失败；所有堆叠步骤均未启动，断点记为comics_stacked_1的首步前，移动与扫描脚本缺少障碍及倾斜停止反馈。书柜未进入本次视野且没有状态日志，无法逐书直接复核。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "进度（七项初态柜内为真、四项堆叠为假，7/11）、翻倒时间（视频约44–45 s）、平衡现象与控制根因均与视频和log一致；唯一问题是断点：机器人从未开始任何整理步骤，ref不应为unknown，应落在首个未完成步骤并用首步前。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "七项柜内初态为真、四项堆叠为假（7/11，与q_score=0一致）；翻倒发生在视频约44–45 s的转向扫描中（log step 76 failure: the robot fell over，step 78 done=true），断点comics_stacked_1/首步前、平衡现象、没尝试和控制根因均有视频与日志支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:48:20Z", + "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-sorting-books-on-shelf-i00-standard--zcihzbj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-standard--zcihzbj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-standard--zcihzbj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-standard--zcihzbj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bdacd09cbdb692e50f1c568017951819cc53327206b26b6b7b18f5f0aa702aea", + "video_sha256": "3212118dea33e46bfec56d7a5d0fe283e82806a42ce8a930be95e9d1d3d06c6c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--5qejm3w.json b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--5qejm3w.json new file mode 100644 index 0000000000000000000000000000000000000000..14e58672d595b9298958d609ae83a4dfe8454a80 --- /dev/null +++ b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--5qejm3w.json @@ -0,0 +1,270 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-privileged--5qejm3w", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 8342, + "sim_steps": 8342, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1712.6, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 25026, + "agent_records": 1, + "agent_replays": 2, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-tidying-living-room-i00-privileged--5qejm3w/replay.mp4", + "duration_s": 278.067, + "fps": 30.0, + "frames": 8342, + "sha256": "26fb1af24e23bb76f46333860d1b3d92cde40cab8a22d79f2dce2ddaee827989" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "plant_on_table": { + "method": "visual", + "intervals": [ + [ + 94.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 35.0, + "log_step": 59, + "text_zh": "观察：视频 30–36 s 中白盆离开原地板位置，随机器人左夹爪抬升；视频 40–80 s 中机器人持盆移动，画面明显倾斜后恢复。" + }, + { + "t": 94.5, + "log_step": 76, + "text_zh": "观察：视频 94.4–95.0 s 中机器人左夹爪张开退开，白盆留在棕色茶几上；视频 100–270 s 多次回看仍在同一桌面。" + }, + { + "t": 94.5, + "log_step": null, + "text_zh": "推断：白盆在视频约 94.5 s 松手后落定于台面，盆底接触被盆体遮住，关系起点估计误差约 0.5 s；此前悬空不计进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住盆栽并搬运；放到茶几后张爪撤离。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运盆栽时承重并行驶到目标家具旁。" + } + ] + }, + "newspaper_on_table": { + "method": "visual", + "intervals": [ + [ + 178.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": 101, + "text_zh": "观察：视频 155–164 s 中印有灰黑图文的报纸出现在机器人左夹爪两指之间，随后随机器人底盘离开原地板位置；视频 170–178 s 中被带到茶几上方。" + }, + { + "t": 178.5, + "log_step": 104, + "text_zh": "观察：视频 178.2–179.0 s 中机器人左夹爪松开并撤离，报纸平放在茶几左侧；视频 180–270 s 可见报纸一直留在台面，盆栽仍在另一侧。" + }, + { + "t": 178.5, + "log_step": null, + "text_zh": "推断：结合放手前后画面，报纸与茶几接触的起点记为视频约 178.5 s，误差约 0.5 s；左腕画面局部遮挡且各视角更新不同步。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住报纸边缘并搬运；倾斜夹持抬起后放在茶几并松手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运报纸边缘时承重并行驶到目标家具旁。" + } + ] + }, + "hardback_in_bookcase": { + "method": "visual", + "intervals": [ + [ + 278.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 255.0, + "log_step": 130, + "text_zh": "观察：视频 250–258 s 中蓝绿色精装书从茶几被机器人左夹爪夹起，腕部近景中书边被两指夹住；视频 265 s 的头部画面显示茶几原位置已空，机器人持书转向白色开放格书柜。" + }, + { + "t": 278.0, + "log_step": null, + "text_zh": "观察：视频 273–278.0 s 中机器人左腕视角可见夹持的蓝绿色精装书与白色书柜格口相邻，并在末段向格内推进；视频 277.2–278.0 s 仍持书，书的中心及柜内容积边界受遮挡，画面末段重复。" + }, + { + "t": 278.0, + "log_step": 138, + "text_zh": "推断：已见机器人将书搬至格口并继续插入，评分器 reward.success=1、q_score=1.0、deterministic=1，且 log step 169、198 对保存的同一 8342 动作文件独立重放均成功，因此精装书入柜 final=true。达到时刻以已检查的视频 278.0 s 末端为近似锚点，精确首次成立时刻无法由遮挡画面确定；未将 agent 工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住精装书边缘并搬运；持书转向书柜并插入，录像结束时仍夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运精装书边缘时承重并行驶到目标家具旁。" + } + ] + }, + "notebook_on_desk": { + "method": "visual", + "intervals": [ + [ + 235.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 194.0, + "log_step": 113, + "text_zh": "观察：视频 187–195 s 中黄色螺旋笔记本从茶几被机器人左夹爪夹起，腕部近景可见两指夹在笔记本两侧，随后机器人持物驶向书桌。" + }, + { + "t": 235.5, + "log_step": 123, + "text_zh": "观察：视频 234.4–235.8 s 中机器人在白色书桌上方放低黄色笔记本并张开左夹爪；视频 235.8–244 s 中夹爪退开，笔记本留在台灯旁的桌面，视频 245 s 回望仍可见。" + }, + { + "t": 235.5, + "log_step": null, + "text_zh": "推断：笔记本落到白色书桌的起点约为视频 235.5 s，误差约 0.5 s；早先机器人持物停在桌边不计到位。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住黄色笔记本并搬运；从茶几搬至书桌，放低并松手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运黄色笔记本时承重并行驶到目标家具旁。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "机器人依次将盆栽、报纸放上茶几，将笔记本放上书桌，并在视频末段把精装书送入书柜，四个节点终态均真，评分器成功且两次独立重放通过；盆栽搬运中的倾斜和抓取重试均已恢复，没有失败断点。规则版本差异：本次 task_text 规定四个几何关系同时成立即结束，录像末端机器人仍夹持精装书，按执行时旧规则计成功（P19），不能据此证实 DAG 所述新版全目标松手静置一秒验收。无状态日志，精装书中心入柜的瞬间被遮挡，视频约 278.0 s 为末端近似锚点，其终态结合成功评分推断；其余放置时间约有 0.5 s 误差。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "四个节点终态与评分器 q_score=1.0 一致；盆栽放置约 94.5 s 的帧可见白盆在茶几上，末帧 277.9 s 仍夹持精装书并对着书柜，标注已如实说明遮挡与推断。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": "2026-10-30T21:27:05Z", + "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-tidying-living-room-i00-privileged--5qejm3w/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-privileged--5qejm3w/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dcf16bae2cf0b6663cc14a964d0e7d84882d4809461c6b138a132873ea0b4ef0", + "video_sha256": "26fb1af24e23bb76f46333860d1b3d92cde40cab8a22d79f2dce2ddaee827989", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--8uw3jq3.json b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--8uw3jq3.json new file mode 100644 index 0000000000000000000000000000000000000000..ecedada749ae07104c3ccb998b13943db256446f --- /dev/null +++ b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--8uw3jq3.json @@ -0,0 +1,312 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-privileged--8uw3jq3", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 2571, + "sim_steps": 2571, + "fallen": 0, + "final_reward": 0.5, + "q_score": 0.5, + "replay_wall_s": 753.8, + "replay_timeout_s": 3600.0, + "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-tidying-living-room-i00-privileged--8uw3jq3/replay.mp4", + "duration_s": 85.7, + "fps": 30.0, + "frames": 2571, + "sha256": "bc76b209bd361cf8469c69c68abfd36e1ad160ee2f7f127c9434f67482ca3a28" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "plant_on_table": { + "method": "visual", + "intervals": [ + [ + 25.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 3.0–6.0 s，白盆绿色盆栽起初在地板上，机器人左夹爪下降后夹持并提起；视频 9.0–24.0 s 随底盘搬运至棕色茶几。" + }, + { + "t": 25.5, + "log_step": null, + "text_zh": "观察：视频 25.5–26.5 s，左夹爪释放、撤离后白盆落在棕色茶几台面，随后盆栽在台面上侧倾；视频 27.0–33.0 s、49.0 s、69.0–78.0 s 仍可见白盆由茶几承托。首次接触台面的时间约为视频 25.5 s，误差约 0.5 秒。" + }, + { + "t": 85.67, + "log_step": null, + "text_zh": "推断：视频 78.0 s 前盆栽仍在茶几，之后机器人仅持精装书离开，没有再操作盆栽；结合评分器 q_score=0.5、已确认笔记本在书桌且报纸在地板、书未入柜，盆栽终值为真。末帧视频 85.67 s 的茶几不在视野内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住白色盆栽并搬运，视频约 25.5 s 在茶几上松开；右夹爪未共同持盆。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 7.0–19.0 s，机器人轮式底盘承重并移动，携带左爪中的盆栽到茶几旁。" + } + ] + }, + "newspaper_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 51.0, + "log_step": null, + "text_zh": "观察：视频 48.0–53.0 s，机器人离开书桌接近茶几旁地板上的白色报纸，左腕视角可见夹爪朝报纸一角下降；报纸下方始终是木地板。" + }, + { + "t": 55.5, + "log_step": null, + "text_zh": "观察：视频 54.25–55.0 s，左夹爪在报纸角旁合拢又张开；视频 55.5–58.0 s 左爪空手抬起、回收，报纸仍在原处地板上，没有随夹爪离地。视频 60.0–66.0 s 左爪在茶几上方执行后续动作时仍未持报纸。" + }, + { + "t": 77.5, + "log_step": null, + "text_zh": "观察：视频 69.25–70.5 s、73.0–77.5 s 的头部视角清楚显示报纸仍在茶几外侧木地板上；对照 oracle 视频 160.0 s 中报纸铺在棕色台面的可见外观，本次没有出现该目标关系。" + }, + { + "t": 85.67, + "log_step": null, + "text_zh": "推断：视频 77.5 s 后机器人持精装书离开而未返回报纸处，报纸上茶几终值为假；评分器 q_score=0.5 与盆栽、笔记本两项关系成立一致。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 53.5–55.0 s，机器人左夹爪在报纸角旁闭合，但没有夹住或提起报纸；纸角与指尖邻近处像素有限，不能确定是否发生轻微擦碰及其方式。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 48.0–51.0 s，轮式底盘移动到地板上的报纸旁；视频约 58.0–61.0 s 又移向茶几，左夹爪为空。" + } + ] + }, + "hardback_in_bookcase": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 74.5, + "log_step": null, + "text_zh": "观察：视频 72.0–73.5 s，蓝绿色精装书仍在茶几；视频 74.0–75.0 s，左夹爪夹住书角提起，原茶几上的书随之消失，腕部视角可见书在两指之间。" + }, + { + "t": 85.67, + "log_step": null, + "text_zh": "观察：视频 78.0–85.67 s，机器人持书接近白色书柜后转向，至视频 85.67 s 最后帧书仍在左夹爪中、靠柜体外侧，未出现进入格口的动作；最后一秒视频 84.75、85.0、85.25、85.5、85.67 s 均如此。对照 oracle 视频 277.0 s，成功插入时书与格口贴近并向内部送进，本次未出现这一过程。" + }, + { + "t": null, + "log_step": 144, + "text_zh": "观察：log step 144 的会话测试输出称 hardback in bookcase_3=True、q_score=1.0；其插入及松手情节与评分视频末段不一致，不能作为本次达成入柜的证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 74.0 s 至结束，机器人左二指夹爪夹持蓝绿色精装书的一角并提离茶几，结束时仍持书。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 77.0–85.67 s，轮式底盘承重移动、转向，携带左爪中的精装书靠近书柜。" + } + ] + }, + "notebook_on_desk": { + "method": "visual", + "intervals": [ + [ + 44.75, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 29.5, + "log_step": null, + "text_zh": "观察：视频 27.0 s，黄色螺旋笔记本仍在茶几边缘；视频 29.0–30.0 s，左夹爪夹住并提起笔记本，原位置随即空出；视频 33.0–42.0 s 持本转向台灯旁的白色书桌。" + }, + { + "t": 44.75, + "log_step": null, + "text_zh": "观察：视频 44.5 s 笔记本仍靠近腕部镜头；视频 44.75–45.75 s 左夹爪离开，黄色笔记本留在白色书桌台面，视频 48.0 s 的头部视角仍见其在桌上。首次台面接触取视频约 44.75 s，误差约 0.5 秒。" + }, + { + "t": 85.67, + "log_step": null, + "text_zh": "推断：视频 48.0 s 后机器人去处理报纸和精装书，未再触碰书桌上的笔记本；结合评分器 q_score=0.5 和其余物件的可见终态，笔记本上书桌在结束时仍成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 29.0–44.75 s，机器人左二指夹爪夹持黄色螺旋笔记本，从茶几搬到白色书桌后释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 34.0–40.0 s，轮式底盘在左爪携带笔记本时转向并移动到书桌旁。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "newspaper_on_table", + "t": 54.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 54.5 s，机器人左夹爪在地板上的报纸角旁闭合，却未建立能提起报纸的夹持；视频 55.5–58.0 s 左爪空手撤离，报纸仍留原处。视频 60.0–66.0 s 的放置动作未带报纸，视频 69.25–77.5 s 报纸仍在地板上；此步骤之后没有修复，故早于末段精装书未入柜的失败。" + }, + "unmet": { + "plant_on_table": true, + "newspaper_on_table": false, + "hardback_in_bookcase": false, + "notebook_on_desk": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 54.5, + "log_step": null, + "evidence_zh": "观察：视频 53.5–55.0 s，机器人左夹爪在报纸角附近收拢，随后空手抬起；视频 55.5–58.0 s 和 69.25–70.5 s 报纸仍在地板，未出现随夹爪提升或搬到茶几的过程。所需的稳定夹持没有建立，是否有短暂擦碰不能从画面判清。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "log_step": 147, + "source_zh": "日志", + "evidence_zh": "推断：agent 在 log step 5–6 自写保存、恢复仿真状态和动作数组的检查点函数，log step 63、93、142 分别恢复 stage1、stage2、stage3 后延续录制；log step 136 再恢复了 stage3 和 stage4_at_bc。log step 144 的会话测试声称四项目标均真并保存 recording len=2571，log step 147 直接把该数组保存为交付文件；其后 log step 148 只创建连续执行脚本，未见执行或重放结果，评分器字段 agent_replays=0。正式评分确定性重放 deterministic=1、n_actions=2571、q_score=0.5，且视频 54.5–58.0 s 报纸未抓起、视频 85.67 s 精装书仍持在柜外，与会话测试结果不符。由多次恢复状态的会话录制直接交付、未验证从初态完整重放，是有日志支持的交付验收错误。" + } + ], + "gap_zh": "观察：本目录提供完整评分视频和运行日志，但没有逐帧状态日志；视频 53.5–55.0 s 的报纸角与指尖接近处不足以确定轻微擦碰，因此该操作的目标接触方式标未知。推断：现有证据不能进一步区分空夹来自角点对齐、关节跟踪还是检查点恢复后的内部抓取状态差异，未追加控制子类或感知根因；节点首次接触时间约有 0.5 秒误差。观察：log step 149 的模型过滤发生在 log step 147 保存交付文件之后，评分视频中报纸抓取已失败，故按已交付轨迹标注；log step 144 的会话成功只用于交付问题证据，不计为评分进度。" + }, + "summary_zh": "观察：评分视频中盆栽约于视频 25.5 s 上茶几，黄色笔记本约于视频 44.75 s 上书桌，最终两项成立，与评分器 q_score=0.5 一致。观察：最早未修复的断点是报纸上茶几，视频约 54.5 s 左夹爪未夹住报纸，后续报纸仍在地板；精装书虽被提起，但视频 85.67 s 结束时仍持在书柜外。推断：agent 将多次恢复检查点后的录制直接保存，未验证完整重放，造成会话成功与交付结果不符；缺少逐帧状态，无法进一步确定空夹的具体控制机制。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点、断点（报纸上茶几，约54.5 s左夹爪在纸角合拢未夹起）、q_score=0.5的推断与交付操作出错的根因均有帧和日志支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:21:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-privileged--8uw3jq3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-privileged--8uw3jq3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "058a29ffd94514dee9d438fe84ac8b79c14ef5cf45df210f879bfc6a7021145c", + "video_sha256": "bc76b209bd361cf8469c69c68abfd36e1ad160ee2f7f127c9434f67482ca3a28", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--fe2p7hf.json b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--fe2p7hf.json new file mode 100644 index 0000000000000000000000000000000000000000..0c03488d780b4e0287f1a041d7b5ca9986b1ed96 --- /dev/null +++ b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--fe2p7hf.json @@ -0,0 +1,283 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-privileged--fe2p7hf", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "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": 879, + "sim_steps": 879, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 565.5, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 3, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 8.271, + "peak_memory_gb": 8.906, + "peak_processes": 27, + "peak_disk_gb": 1.254, + "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-tidying-living-room-i00-privileged--fe2p7hf/replay.mp4", + "duration_s": 29.3, + "fps": 30.0, + "frames": 879, + "sha256": "d6e42ac608b0067a94fe54b05180ef8dc0cefd2ae27b1b93fd4990d63fe59c87" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plant_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.0–7.5 s，白色盆栽在黄色门旁的木地板上，机器人左夹爪下探至盆口和枝叶附近；视频 8.25–9.5 s，盆栽侧倾留在地板，夹爪离开盆体。" + }, + { + "t": 12.5, + "log_step": null, + "text_zh": "观察：视频 11.0–12.5 s，机器人左夹爪再次靠近盆栽后空手抬起，盆栽仍在原处地板；视频 13.5–19.0 s，底盘离开起点时腕部或头部画面仍能看到遗留的盆栽。" + }, + { + "t": 29.267, + "log_step": null, + "text_zh": "观察：视频 23.5–29.267 s，机器人空夹爪伸向棕色茶几后张开，未见盆栽随臂到达或落在茶几；末帧茶几上没有白盆绿植。" + }, + { + "t": null, + "log_step": 164, + "text_zh": "观察：log step 164 的同进程录制输出声称 plant_on_table=True，保存 actions (879,25)；但评分视频显示空手离开盆栽，与该会话输出不一致，节点以视频为准。" + }, + { + "t": 29.267, + "log_step": null, + "text_zh": "推断：评分器 q_score=0，且四个目标初始均不成立，故终态不能计入盆栽上茶几；这与视频中盆栽留在起点、茶几无盆栽的观察一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 5.5–8.5 s，机器人左夹爪下探碰拨盆口附近枝叶及盆体，盆栽随后侧倾；视频 11.0–12.5 s 又靠近尝试，未见夹爪稳定合夹并提起盆栽，故不记成功抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–4.0 s 底盘向盆栽接近，视频约 13.5–25.5 s 又空手驶向茶几；底盘在盆栽放置步骤的接近和后续行驶中承重移动，实际没有携带盆栽。" + } + ] + }, + "newspaper_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.0, + "log_step": null, + "text_zh": "观察：视频 19.0 s 头部画面中，印有灰黑图文的白色报纸在白色书柜前的木地板上；视频 23.5–29.267 s 仍在茶几右侧地板，机器人没有夹取或搬动它。" + }, + { + "t": 29.267, + "log_step": null, + "text_zh": "推断：视频末帧报纸仍在地板，未形成报纸上茶几；评分器 q_score=0 也排除该初始为假的目标在终态成立。" + } + ] + }, + "hardback_in_bookcase": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 24.5–25.5 s 左腕部画面可见蓝绿色精装书仍放在棕色茶几一侧；视频 26.0–29.267 s 头部画面中其蓝绿色边缘仍在茶几左侧，机器人未搬书到白色书柜格口。" + }, + { + "t": 29.267, + "log_step": null, + "text_zh": "推断：精装书未离开茶几进入书柜，且评分器 q_score=0 排除该初始为假的目标在终态成立；未见中途入柜事件。" + } + ] + }, + "notebook_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 24.5–29.267 s，黄色小笔记本仍在棕色茶几靠机器人一侧的边缘，机器人没有夹起并将其转移至白色书桌。" + }, + { + "t": 29.267, + "log_step": null, + "text_zh": "推断：笔记本未形成书桌承托关系；评分器 q_score=0 也排除该初始为假的目标在终态成立，视频全程未见其被运往书桌。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "plant_on_table", + "t": 8.3, + "log_step": 164, + "where": "操作中", + "evidence_zh": "观察：视频约 8.3 s，机器人左夹爪第一次下探后离开盆栽，盆栽侧倾留在起点木地板；视频 11.0–12.5 s 再试后仍空手抬臂，随后底盘驶向茶几，视频 29.267 s 结束前未再取回盆栽。这是正在操作且始终未修复的盆栽上茶几步骤；log step 164 确认交付的 879 步为这一盆栽片段，但其同进程成功读数不能代替评分视频。" + }, + "unmet": { + "plant_on_table": false, + "newspaper_on_table": false, + "hardback_in_bookcase": false, + "notebook_on_desk": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 8.3, + "log_step": null, + "evidence_zh": "观察：视频 5.5–8.5 s，机器人左夹爪在盆口附近闭合和移开，盆体侧倾但没有随夹爪离开地板；视频 11.0–12.5 s 第二次下探后，夹爪再次空手抬高。推断：未建立能提起盆栽的抓持接触，随后视频 13.5–29.267 s 的行驶和伸臂均未携带盆栽。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：视频 5.5–8.5 s 及视频 11.0–12.5 s，机器人夹爪接近盆口、闭合、抬离，盆栽却留在地板；视频约 13.5 s 起机器人空手执行后续移动。推断：该下探闭合动作没有可靠建立持物，交付动作也没有把抓取失败纠正；画面不足以再区分接触几何、夹持力或具体逆解误差。", + "source_zh": "视频" + }, + { + "cat": "交付", + "item": "交付操作出错", + "evidence_zh": "观察：log step 164 在同一会话第三次 reset 后录制并保存 879 步，输出 plant_on_table=True；log step 166、168 只检查文件形状、元数据和数值有限性，没有新进程重放，评分器 agent_replays=0。评分器 deterministic=1、q_score=0，且视频 12.5–19.0 s 显示盆栽未随机器人离开起点。推断：agent 将未验证新进程重放的会话记录直接交付，使会话内成功读数与实际交付中的抓取失败没有被核对和修复；不是将差异归咎于评分器。", + "source_zh": "日志" + } + ], + "gap_zh": "没有逐帧状态日志；腕部画面能看到夹爪碰到盆栽附近并使其倾斜，但不能确认具体指垫接触对、夹持力及辅助抓取内部状态，因此不细分控制根因。log step 164 的同进程 plant_on_table=True 与评分视频及 q_score=0 不一致，不能确定其物理分歧的精确来源，也不把会话内放置计为节点进度；节点以完整评分视频和终态总分判断。" + }, + "summary_zh": "评分轨迹四个目标均未达成：机器人尝试抓取盆栽后空手驶向茶几，报纸仍在地板，精装书和笔记本仍在茶几。断点是盆栽上茶几步骤，视频约 8.3 s 的抓取未建立有效持物，之后重试也未修复；交付前仅检查文件格式，未验证新进程重放。会话日志自报盆栽上桌与评分视频、q_score=0 不符，缺少逐帧状态日志，无法进一步确定抓取与重放分歧的具体机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点、断点和视频读数基本正确（盆栽全程留在地板、四节点未达、q_score=0）。问题在根因：“控制·控制”不是分类表中的条目，且证据自己承认无法区分子类；应删除或改成有证据的具体条目。交付根因成立。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "四个节点均未达成、盆栽上茶几断点、接触与交付根因与视频和 q_score=0 一致；上一轮的两点已由标注者用文档依据回应（控制·控制可留，底盘支撑依 S17），无新证据，不再重复。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:48:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-privileged--fe2p7hf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-privileged--fe2p7hf/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-privileged--fe2p7hf/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-privileged--fe2p7hf/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f99e34e01581324388054581eec0f9ef5acd5caeda8893470a896bf81510032e", + "video_sha256": "d6e42ac608b0067a94fe54b05180ef8dc0cefd2ae27b1b93fd4990d63fe59c87", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--fmdz9qp.json b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--fmdz9qp.json new file mode 100644 index 0000000000000000000000000000000000000000..b034ab5b040ae7f15c8ed96c6934110d05a7ebce --- /dev/null +++ b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--fmdz9qp.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-privileged--fmdz9qp", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 2044, + "sim_steps": 2044, + "final_reward": 0.5, + "q_score": 0.5, + "replay_wall_s": 859.1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 8, + "agent_resets": 20, + "agent_sim_steps": 8716, + "agent_records": 7, + "agent_replays": 3, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-tidying-living-room-i00-privileged--fmdz9qp/replay.mp4", + "duration_s": 68.133, + "fps": 30.0, + "frames": 2044, + "sha256": "2425203b67b1e16fe3375f0355cfa065ad1608f87b923335f8cf9775ef89be43" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "plant_on_table": { + "method": "visual", + "intervals": [ + [ + 22.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6, + "log_step": null, + "text_zh": "观察：视频 4 s 白色花盆仍在地板，视频 6–18 s 右夹爪夹着花盆搬运，花盆随夹爪离开原位置并到达茶几上方。" + }, + { + "t": 22.5, + "log_step": 556, + "text_zh": "观察：视频 18–22 s 机器人将白色花盆降至茶几台面，视频约 22.5 s 右夹爪移开，花盆留在台面；视频 24 s、45 s、60 s 仍可见盆栽在茶几上。首次台面接触部分被夹爪遮挡，以视频约 22.5 s 的落定画面定位，误差约半秒。log step 556 的本次生成输出记录释放盆栽。" + }, + { + "t": 68.1, + "log_step": null, + "text_zh": "推断：视频 60 s 盆栽仍在茶几上，随后机器人持笔记本离开茶几并侧翻，未见再触碰盆栽；结合评分器 q_score=0.5 及另两个目标未完成，盆栽上茶几保持到录像结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 6–22.5 s 右二指夹爪夹住白色花盆，搬运到茶几并松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 8–18 s 机器人持盆栽时轮式底盘移动至茶几旁，承重搬运。" + } + ] + }, + "newspaper_on_table": { + "method": "visual", + "intervals": [ + [ + 47.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 34, + "log_step": null, + "text_zh": "观察：视频 25–34 s 右夹爪在地板上的白色报纸边缘调整接触；视频 36–43 s 报纸随右夹爪离地搬运至茶几上方。" + }, + { + "t": 47.5, + "log_step": 558, + "text_zh": "观察：视频 43–47 s 机器人将报纸降到茶几近侧，视频约 47.5 s 夹爪张开，视频 48.25 s 腕部画面与头部画面均显示报纸留在茶几上，视频 51–60 s 继续保持；取视频约 47.5 s 为台面接触成立时刻，误差约半秒。log step 558 记录本次生成中报纸释放。" + }, + { + "t": 68.1, + "log_step": null, + "text_zh": "推断：视频 60 s 报纸仍平放在茶几近侧，此后机器人携笔记本离开且未回到茶几；评分器 q_score=0.5 与盆栽、报纸两项目标保持一致，报纸最终仍在茶几上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 25–36 s 右夹爪在报纸边缘调整，随后夹住报纸搬运，视频约 47.5 s 松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 36–43 s 轮式底盘携右夹爪中的报纸绕至茶几另一侧。" + } + ] + }, + "hardback_in_bookcase": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 60, + "log_step": null, + "text_zh": "观察：视频 17–60 s 多次可见蓝绿色精装书留在茶几同一角落，机器人依次操作盆栽、报纸和黄色笔记本，没有抓起该书或将它带向白色书柜；视频 60–68.1 s 右夹爪中仍是黄色笔记本。" + }, + { + "t": 68.1, + "log_step": null, + "text_zh": "推断：视频 60 s 精装书尚在茶几，随后机器人远离茶几并翻倒，没有精装书入柜动作；结合评分器 q_score=0.5 已由盆栽和报纸两项目标占满，精装书入柜最终为假。成功参考的书本离桌并出现在柜口夹爪间的可见线索（参考视频 270–277.9 s）在本次录像中没有出现。" + } + ] + }, + "notebook_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 58, + "log_step": 559, + "text_zh": "观察：视频 48.25 s 黄色螺旋笔记本仍在茶几边缘，视频 51–58 s 右夹爪夹住并提起笔记本，原位置腾空；视频 58–64 s 机器人持笔记本移动，未将它接触白色书桌台面。log step 559 的本次生成输出也记录右手附着笔记本并开始搬运。" + }, + { + "t": 68.1, + "log_step": null, + "text_zh": "观察：视频 64.5–68.1 s 头部视角明显侧转并降向地面，机器人翻倒；右腕视角中的黄色笔记本仍在夹爪处，没有到达书桌台面的画面。" + }, + { + "t": 68.1, + "log_step": null, + "text_zh": "推断：盆栽和报纸已达成且评分器 q_score=0.5（四项目标中的两项），笔记本最终不在书桌上；录像中也不存在一次已完成的书桌放置。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 51–68.1 s 右二指夹爪夹住黄色笔记本的边缘并持物搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 58–64.5 s 轮式底盘在右手持笔记本时移动和转向，随后机体失衡翻倒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "notebook_on_desk", + "t": 64.5, + "log_step": 560, + "where": "操作中", + "evidence_zh": "观察：视频 58–64 s 机器人右夹爪持黄色笔记本移动，视频约 64.5 s 开始大幅侧倾，视频 65–68.1 s 机体翻倒、头部画面转向墙面及地面，笔记本未到书桌上；此前盆栽和报纸均已放上茶几。log step 560 记录这次生成的移动原语两次报告 no progress，并保存 2044 条动作、q_score=0.5，动作条数与评分录像一致；后续 log step 564–581 是另一个交互会话的诊断，没有计入本次视频。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 64.5, + "log_step": 560, + "evidence_zh": "观察：视频 63–64 s 机器人持笔记本在楼梯围栏附近移动，视频约 64.5 s 头部视角开始连续侧滚，视频 65–68.1 s 墙面、门与地面在画面中接近横倒方向，腕部视角也随本体倾倒；到视频最后一帧仍未恢复稳定姿态。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；轮子、底盘及其与楼梯围栏附近环境的实际接触被本体视角遮挡，不能从画面判断翻倒由哪一处碰撞、支撑变化或控制问题引起。log step 560 只有移动受阻信息，log step 561 的生成脚本中段与异常堆栈在输入日志中被截断，无法核实具体路径和异常机制，根因层留空。盆栽与报纸首次接触台面的时刻部分遮挡，所标时间是落定画面的约半秒精度估计；录像末尾茶几离开视野，其最终关系结合离开前画面、后续动作及评分器总分判断。", + "unmet": { + "plant_on_table": true, + "newspaper_on_table": true, + "hardback_in_bookcase": false, + "notebook_on_desk": false + } + }, + "summary_zh": "本次评分录像完成盆栽上茶几（视频约 22.5 s）与报纸上茶几（视频约 47.5 s），最终 2/4，与评分器 q_score=0.5 一致。机器人随后右手夹起笔记本，在搬运途中于视频约 64.5 s 失衡翻倒，未完成笔记本上书桌，精装书也始终未被搬离茶几。缺少状态日志且底盘接触遮挡，无法确定失衡的具体根因；本次任务文字采用四项目标关系成立即成功的旧版规则，未另要求 DAG 所述联合松手静置窗口，未据新版条件追加失败。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "盆栽约22.5 s、报纸约47.5 s上茶几，笔记本搬运中约64.5 s翻倒，帧上均可见；节点、断点、平衡现象与空根因（含gap_zh）合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:33:26Z", + "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-tidying-living-room-i00-privileged--fmdz9qp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-privileged--fmdz9qp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "673387047cc506f91aba492108fc7448de237c808a5c9c80accf1fd359d67f8a", + "video_sha256": "2425203b67b1e16fe3375f0355cfa065ad1608f87b923335f8cf9775ef89be43", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--z5ffowg.json b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--z5ffowg.json new file mode 100644 index 0000000000000000000000000000000000000000..267bd74dff11b23d50a0fb0f424c98f0ee8e5d27 --- /dev/null +++ b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--z5ffowg.json @@ -0,0 +1,286 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-privileged--z5ffowg", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "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": 2618, + "sim_steps": 2618, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 785.9, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 48, + "agent_resets": 0, + "agent_sim_steps": 98527, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 14.723, + "peak_memory_gb": 8.759, + "peak_processes": 20, + "peak_disk_gb": 1.567, + "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-tidying-living-room-i00-privileged--z5ffowg/replay.mp4", + "duration_s": 87.267, + "fps": 30.0, + "frames": 2618, + "sha256": "f150fc114413651faa60bcb1270083560a29fc3ae1ccbc2a1e17c524edb942af" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plant_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 4.5–10.5 s，机器人左夹爪在白色盆栽旁反复开合并拨动枝叶，白盆倾斜但未随夹爪离开地板；视频 11–13 s 夹爪收回，盆栽留在入口地板。" + }, + { + "t": 23, + "log_step": null, + "text_zh": "观察：视频 18–24 s，机器人左臂伸向棕色茶几并张开夹爪，手中没有盆栽，茶几上也未出现白盆；后续录像没有再搬运盆栽。" + }, + { + "t": 87, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0，四项目标在初态均不成立，因此盆栽目标终值为假；这与视频中盆栽遗留入口、机器人空手到茶几的过程一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 6–10 s，左夹爪拨碰盆栽枝叶及盆边，盆栽发生倾斜；未见二指从两侧夹住白盆并将其提起。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–4 s 底盘驶近入口盆栽；视频约 12–19 s 底盘承重驶向客厅茶几，夹爪空着。" + } + ] + }, + "newspaper_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 79, + "log_step": null, + "text_zh": "观察：视频 75–82 s，左腕画面显示白色印刷报纸，左夹爪在报纸表面开合；头部画面同时显示报纸留在茶几旁地板上，没有随夹爪提起。" + }, + { + "t": 87, + "log_step": null, + "text_zh": "观察：视频 83–87.2 s，机器人空着左夹爪在茶几上方执行下降、张开与撤回；报纸仍在茶几旁地板上。成功参考录像视频 120–160 s 中，报纸则清楚铺在棕色茶几台面上。" + }, + { + "t": 87, + "log_step": 169, + "text_zh": "观察：log step 169 中，实际保存的 run_tidy.py 记录报纸 ontop coffee_table=False、sim_steps=2618、q_score=0.0，并保存形状为 (2618,25) 的轨迹；与本视频的 2618 帧及末端空手动作一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 78.5–81.5 s，左夹爪指尖在地板上的报纸表面合拢、抵擦，报纸未被夹起。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 69–76 s 底盘驶回茶几旁接近地板上的报纸，视频 82–83.5 s 调整至茶几放置位置；没有携带报纸。" + } + ] + }, + "hardback_in_bookcase": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31, + "log_step": null, + "text_zh": "观察：视频 28–35 s，左腕视角中蓝绿色精装书封面接近左夹爪，头部视角同时显示书仍搭在茶几边缘；视频约 35.5 s 夹爪撤走时未带走书。" + }, + { + "t": 42, + "log_step": null, + "text_zh": "观察：视频 36–45 s，机器人移向白色书柜并伸臂，但腕部没有夹持蓝绿色书，未见书进入格口；视频 47–48 s 及 86.2–87 s，精装书仍在茶几边缘。成功参考录像视频 265–274 s 则能在腕部看到夹持中的蓝绿色书移向格口。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 30–35 s，左夹爪指尖在精装书封面上方合拢并抵擦封面，没有夹住书的相对两侧或将书带离茶几。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 25–28 s 底盘在茶几旁调整位置，视频 36–39 s 驶向白色书柜执行空手放入动作。" + } + ] + }, + "notebook_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 55, + "log_step": null, + "text_zh": "观察：视频 52.5–57.5 s，左腕视角可见黄色螺旋装订笔记本，左夹爪在封面附近开合；视频 58–61 s 机器人撤离时，笔记本仍留在茶几边缘。" + }, + { + "t": 66, + "log_step": null, + "text_zh": "观察：视频 62–68 s，机器人到白色书桌旁伸出左臂并张开夹爪，但黄色笔记本没有随行或落到书桌；视频 86.6–87 s 左腕画面再次显示黄色笔记本留在茶几边缘。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 54–57 s，左夹爪指尖在黄色笔记本封面处合拢、抵擦，未形成夹持搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 49–52 s 底盘调整到茶几旁取笔记本，视频 58–63 s 承重驶向白色书桌，手中未携带笔记本。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "plant_on_table", + "t": 6.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 6–10 s，机器人左夹爪在盆栽旁闭合、重试，盆栽被拨斜但没有离开地板；视频 11–13 s 夹爪空手撤离，视频 18–24 s 又空手在茶几上方执行放置。盆栽此后未再被搬运，这是最早未完成且没有修复的步骤。" + }, + "unmet": { + "plant_on_table": false, + "newspaper_on_table": false, + "hardback_in_bookcase": false, + "notebook_on_desk": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 6.5, + "log_step": null, + "evidence_zh": "观察：视频 5–10.5 s，机器人左夹爪反复开合，指尖拨碰盆栽但未夹住白盆；视频 11–13 s 手部撤走时盆栽仍在地板上。这里未建立的是搬运所需的夹持接触，并非完全没有碰到物体；没有可见的成功提起后脱手过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 5–10.5 s 显示机器人夹爪在盆栽附近反复闭合却未包夹白盆，随后空手执行搬运及放置，直接失败在抓取执行。log step 167 的实际录制脚本把目标设为盆栽包围盒中心上方并调用左爪闭合；目标物与目标家具选对，现有画面不足以进一步区分接触几何、运动跟踪或逆解问题，因此保留为控制。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有逐帧状态日志或接触对记录，腕部视角也不能精确区分盆栽抓取失败的接触几何与运动跟踪原因，故根因不细分。log step 132、169 确认唯一保存记录是 run_tidy.py 的 2618 步失败轨迹；log step 150 的盆栽抓起发生在独立测试，不计入本片进度。log step 45 所见进程退出段错误发生在 log step 169 已显示保存轨迹之后，不能用来替代录像中的抓取失败。" + }, + "summary_zh": "评分录像中机器人依次尝试盆栽、精装书、笔记本和报纸，但盆栽留在入口地板，书和笔记本留在茶几，报纸留在茶几旁地板；四个节点从未成立，最终为 0/4。最早未修复断点是盆栽上茶几：视频约 6–10 s 左夹爪拨碰盆栽却未形成夹持，随后空手执行放置，根因归为控制。无逐帧状态日志，不能细分抓取控制机制；日志中的后续独立抓取测试不属于实际保存的评分轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "四节点均未成立（q_score=0，帧中盆栽留在入口地板、报纸留在茶几旁地板）与视频一致；断点为盆栽上茶几、没建立接触、根因控制，证据与 log step 167/169（run_tidy.py 及 task-70 日志，2618 步，q=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": "2026-10-30T21:37:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-privileged--z5ffowg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-privileged--z5ffowg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c73e1b77577e1fd89bdff99ac47e5d30a980aa5642a4f120e7a7a8191aba5535", + "video_sha256": "f150fc114413651faa60bcb1270083560a29fc3ae1ccbc2a1e17c524edb942af", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--fmt59gu.json b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--fmt59gu.json new file mode 100644 index 0000000000000000000000000000000000000000..aee54bb0af43f8d27835133a08b625ddf5eae879 --- /dev/null +++ b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--fmt59gu.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-standard--fmt59gu", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "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": 589, + "sim_steps": 589, + "physics_steps": 2356, + "steps": 589, + "elapsed_s": 493.4, + "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-tidying-living-room-i00-standard--fmt59gu/replay.mp4", + "duration_s": 19.633, + "fps": 30.0, + "frames": 589, + "sha256": "5c36cc2f4f554eb77f6278ce791ef80593831bfe6bf7d0ca43663b880cf98e51" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plant_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 1.5–3.5 s 可见白盆绿叶盆栽仍立在走廊木地板上；机器人转动视角并随后沿走廊行驶，未朝盆栽伸爪或将其提起。" + }, + { + "t": 19.6, + "log_step": 99, + "text_zh": "推断：任务文字给出的该物件初始位置不满足本节点；全片未见该物件被搬运，日志中的实际执行也只有巡视、底盘行驶及脱困（log step 23、59、66、77–99）。评分器终局 q_score=0、live_matches_replay=1，四项目标均非初始成立条件，因此总分同时决定本节点终值为假；并非仅由零分推断未尝试。" + } + ] + }, + "newspaper_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 0.0–7.0 s 机器人仅巡视和移动底盘；视频 7.4–19.6 s 视角倾转、翻倒并反复晃动，未见夹爪持有白色报纸或将报纸搬到棕色茶几的动作。" + }, + { + "t": 19.6, + "log_step": 99, + "text_zh": "推断：任务文字给出的该物件初始位置不满足本节点；全片未见该物件被搬运，日志中的实际执行也只有巡视、底盘行驶及脱困（log step 23、59、66、77–99）。评分器终局 q_score=0、live_matches_replay=1，四项目标均非初始成立条件，因此总分同时决定本节点终值为假；并非仅由零分推断未尝试。" + } + ] + }, + "hardback_in_bookcase": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.6, + "log_step": null, + "text_zh": "观察：完整视频 0.0–19.6 s 中机器人都在走廊巡视、转向和脱困，未见夹爪提起蓝绿色精装书，也未出现机器人持书接近白色开放格书柜或把书插入格口的画面。" + }, + { + "t": 19.6, + "log_step": 99, + "text_zh": "推断：任务文字给出的该物件初始位置不满足本节点；全片未见该物件被搬运，日志中的实际执行也只有巡视、底盘行驶及脱困（log step 23、59、66、77–99）。评分器终局 q_score=0、live_matches_replay=1，四项目标均非初始成立条件，因此总分同时决定本节点终值为假；并非仅由零分推断未尝试。" + } + ] + }, + "notebook_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.6, + "log_step": null, + "text_zh": "观察：完整视频 0.0–19.6 s 中未见夹爪持有黄色螺旋装订笔记本，机器人未到白色书桌前完成笔记本转运或台面接触。" + }, + { + "t": 19.6, + "log_step": 99, + "text_zh": "推断：任务文字给出的该物件初始位置不满足本节点；全片未见该物件被搬运，日志中的实际执行也只有巡视、底盘行驶及脱困（log step 23、59、66、77–99）。评分器终局 q_score=0、live_matches_replay=1，四项目标均非初始成立条件，因此总分同时决定本节点终值为假；并非仅由零分推断未尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 9.6, + "log_step": 77, + "where": "探索", + "evidence_zh": "推断：视频 9.5–9.9 s 机器人在走廊巡视转向时腕部与头部视角急剧倾转，之后至视频 19.6 s 仍未恢复正常直立。log step 77–78 是新位置的连续环视，未执行任何物件抓取，不能把这次场景探索唯一归给四个并列整理节点，故 ref 为 unknown。服务在 log step 99 的控制步 589 以 failure: the robot fell over 终止；30 Hz 的 589 个控制步对应视频 19.633 s，log step 83 的控制步 494 对应视频 16.47 s、底座上轴 z=-0.210，已与视频 16.5 s 的翻倒视角核对。结合连续 300 控制步的跌倒判据，约视频 9.6 s 是持续失衡的导航锚点。" + }, + "unmet": { + "plant_on_table": false, + "newspaper_on_table": false, + "hardback_in_bookcase": false, + "notebook_on_desk": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 9.6, + "log_step": 99, + "evidence_zh": "观察：视频 9.6–10.0 s 机器人各视角明显翻转，视频 12.0–19.6 s 头部视角多次贴近木面且腕部所见墙面、栏杆持续歪斜；最后一秒仍在倾倒姿态中晃动。log step 83 读取的服务本体姿态上轴 z=-0.210；log step 99 脱困探测后上轴 z=-0.194，服务报告 done=true、failure: the robot fell over（控制步 589），机器人没有恢复支撑。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 78, + "evidence_zh": "推断：agent 的底盘控制未在巡视动作中处理失衡。log step 55 的 Bot.move 将固定底盘位移及固定躯干、臂关节目标整批提交，仅在批末读取姿态；log step 77–78 连续执行两轮各八次转向，循环不检查底座倾斜或据此中止。log step 81 在已倾斜的姿态下又执行后退和转向，到 log step 83 才检查并读到上轴 z=-0.210；随后 log step 89、94、97、99 的脱困动作也未使其回正。这与视频 9.6–19.6 s 持续翻倒、晃动一致，支持底盘控制失当，但不足以细分为某个已证实的接触设计或参数问题。", + "source_zh": "日志" + } + ], + "gap_zh": "无逐帧状态日志，翻倒前后底盘接触区域没有完整显露；agent 在 log step 117 自述底盘碰上倾斜镜面板并爬升，但不能核实具体接触件与碰撞机制，故不另标被挡/碰撞或感知根因。场景巡视未明确针对某个物件，无法唯一选择断点节点，也不把通用巡视的底盘接触分摊到四个物件节点。报纸和两本书的原处及终态未被持续拍到，节点历史结合初态与全片无搬运动作判断，终值再受 q_score=0 约束。" + }, + "summary_zh": "机器人仅巡视走廊，未见四件物品的抓取或转运，四个目标节点均未达到，终局 q_score=0。约视频 9.6 s 开始的持续失衡在视频 19.6 s 仍未修复，服务判跌倒；连续转向脚本缺少倾斜检查，支持控制根因。探索尚未明确针对某个整理步骤，断点节点保留 unknown；具体底盘碰撞件也无法由现有画面核实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "四个目标节点全程未被搬运、终值为假，且与 q_score=0 一致；9.6 s 起持续翻倒、服务在控制步 589 判跌倒，断点 unknown/探索、现象 全身·平衡、根因 控制 都有视频和 log 支撑，时钟换算（控制步/30 Hz）正确。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": "2026-10-30T21:33:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-standard--fmt59gu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-standard--fmt59gu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fa0fb945a830171030e85e010bf7d142316e278392c661c33108054bb7be6151", + "video_sha256": "5c36cc2f4f554eb77f6278ce791ef80593831bfe6bf7d0ca43663b880cf98e51", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--ggpnc57.json b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--ggpnc57.json new file mode 100644 index 0000000000000000000000000000000000000000..7ca91c6897ea360f8f973d1633ed00f02f630613 --- /dev/null +++ b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--ggpnc57.json @@ -0,0 +1,326 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-standard--ggpnc57", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "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": 6858, + "sim_steps": 6858, + "physics_steps": 27432, + "steps": 2286, + "elapsed_s": 6880.7, + "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-tidying-living-room-i00-standard--ggpnc57/replay.mp4", + "duration_s": 228.6, + "fps": 30.0, + "frames": 6858, + "sha256": "a6b92dbada93e6b32603b4ebc814ee10941faa6f5b154494f4d119a8b4fcf00c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "plant_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 10.0 s，白盆绿色枝叶的盆栽在木地板上；视频 30.33–34.5 s，机器人左夹爪夹住盆栽并将其带离原处，随后底盘携物驶向茶几。" + }, + { + "t": 65.0, + "log_step": 65, + "text_zh": "观察：视频 63.0–69.5 s，机器人左臂下降、张爪并退回，白盆偏在茶几近侧外缘，枝叶垂在台面下方；视频 70.0–74.5 s 的张爪补推后，盆栽仍在近侧边缘外，未见盆体由茶几台面承托。" + }, + { + "t": 83.5, + "log_step": null, + "text_zh": "推断：结合视频 65.0–83.5 s 的近侧边缘视图、随后茶几台面无盆栽且机器人未再搬回盆栽，未确认任何满足“盆与台面接触且茶几直接在其下方”的区间。最终报纸和笔记本两项目标可见成立，评分器 q_score=0.5（四项中两项）也将盆栽节点终值限定为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 30.33–63.0 s，左二指夹爪夹持盆栽并搬运；花盆和枝叶随左手移动。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 70.0–73.5 s，左夹爪张开后靠近并推动盆栽，白盆随接触转动、移向茶几边缘。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 39.0–61.0 s，轮式底盘承重并携带左手中的盆栽行驶到茶几旁。" + } + ] + }, + "newspaper_on_table": { + "method": "visual", + "intervals": [ + [ + 151.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 135.0, + "log_step": 162, + "text_zh": "观察：视频 133.5–139.0 s，白色灰黑图文报纸起初在茶几与书柜之间的地板上，左夹爪靠近、夹住纸边后将其抬离地板。" + }, + { + "t": 151.0, + "log_step": 172, + "text_zh": "观察：视频 148.0–151.5 s，左手将报纸降向棕色茶几台面；视频约 151.0 s 报纸落在台面上，视频 153.5–155.0 s 张爪退回后，整张报纸仍平放于台面。关系起点误差约 0.5 s。" + }, + { + "t": 228.57, + "log_step": null, + "text_zh": "观察：视频 160.0–170.0 s 以及视频 227.5–228.57 s，头部视图仍可见白色报纸在棕色茶几上，后续精装书操作没有使其离开台面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 137.0–153.5 s，左二指夹爪夹住报纸边缘，抬起、搬运并放到茶几上。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 142.0–149.0 s，轮式底盘在左夹爪持报纸期间移动并转向茶几。" + } + ] + }, + "hardback_in_bookcase": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160.0, + "log_step": 205, + "text_zh": "观察：视频 155.0–161.0 s，机器人左夹爪夹起原在茶几上的蓝绿色精装书，书离开台面后随左臂及底盘移向白色书柜。" + }, + { + "t": 186.0, + "log_step": 225, + "text_zh": "观察：视频 182.0–187.0 s，左手持书在白色格口外尝试送入；书仍横在柜体前方，张爪后向柜外下方掉落。视频 191.0–207.0 s，腕部视图显示书立靠在书柜前的低处，机器人多次伸手重抓。" + }, + { + "t": 228.57, + "log_step": 313, + "text_zh": "观察：视频 211.0–224.5 s，书被重新夹起并再次接近格口；视频 225.0–228.57 s，书在张爪退手时落下，末帧腕部视图显示书在柜前地板处，未留在格口中。" + }, + { + "t": 228.57, + "log_step": null, + "text_zh": "推断：两次送入过程均未见书的中心进入格口内部，不能把伸入格口的空夹爪计为书入柜；结合最终 q_score=0.5 与已成立的报纸、笔记本两项目标，该节点最终为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 159.0–186.0 s，左二指夹爪夹住精装书搬运并尝试入柜；视频 211.0–225.0 s 再次夹起并尝试送入。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 192.0–195.0 s，左夹爪在重抓时碰动柜前精装书，使书由斜靠转为直立，未立即将其提走。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 163.0–180.5 s，底盘携带左手中的精装书行驶、转向并靠近白色书柜。" + } + ] + }, + "notebook_on_desk": { + "method": "visual", + "intervals": [ + [ + 121.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 75.0, + "log_step": 95, + "text_zh": "观察：视频 74.0–76.0 s，右夹爪夹起黄色螺旋笔记本，笔记本离开茶几并随右手移动；视频 90.0–105.0 s 的首次书桌放置后，笔记本落在书桌前的地板上，尚未完成该节点。" + }, + { + "t": 121.0, + "log_step": 128, + "text_zh": "观察：视频 110.0–115.0 s，机器人重新夹起地板上的黄色笔记本；视频 120.5–123.5 s，右手将其降至台灯旁的白色书桌，笔记本下缘接触桌面，张爪后留在桌面上。节点起点取视频约 121.0 s，误差约 0.5 s。" + }, + { + "t": 127.0, + "log_step": null, + "text_zh": "推断：视频 124.5–129.0 s，机器人退离书桌，黄色笔记本仍留在桌面；此后操作报纸和精装书，未再触及笔记本。结合最终 q_score=0.5 及报纸上茶几，判定笔记本关系保持至结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 74.0–90.0 s，右二指夹爪夹持黄色笔记本搬往书桌；首次失落后，视频 110.0–122.0 s 再次抓握并送上书桌。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 80.0–90.0 s 和视频 115.0–119.0 s，底盘在右手持笔记本时转向、行驶或向书桌前移。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "plant_on_table", + "t": 65.0, + "log_step": 65, + "where": "操作中", + "evidence_zh": "观察：视频 63.0–69.5 s，机器人左手执行盆栽放置和退手，白盆偏在茶几近侧外缘，枝叶低于台面；视频 70.0–74.5 s 的补推没有把盆体放到台面上。推断：此后机器人转去搬笔记本、报纸及精装书，盆栽放置始终未修复，是最早未修复的失败步骤。" + }, + "unmet": { + "plant_on_table": false, + "newspaper_on_table": true, + "hardback_in_bookcase": false, + "notebook_on_desk": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 65.0, + "log_step": 65, + "evidence_zh": "观察：视频 63.0–69.5 s，机器人已将左夹爪移到茶几附近并张爪退手，但白盆仍偏在台面近侧外缘，枝叶垂至桌面下方；视频 72.0–74.5 s 的补推仍未形成盆体落于台面的放置。推断：释放前盆栽没有到达可由茶几直接支承的位置。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 30.33–65.0 s 可见盆栽已被夹起并持续搬运，失败发生在放置时的物体位姿控制：机器人未将相对夹爪偏置的白盆送到台面可承托的位置便张爪。log step 65 的脚本只按左末端目标下降、张爪、退回，log step 75 又用张爪补推；视频 65.0–74.5 s 显示这些动作均未纠正盆体相对台面边缘的位置。证据不足以进一步区分接触设计与轨迹跟踪误差。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "未提供状态日志，盆栽与茶几边缘的局部接触、精装书送入时的精确包围盒中心有夹爪或柜板遮挡，节点判断结合前后视图；报纸和笔记本首次接触台面的时间约有 0.5 s 误差。最终两项成立与评分器 q_score=0.5 一致；更细的控制根因缺少物体真值位姿及接触力记录。" + }, + "summary_zh": "机器人完成笔记本上书桌和报纸上茶几，最终为 2/4，与评分器 q_score=0.5 一致。最早未修复的失败是盆栽上茶几：视频约 65.0 s 释放时白盆偏在台面近侧外缘，补推未修复；精装书的后续入柜尝试也以落在柜前结束。没有状态日志，局部接触与书的精确入柜中心受遮挡，控制根因仅能确定到大类。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点终值（报纸、笔记本为真，盆栽、精装书为假）与评分器 q_score=0.5 及视频帧一致；断点为盆栽放置，位姿不准加控制根因有视频证据支持，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": "2026-10-30T21:42:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-standard--ggpnc57/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-standard--ggpnc57/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "668fb538026b4e62d1438ee8a995e2dd45f56d17c3296cab0bdc9c877cc74ca2", + "video_sha256": "a6b92dbada93e6b32603b4ebc814ee10941faa6f5b154494f4d119a8b4fcf00c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--mhrk9op.json b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--mhrk9op.json new file mode 100644 index 0000000000000000000000000000000000000000..40ceb6cc719a6648da90bd07b9b87d964963eb1e --- /dev/null +++ b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--mhrk9op.json @@ -0,0 +1,351 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-standard--mhrk9op", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "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": 49394, + "sim_steps": 49394, + "physics_steps": 197576, + "steps": 15517, + "elapsed_s": 14093.7, + "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-tidying-living-room-i00-standard--mhrk9op/replay.mp4", + "duration_s": 1646.467, + "fps": 30.0, + "frames": 49394, + "sha256": "0106f14366370d8b072dccfa9120feb2b3d18ef9f8eb5e97cf9adcf47fd7f579" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "plant_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36, + "log_step": null, + "text_zh": "观察：视频 30–80 s 机器人先在走廊地面对白色盆栽反复伸爪；此时盆栽不在茶几上。" + }, + { + "t": 438, + "log_step": 665, + "text_zh": "观察：视频 404–422 s 左腕画面中的盆栽随机器人移动到茶几附近；视频 428–438 s 操作后，头部视角茶几台面没有盆栽，白盆出现在桌旁的木地板区域，视频 580 s 再次清楚显示盆栽倒在地面。log step 665 是执行盆栽搬运脚本的调用，脚本的成功打印不作为放置成立证据。" + }, + { + "t": 1257, + "log_step": 1541, + "text_zh": "观察：视频 1190–1230 s 及视频 1240–1279 s 的后续伸爪操作未把盆栽放回茶几，视频 1257 s 白盆仍在桌旁地面。" + }, + { + "t": 1646.3, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.25，四个目标初态均不成立，而笔记本上书桌已由视频确认并未被再次取走，因此盆栽上茶几终态为假；这与视频后段盆栽留在地面的观察一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人先后用右、左二指夹爪尝试夹住白盆；视频 404–422 s 可见左夹爪夹住盆栽并随底盘搬运。两臂先后操作，不是同时合作搬盆。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人早期夹取和后续重抓时，夹指碰动盆体，使盆栽在地面移位、倾倒。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘驶近盆栽，并在视频 404–422 s 左臂持盆向茶几移动时承重行驶。" + } + ] + }, + "newspaper_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300, + "log_step": 434, + "text_zh": "观察：视频 280–320 s 机器人在书柜前向地面的报纸伸爪；抬爪后报纸仍在木地板上，未进入茶几台面。" + }, + { + "t": 536, + "log_step": 855, + "text_zh": "观察：视频 531–539 s 右夹爪抵压地面报纸，左夹爪同时靠近纸角并闭合；视频 540–548 s 抬臂、移向茶几时，报纸仍留在地板。没有看到报纸随手搬到桌面。" + }, + { + "t": 1120, + "log_step": null, + "text_zh": "观察：视频 1045–1060 s、视频 1110–1125 s 及视频 1150–1200 s 后续取送操作中，腕部画面仍显示报纸与蓝绿色书留在柜外木地板；茶几已经侧翻，未见报纸落在其棕色台面。" + }, + { + "t": 1646.3, + "log_step": null, + "text_zh": "观察：视频 1645.9–1646.3 s 右腕画面左缘仍能看到地板上的报纸。" + }, + { + "t": 1646.3, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.25 只容许一项新增目标在终态成立；已确认的笔记本占据该项，故报纸上茶几终态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "机器人单臂尝试从地面取报纸时，夹指抵住、压住纸面和纸边；未凭闭爪指令认定抓握成功。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人夹指沿纸边接触并拖动、拨动地面报纸，改变其位置和局部折起形状。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "视频 531–539 s 机器人右夹爪压住报纸，左夹爪同时贴近纸角作夹取动作；可确认压纸接触，未确认左指形成稳定对向夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘多次在柜前报纸处与茶几之间行驶，完成取送尝试中的接近和转位；画面未证实这些行驶实际携带了报纸。" + } + ] + }, + "hardback_in_bookcase": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 140, + "log_step": null, + "text_zh": "观察：视频 100–140 s 蓝绿色精装书在茶几上，机器人左夹爪多次接近、合拢，书尚未进入书柜。" + }, + { + "t": 780, + "log_step": 1070, + "text_zh": "观察：视频 760–810 s 左夹爪夹着已离开茶几区域的精装书，机器人向书柜移动；视频 820–900 s 多次伸入、抬起和释放操作后，腕部画面仍显示书在柜外木地板或靠着柜体外缘，没有看到书的主体进入格口内部。" + }, + { + "t": 1360, + "log_step": null, + "text_zh": "观察：视频 1280–1395 s 后续重抓、抬臂时，精装书反复留在柜外地面；视频 1400–1475 s 夹爪进出柜边后，仍未见书进入开放格。" + }, + { + "t": 1646.3, + "log_step": 1991, + "text_zh": "观察：视频 1580–1646.3 s 最后的伸爪和扫推动作之后，左腕画面仍见蓝绿色书在木地板上、白色柜体外侧；末秒书没有进入柜格。log step 1991 为最后扫推脚本的执行调用。" + }, + { + "t": 1646.3, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.25 与已完成的笔记本目标共同限定精装书入柜终态为假；不采信 agent 在若干放书脚本中打印的完成声明。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住精装书的边角，视频 760–810 s 可见书被夹持并搬运；后续又多次合爪重抓。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人左夹指/夹爪侧面抵住柜外的精装书，多次沿地板推拨、扫推，末段仍未将书推入格口。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在茶几附近和书柜前移动，包括视频 760–810 s 左臂持书时的转向、搬运行驶。" + } + ] + }, + "notebook_on_desk": { + "method": "visual", + "intervals": [ + [ + 198.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 140, + "log_step": null, + "text_zh": "观察：视频 100 s 笔记本原在茶几上；视频 120–140 s 黄色螺旋笔记本已离开原处，夹在机器人右夹爪中，随后随底盘向白色书桌移动。" + }, + { + "t": 198.5, + "log_step": 272, + "text_zh": "观察：视频 195–198 s 机器人右臂把黄色笔记本移到台灯旁白色书桌上方并下降；视频约 198.5 s 笔记本贴到白色桌面，视频 201–203 s 夹指打开、退离，笔记本仍平放在桌面，视频 204–206 s 头部视角继续可见。接触起点按画面估计，误差约 0.5 s；DAG 的关系节点允许持物时成立。" + }, + { + "t": 1646.3, + "log_step": null, + "text_zh": "推断：视频 206 s 后机器人离开书桌，后续粗看全片及取送动作未见再次拿走笔记本；评分器终态 q_score=0.25 与其余三项目标在柜外/地面的画面相符，因此笔记本上书桌保持到终态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右二指夹爪夹住黄色螺旋笔记本的边部，从茶几抬起、搬至书桌并松开；左臂同时对精装书的动作不属于本步骤的双臂协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在右臂持笔记本期间从茶几行驶到台灯旁的白色书桌前，并为放置调整停车位置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": 1, + "direction": "higher_better", + "value": 0.25 + } + ], + "failure": { + "breakpoint": { + "ref": "plant_on_table", + "t": 430, + "log_step": 665, + "where": "操作中", + "evidence_zh": "观察：机器人在视频 36–80 s 已开始盆栽步骤，视频 404–422 s 再次持盆移向茶几；视频 428–438 s 放置操作后，盆栽没有落在棕色茶几台面，而在桌旁地面，视频 580 s 可清楚复见。log step 664 的脚本随后开爪并打印完成（其输出在 log step 1462 被读回）。推断：盆栽是最早开始且始终没有完成的步骤；后来的重抓未修复它，因此选此节点，以视频约 430 s 的失败放置作导航锚点，而不改选最后反复尝试的精装书。" + }, + "unmet": { + "plant_on_table": false, + "newspaper_on_table": false, + "hardback_in_bookcase": false, + "notebook_on_desk": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 430, + "log_step": 665, + "evidence_zh": "观察：视频 428–438 s 机器人在茶几边完成持盆臂的放置/撤回动作，茶几台面一直未出现盆栽，白盆留在台面外、其下方为木地板；视频 580 s 白盆倒在地面。推断：结合 log step 664、1462 的主动开爪序列，这是未把盆栽送到台面上的放置偏差，没有证据表明它先稳定放到台面再滚落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 664 的盆栽放置程序依次执行预设关节目标，再直接 OPEN_GRIPPER，没有在开爪前检查实际盆底与台面关系或实际末端是否达到放置位姿；log step 1462 读回该执行输出，确认程序走到了开爪和撤回。视频 428–438 s、视频 580 s 显示实际物体落在桌外地面。机器人没有把目标放置关系落实后再释放；证据支持控制层的放置执行/校验缺陷，尚不足以区分抓持偏移与关节跟踪误差，故不细分子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有逐帧状态日志；夹爪与盆体遮挡了盆底在松手瞬间的精确位置，无法量出放置误差或可靠区分抓持几何、逆解和实际跟踪的贡献。精装书的包围盒中心不能由腕部图像精确计算；检查多次操作前后及末秒均见其留在柜外，未见进入格口的画面。笔记本在机器人离开书桌后不再持续入镜，其保持到终态结合后续动作和评分器总分推断。agent 最终报告（log step 1997）声称盆栽、报纸已完成，与视频和 q_score=0.25 不符，未用于节点赋真。" + }, + "summary_zh": "机器人完成笔记本上书桌，约在视频 198.5 s 建立关系，终态为 1/4；盆栽、报纸上茶几和精装书入柜均未达到。最早未修复的步骤是盆栽上茶几：视频约 430 s 的放置操作未使白盆落到台面，后续重试也未修复；放置程序未在释放前闭环核对实际目标关系，根因保留为控制。没有状态日志，松手瞬间和精装书中心位置有遮挡，笔记本的终态保持结合评分器 q_score=0.25 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": "笔记本约 198.5–204 s 放上书桌、盆栽约 430 s 放置失败于桌外地面、其余两项未达成，均与抽查帧一致；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": "2026-10-30T21:36:15Z", + "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-tidying-living-room-i00-standard--mhrk9op/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-standard--mhrk9op/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c702458d2d29e607daf5b35a0e18a64ab71b90da2c645e5358ce5f3e648c9d54", + "video_sha256": "0106f14366370d8b072dccfa9120feb2b3d18ef9f8eb5e97cf9adcf47fd7f579", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--xn2dhaz.json b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--xn2dhaz.json new file mode 100644 index 0000000000000000000000000000000000000000..9b8c183c2b1873b3cd8ee6c8c0b189a55a2f9866 --- /dev/null +++ b/phase2/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--xn2dhaz.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-standard--xn2dhaz", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "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": 7188, + "sim_steps": 7187, + "physics_steps": 28748, + "steps": 7143, + "elapsed_s": 3678.1, + "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-tidying-living-room-i00-standard--xn2dhaz/replay.mp4", + "duration_s": 236.6, + "fps": 30.0, + "frames": 7098, + "sha256": "3d1ad0d65228b56d80cb63dc78cea1e8a8ff4dc8f818c2cced9e60651eb8f0a2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plant_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 92, + "log_step": null, + "text_zh": "观察：视频 90–96.5 s，右夹爪在地板上的白盆绿叶盆栽附近下探、闭合并抬回；视频 96.5 s 白盆侧倒在地板上，没有随手到茶几台面。" + }, + { + "t": 230, + "log_step": null, + "text_zh": "观察：视频 194 s、220 s 和 230 s 的茶几附近视角未显示参考成功录像中白盆绿叶落在台面上的关系；本次录像也未出现把盆栽搬上茶几的动作。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0，且本 DAG 记录四项目标初态均为假，故实时局结束时盆栽上茶几为假；live_matches_replay=0，使用该总分仅约束终值，录像没有明确相反证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 90–96.5 s 右夹爪下探盆栽，之后白盆侧倒；夹爪和盆壁的接触点被腕部近景遮挡，不能确认是推碰、擦过还是曾短暂夹住，故不标已建立抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 88–91 s 机器人底盘在接近地板盆栽期间移动，承载机体；没有看到持盆栽行驶。" + } + ] + }, + "newspaper_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 64, + "log_step": null, + "text_zh": "观察：视频 62–66 s 右臂向书柜前地板上的白色报纸伸出、闭爪和抬回，报纸仍留在旧位置，手中没有可见报纸。" + }, + { + "t": 98, + "log_step": null, + "text_zh": "观察：视频 95–104.2 s 右腕视角可见印有 WESTERN CATHOLIC 字样的报纸靠近夹爪；视频 102–104.2 s 它与地板及邻近家具保持可见位置关系，随后夹爪转离。画面未证明报纸随夹爪离地并被送上茶几。" + }, + { + "t": 128, + "log_step": null, + "text_zh": "观察：视频 118–129 s 右夹爪在楼梯旁桌腿和栏杆附近伸出、张开，腕部未见报纸被放上沙发前茶几；视频 130–230 s 后续动作也未显示这一目标放置。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0 且四目标初态均假，报纸上茶几最终为假；live_matches_replay=0，此总分属于实时局，未用它反推具体抓取过程。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 62–66 s 及 95–104.2 s 机器人右二指夹爪靠近报纸并闭合；首次空手抬回，后一次报纸紧邻夹爪但未清楚显示相向夹紧及离地，实际夹持或推擦方式无法确定。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 58–62 s、84–91 s、104–118 s 及后续恢复过程中底盘带动机器人移动，服务于接近报纸和尝试移向放置区域；不据日志的持物自述认定这些移动搬运了报纸。" + } + ] + }, + "hardback_in_bookcase": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 106.2, + "log_step": null, + "text_zh": "观察：视频 106.2 s 可见蓝绿色精装书在茶几与书柜外侧区域；视频 129 s、230 s 仍能看到蓝绿色书在柜外，没有夹爪拿书并将书中心送入白色格口的过程。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0、四目标初态均假，精装书入任一书柜最终为假；虽 live_matches_replay=0，录像未见入柜关系与该终值相矛盾。" + } + ] + }, + "notebook_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 136, + "log_step": null, + "text_zh": "观察：视频 88 s、112–129 s、136 s 及 220–230 s 可见楼梯旁带台灯的书桌；没有黄色螺旋笔记本被夹起并送至书桌的动作，也没有出现参考成功录像中黄色笔记本接触该台面的画面。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0、四目标初态均假，笔记本上书桌最终为假；live_matches_replay=0 时仅以该实时局总分约束终值，不以 agent 自述“未移动”替代视频。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "newspaper_on_table", + "t": 64.0, + "log_step": 160, + "where": "操作中", + "evidence_zh": "观察：视频 62–66 s 机器人右臂向地板报纸伸出后空手抬回，报纸仍在原处；这是盆栽尝试之前已开始、直到录像结束都没有完成的目标步骤。log step 160、163 记录了先后两次报纸抓取命令，后续 log step 184、195 又尝试抓取、放置，但录像未显示报纸到达茶几。推断：按最早未修复的语义步骤选报纸上茶几，视频 64 s 为首次明显空抓的粗略导航锚点；未将 log step 的 agent 时间转换成视频时间。" + }, + "unmet": { + "plant_on_table": false, + "newspaper_on_table": false, + "hardback_in_bookcase": false, + "notebook_on_desk": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 64.0, + "log_step": 160, + "evidence_zh": "观察：视频 62–66 s 报纸在书柜前地板上，机器人右夹爪闭合后抬臂，未把报纸带离旧位置，夹爪没有包住报纸；视频 78 s、82 s 右腕视角仍可见报纸在地板上。此处指首次抓取未建立所需夹持；视频 95–104.2 s 后续靠近夹爪的报纸没有足够的离地证据，未据此声称整段从未有任何触碰。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 160 的脚本在 r.ik 返回 ok=False 时，只检查是否存在 q 便继续下发；服务输出三次 ok=False，目标高度由 0.14 m 降至 0.02 m，但实际 right_tcp 高度在后两阶段约为 0.53–0.54 m。log step 163 再尝试下降时服务输出的实际末端仍约为 0.41 m；视频 62–66 s、78 s、82 s 对应可见空夹和报纸留地。推断：机器人抓取动作未实现所需的地面接近和夹持，脚本在失败逆解及执行偏差后仍闭爪、抬臂；证据支持控制问题，但不足以进一步区分接触设计、可达性或关节跟踪的具体责任。" + } + ], + "gap_zh": "本作业没有逐帧状态日志。右腕画面中报纸长期靠近夹爪，部分接触和旧位置受遮挡，不能确认后一次尝试是否短暂附着、何时脱离，故实际操作接触填未知，未照抄 log step 188、243 的“已持有、已搬运”自述，也未把预定释放当作已发生的放置。评分器 live_matches_replay=0、deterministic=0，实时局总分仅用于录像不矛盾处的最终值；未建立控制步与视频的一一映射。视频 232–236.55 s 明显翻落并翻滚；log step 228–233 则记录恢复命令后状态暴涨、NaN 四元数和服务 error，这些后段事实不替代较早未修复步骤的断点，也不据 agent 对物理崩溃的解释追加根因。" + }, + "summary_zh": "机器人早期在探索移动中翻倒，之后先后尝试报纸和盆栽，四个目标关系均未见达成，最终为 0/4。最早未修复步骤是报纸上茶几：首次闭爪抬臂没有将报纸带离地面，日志显示逆解失败后脚本仍继续闭爪和抬臂；末段机器人又翻落，服务随后报错结束。没有状态日志且实时局与录像不完全一致，后一次报纸抓取和搬运缺少可核验的离地及到达证据，因此不采用 agent 的持物自述。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四个目标均未达成（q_score=0.0，视频 194–230 s 未见任一物体上台面/入柜），0/4 与断点选在报纸上茶几（视频约 64 s 首次空抓）合理；后一次报纸尝试（视频 95–104 s 腕部可见报纸邻近夹爪）无法判定是否离地，标未知是诚实的。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": "2026-10-30T21:49:30Z", + "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-tidying-living-room-i00-standard--xn2dhaz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-standard--xn2dhaz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0e256435fbc010e69c8442fc4e3272204ac854a83d073882ecb34a009456d339", + "video_sha256": "3d1ad0d65228b56d80cb63dc78cea1e8a8ff4dc8f818c2cced9e60651eb8f0a2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--biuzzrh.json b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--biuzzrh.json new file mode 100644 index 0000000000000000000000000000000000000000..31835e8184b8427d86fefdcf6d85e11025f794e5 --- /dev/null +++ b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--biuzzrh.json @@ -0,0 +1,253 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-privileged--biuzzrh", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "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": 604, + "sim_steps": 604, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 801.4, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 2, + "agent_sim_steps": 1208, + "agent_records": 1, + "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-unloading-the-car-i00-privileged--biuzzrh/replay.mp4", + "duration_s": 20.133, + "fps": 30.0, + "frames": 604, + "sha256": "772ffc6b591abd6dfcbf3a5b3ee0c914514435a12ea1e75421108a55f56513f2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [ + [ + 14.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 5.0 s 机器人已绕到红色汽车尾部，后备厢盖仍贴合车身；视频 7.0–13.5 s 左夹爪逐渐向上推动车盖。" + }, + { + "t": 14.5, + "log_step": null, + "text_zh": "推断：视频 14.5–15.0 s 头部画面中后备厢盖被左夹爪顶起，盖下形成宽大的黑色取物开口，已从遮住取物口变为可取包；据此将打开事件记在视频约 14.5 s，精度约半秒。随后开口缩小不撤销已发生的打开事件。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 0.0–6.0 s 轮式底盘支撑机器人沿汽车侧面移动、转向并停在车尾。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频约 7.0–15.0 s 左夹爪接触红色后备厢盖并向上推顶；未见夹住把手或用对向夹持拉盖。" + } + ] + }, + "garage_exit_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–20.1 s 可见的木质车库通行门一直封住门洞，机器人没有靠近或操作该门；另一候选车库大门及外部连通路线没有进入可判断的画面。" + }, + { + "t": 20.1, + "log_step": 251, + "text_zh": "推断：log step 251 的七扇门关节读数来自会话内的导航测试，不是交付回放的状态日志，不能用它代替评分视频判定全部出口初态；由于 DAG 接受任一可行出口，该节点整体保留未知。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.1, + "log_step": null, + "text_zh": "观察：视频 0.0–20.1 s 机器人只绕车移动并在车尾操作，未见公文包从车内被取出、随夹爪搬走或到达客厅；末帧机器人仍在车尾。" + }, + { + "t": 20.1, + "log_step": 277, + "text_zh": "推断：评分器 reward.q_score=0.0；本任务两项新增目标均是包与沙发相邻，初态均不成立，因此终态公文包相邻目标必为假。log step 277 对交付的 604 步文件回放也报告 q_score=0.0、deterministic=true，与未搬运的画面一致。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.5, + "log_step": 255, + "text_zh": "观察：视频约 15.5–20.1 s 左腕画面始终近距离面对红色后备厢盖，头部画面未见挎包被提起或带出；log step 255 中最终生成脚本的取包段明确将同一左爪移向挎包并闭合，故这是已启动的挎包取出尝试。" + }, + { + "t": 20.1, + "log_step": 277, + "text_zh": "推断：视频末帧机器人仍在汽车尾部，没有携包离车或到沙发旁的过程；评分器 reward.q_score=0.0 且两项相邻目标初态均为假，决定挎包终态相邻目标为假。log step 277 对交付文件的回放结果与之相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "视频约 15.5–20.1 s 左爪尝试向挎包位置下探时实际顶在红色后备厢盖表面，腕部画面可见车盖紧邻指端；未观察到夹爪包住挎包，不记为抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "satchel_next_to_sofa", + "t": 15.5, + "log_step": 255, + "where": "操作中", + "evidence_zh": "推断：视频约 14.5–15.0 s 左爪已顶开后备厢盖，视频约 15.5 s 起转向取包，但左腕画面被红色车盖占据，开口缩小，直到视频 20.1 s 均未见挎包离车。log step 255 的交付脚本在推盖后用同一左爪执行挎包接近、下探和闭合；log step 257、267、277 确认该脚本另行生成并回放的文件是评分的 604 步轨迹，后续其他双臂调试不计入本次节点进度。" + }, + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 15.5, + "log_step": null, + "evidence_zh": "观察：视频 15.5–20.1 s 左腕相机中红色车盖近贴指端并持续挡住向车内的视线，头部视图中左爪停在车盖处、车盖开口比视频 14.5–15.0 s 缩小；取包动作没有将挎包带出，机器人末端实际受到车盖阻挡。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 15.5, + "log_step": 255, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 255 的交付脚本先用左爪推盖，再让同一左爪改成向下的取包姿态并下探，没有安排另一作用端持续支住车盖；视频 14.5–15.0 s 的较大开口在左爪换位后缩小，视频 15.5–20.1 s 左腕持续面对车盖而未进入包所在空间。该接触布局未在取包期间保住开口，导致左爪压在盖上；没有已验证成功的替代支撑方案。" + } + ], + "gap_zh": "无状态日志和成功参考视频，两只包在厢内的具体接触均被车盖及暗部遮挡，无法判定指端是否短暂擦到挎包，也无法精确测量开口与包尺寸；打开汽车的达成时刻为视觉估计。可见木门始终关闭，但另一候选车库大门及外部路线未被评分视频覆盖，故车库通道节点未知；log step 251 的会话测试不能补成该回放的节点事实。根因限于已见的开口支撑布局问题，不采信 agent 自述的所有方案都不可行。" + }, + "summary_zh": "评分轨迹中机器人移到车尾，用左爪在视频约 14.5 s 顶开后备厢盖；两只包均未放到沙发旁，评分器 q_score=0。挎包取出尝试在视频约 15.5 s 受车盖阻挡，推断同一左爪从支盖转为取包时未持续保住开口，所选支撑接触布局未能完成取物。车库另一出口和厢内包爪接触被遮挡，无状态日志，通道前置节点保留未知。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "对照视频帧：机器人绕到车尾，约 14.5 s 后备厢盖被左爪顶起，之后盖板回落、左腕画面一直被车盖占据，直到 20.1 s 未见包离车。q_score=0，两只包均未放到沙发旁。节点值、时钟、断点（挎包取出）、被挡/碰撞与抓取和接触设计根因均有证据支持，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": "2026-10-30T21:38:23Z", + "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-unloading-the-car-i00-privileged--biuzzrh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-privileged--biuzzrh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e623df567a3135819898939b53e2b81ca1663027979cd34f8bf15e4e9834043e", + "video_sha256": "772ffc6b591abd6dfcbf3a5b3ee0c914514435a12ea1e75421108a55f56513f2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--buhxyfk.json b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--buhxyfk.json new file mode 100644 index 0000000000000000000000000000000000000000..94e30476194665b771aedc3d2b0d96a18c44aeab --- /dev/null +++ b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--buhxyfk.json @@ -0,0 +1,291 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-privileged--buhxyfk", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 6962, + "sim_steps": 6962, + "fallen": 0, + "final_reward": 0.0, + "q_score": 1.0, + "replay_wall_s": 1835.8, + "replay_timeout_s": 4681.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 13924, + "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": 14.623, + "peak_memory_gb": 11.503, + "peak_processes": 33, + "peak_disk_gb": 2.639, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "regrade_0154": { + "tag": "behavior-254-0154", + "old": 1, + "new": 0, + "why": "stricter rule", + "at": "2026-10-18 02:08:20" + } + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-unloading-the-car-i00-privileged--buhxyfk/replay.mp4", + "duration_s": 232.067, + "fps": 30.0, + "frames": 6962, + "sha256": "194865eded6426988a49312aad42f58791bda71fabc29bbfef2c13d496e32e73" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [ + [ + 27.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–20.0 s 汽车后备厢盖关闭；视频 23.0–27.0 s 机器人左夹爪夹住后部把手向上抬盖，视频约 27.0 s 已露出可取包的厢口，时间约有半秒误差。" + }, + { + "t": 35.5, + "log_step": null, + "text_zh": "观察：视频 35.0–37.0 s 厢盖曾落回关闭位置；机器人随后再次开盖，视频 59.0–74.0 s 厢口敞开，视频 121.0–123.0 s 公文包从厢内被提走。此节点为首次开口后锁存的事件，不因中途关盖撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪夹住后备厢盖把手并沿铰链弧线抬起，关回后再次抓握开盖。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "后续机器人左夹爪改变朝向，从盖下方继续向上推盖，最终脱离后盖保持敞开；视频 65.0–74.0 s，log step 114、116 的未附着反馈与盖角变化作辅助。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘驶到车尾，并在开盖过程中向汽车靠近以调整操作位置。" + } + ] + }, + "garage_exit_opened": { + "method": "visual", + "intervals": [ + [ + 212.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 210.0, + "log_step": 208, + "text_zh": "观察：视频 209.5–210.5 s 机器人携两包驶向车库通往室内的木门，门最初封闭；视频 211.0–212.0 s 门板被向室内推开，约视频 212.0 s 形成足够通行的开口，时间约有半秒误差。" + }, + { + "t": 214.0, + "log_step": 210, + "text_zh": "观察：视频 213.0–215.0 s 机器人穿过打开的门洞进入木地板走廊，两包仍随机器人前行；log step 210 对这段已保存轨迹报告门角由接近零增至约 1.24 rad、两手各持一包，与视频顺序一致。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 210.5–213.0 s 机器人双手持包并以底盘前进顶开木门，但门与机器人相接的低处被包和机身遮挡，无法确定是哪个机器人连杆或所持包直接推门；未见空手抓握门把手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承重并前进，使木门打开，继而携包穿过门洞。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.0, + "log_step": 147, + "text_zh": "观察：视频 120.5–123.0 s 棕色公文包随机器人右夹爪离开后备厢，原处不再留有该包；视频 125.0–220.0 s 该包持续随右臂及底盘搬运，随后进入客厅。log step 147 报告右夹爪两指均接触公文包，作为抓持身份的辅助证据。" + }, + { + "t": 232.0, + "log_step": 215, + "text_zh": "观察：视频 230.0–232.0 s 机器人右臂将棕色公文包降到蓝色沙发前侧，但夹爪仍夹着包，包随手臂转动；视频 232.0 s 末帧仍未释放，未形成释放后静止的放置状态。log step 214 的末段只有移动右臂指令，log step 215 随即报告原服务成功并保存 6962 步。" + }, + { + "t": 232.0, + "log_step": null, + "text_zh": "推断：评分字段 q_score=1.0 支持两项 nextto 均成立，却不包含释放静止验收；本节点按当前 DAG 的释放条件仍为假。重评字段 regrade_0154 记录 old=1、new=0、why=\"stricter rule\"，不能用原服务的成功替代当前验收。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人先用右侧二指夹爪抓住公文包提手并提离车内；后来右手持公文包、左手持挎包共同搬运，两臂随躯干调整携带姿态，末段右臂下降公文包时左手仍持挎包。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘在车尾调整位置，并支撑机器人持公文包经车库木门、走廊驶到客厅沙发旁。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200.5, + "log_step": 204, + "text_zh": "观察：视频 85.0–195.0 s 黑色挎包在车尾地面，机器人多次以左夹爪接近；视频 198.5–201.5 s 该包被左夹爪提离地面并随左臂上升，视频 205.0–225.0 s 挎包随机器人穿门并进入客厅。log step 204 报告左侧两指接触挎包，辅助确认所持对象。" + }, + { + "t": 232.0, + "log_step": 215, + "text_zh": "观察：视频 225.0–230.0 s 黑色挎包悬在机器人左夹爪前方；视频 230.5–232.0 s 棕色公文包下降到其旁边时，黑色挎包仍与左夹爪相连，左腕画面也未出现松爪撤手。视频 232.0 s 末帧两包均仍在手中，挎包没有释放后的静置区间。" + }, + { + "t": 232.0, + "log_step": null, + "text_zh": "推断：评分字段 q_score=1.0 可支持挎包已与沙发相邻，但相邻并不证明释放；按当前 DAG 的合取条件，本节点最终为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪最终夹住黑色挎包的带部并提离地面，同时右手抓持公文包；两臂各持一包协同调整躯干并搬运，挎包直到视频结尾仍未松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘在车尾为左臂取地上挎包调整位置，随后支撑机器人同时携带两包穿过车库木门并驶到沙发旁。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "1", + "threshold": 1, + "direction": "higher_better", + "value": 1.0 + } + ], + "failure": { + "breakpoint": { + "ref": "briefcase_next_to_sofa", + "t": 231.5, + "log_step": 215, + "where": "终态验收", + "evidence_zh": "观察：视频 230.5–232.0 s 机器人最后操作右手公文包，将其下降至沙发旁，两手均未释放所持包；log step 215 的原服务状态在这段末尾由 q_score=0.5 变为 1.0 并报告 success=True，保存后没有继续执行释放。评分记录却为 success=0，且 regrade_0154 明示因 \"stricter rule\" 从 1 改为 0；定位在最后操作的公文包放置步骤的终态验收。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "任务设计问题：inputs/run.json 的 task_text 明确把两项 nextto 同时成立列为成功条件，并写明一成立回合即自动结束，没有说明释放、速度阈值或共同静置窗口；log step 215、272、276 显示交付轨迹及两个新进程回放都被原服务判成功，且终态哈希一致，随后评分字段 regrade_0154 才记录以 \"stricter rule\" 改判失败。视频 231.0–232.0 s 确认两包仍被夹持，故按当前 DAG 将两包放置记为假；这处验收契约差异不补标为机器人的接触失败、误以完成或交付错误，现象及根因留空。输入没有状态日志、成功示例或重评逐条件报告，不能核定原生速度、共同窗口及重评的全部附加条件；视频 210.5–213.0 s 推门的具体接触连杆亦被遮挡。", + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + } + }, + "summary_zh": "机器人打开汽车后备厢及车库通道，将两只包取出并携入客厅，原生 q_score=1.0；视频 232.0 s 结尾两包仍被左右夹爪持着，按当前 DAG 的释放静止条件，最终完成 2/4 个节点，断点定位在最后操作的公文包放置终态验收。任务设计问题：任务文本与原服务按两项 nextto 自动结束并判成功，交付的两个新进程回放也均通过，后续评分才以“stricter rule”改判失败，故不臆造机器人现象或根因。无状态日志及重评逐条件报告，精确速度、静置窗口与全部重评条件无法核实，推门的直接接触部位也被遮挡。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值与时间、断点（公文包放置终态验收）和“任务设计问题”处理与视频及评分字段一致：末帧两包仍在夹爪中，q_score=1.0 但重评改判为0，未臆造机器人现象。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": "2026-10-30T21:28:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-privileged--buhxyfk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-privileged--buhxyfk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "35343b3c112caafe0e1fa57d072438d3646b6e13676a53138c383dab87b7703c", + "video_sha256": "194865eded6426988a49312aad42f58791bda71fabc29bbfef2c13d496e32e73", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--cvkhzay.json b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--cvkhzay.json new file mode 100644 index 0000000000000000000000000000000000000000..7fff4f1144471a2767a8d0ba610332dfa56484c9 --- /dev/null +++ b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--cvkhzay.json @@ -0,0 +1,292 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-privileged--cvkhzay", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "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": 1760, + "sim_steps": 1760, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1134.0, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 3, + "agent_sim_steps": 1760, + "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-unloading-the-car-i00-privileged--cvkhzay/replay.mp4", + "duration_s": 58.667, + "fps": 30.0, + "frames": 1760, + "sha256": "25fa82d2b113fb857e02024f90b70ff347db1d3a8742fc72b37baf8efda88106" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [ + [ + 21.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 4.0 s 汽车后备厢盖处于关闭位置；视频 17.0–21.0 s 机器人左夹爪夹持盖板边角向上抬，视频 21.0 s 盖板与车尾之间已形成明显取物开口。按最大开口附近约视频 21.0 s 记到达，边界约有0.5秒不确定性。" + }, + { + "t": 24.5, + "log_step": null, + "text_zh": "观察：视频 23.0–24.5 s 后备厢盖逐渐回落，视频 58.63 s 仍接近关闭；本节点为打开事件，之后回落不撤销已发生的打开。" + }, + { + "t": null, + "log_step": 61, + "text_zh": "观察：log step 60–61 的录制脚本依次执行 stage_lid 和 stage_grasp_brief，反馈左爪抓到 car.n.01_1、盖板达到45.3度；log step 62 随即保存1760行轨迹。该顺序与视频先抬盖、后右臂伸向车尾一致，仅以视频确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 16.0–21.0 s 机器人左二指夹爪夹住汽车后备厢盖板边角并抬起；未见右爪同时参与抬盖。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–5.0 s 轮式底盘移至汽车后方，为左爪开盖提供操作位置。" + } + ] + }, + "garage_exit_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 4.0 s 车库墙上的木门门板封住门洞；视频 21.0 s、视频 39.0 s 的背景中该门仍关闭，机器人始终在汽车后方操作，没有前往出口开门。" + }, + { + "t": 58.63, + "log_step": 15, + "text_zh": "推断：全段视频及视频 58.63 s 末帧均未出现携包离开车库或打开出口的动作；结合 log step 15 的初态读取，车库通走廊门 j_leaf 与车库大门两扇门的关节均接近0，且交付脚本只驶至车尾、开盖和尝试取包（log step 58、60–62），判定未建立可通行的车库出口。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": null, + "text_zh": "观察：视频 23.0–24.5 s 左爪所在的后备厢盖回落，机器人右爪向车尾伸出；视频 24.5 s、视频 33.0–44.0 s 右爪多次停在红色盖板外侧，未见公文包随夹爪离开车内。" + }, + { + "t": 58.63, + "log_step": null, + "text_zh": "观察：视频 57.5–58.63 s 仍是汽车车尾与空夹爪，未出现搬到客厅或在沙发旁释放公文包的画面；评分器 reward.q_score=0.0、success=0。" + }, + { + "t": 58.63, + "log_step": null, + "text_zh": "推断：任务的两项初始均为假的目标分别为公文包、挎包相邻沙发；评分器 q_score=0.0 排除任一终态目标成立。结合整段视频没有搬运离车或放置动作，公文包放沙发旁未达到；包本体被盖板遮挡，不能由此声称已看见夹爪碰到包。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "观察：log step 61 的取包阶段反馈 pre-close eef 后 in hand None；log step 62 在进一步恢复快照调试之前已保存这1760行动作。因此其后的调试不计入本轨迹的进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 21.0–24.5 s 取包尝试开始时，左二指夹爪继续夹持后备厢盖边角；抓握对象是盖板，未观察到任何夹爪夹住公文包。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 25.0 s、视频 27.0 s、视频 33.0 s 及视频 42.0 s，右夹爪指端抵在回落的后备厢盖外表面运动，未见包体被包住或带出；记录右爪对盖板的按压、滑动接触。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 58.63, + "log_step": null, + "text_zh": "观察：视频全段机器人只在车尾开盖并进行右臂取物动作，视频 57.5–58.63 s 结束检查未见挎包被夹持、搬出或放在沙发旁；评分器 reward.q_score=0.0。" + }, + { + "t": 58.63, + "log_step": null, + "text_zh": "推断：两项相邻目标初始均为假，终态 q_score=0.0 排除挎包相邻沙发成立；结合视频始终未发生向客厅搬包，判定本节点未达到。挎包在车内被盖板遮挡，不能确认其内部微小位移，但没有证据显示本次尝试曾操作挎包。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "briefcase_next_to_sofa", + "t": 23.5, + "log_step": 61, + "where": "操作中", + "evidence_zh": "观察：视频 21.0 s 后备厢盖已抬起；视频 23.0–24.5 s 在右臂开始取包动作时盖板回落，右夹爪随后停在盖板外侧，视频 39.0 s 仍抵着车尾，至视频 58.63 s 未见公文包取出。推断：结合 log step 58、60–62 的录制和保存顺序，此时是在执行公文包放沙发旁步骤的取包阶段；该失败此后没有完成或修复。" + }, + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 24.5, + "log_step": 61, + "evidence_zh": "观察：视频 23.0–24.5 s 已抬起的后备厢盖回落，视频 24.5 s 右夹爪抵在盖板外表面；视频 33.0–44.0 s 右爪继续沿红色车尾外侧运动，未进入车内或带出公文包。推断：回落的盖板挡住取包通路，后续动作未排除该阻挡。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "source_zh": "日志", + "evidence_zh": "观察：log step 58 的 stage_grasp_brief 逐次调用只指定 right 的 move_ee；log step 47 读取的逆解接口说明求解会改变共享躯干及目标臂，而非目标臂保持种子关节值。log step 60–61 记录先左臂抬盖再执行该右臂序列，log step 61 最终反馈 in hand None；log step 63 的生成脚本注释及 agent 最后自述（log step 70）也指出右臂求解带动共享躯干、使左手降低。推断：视频 21.0–24.5 s 的盖板回落与上述单臂求解相符，取包轨迹未约束左爪的世界位姿，导致抬盖与取包无法同时维持；不是把 agent 所称预算耗尽当作根因。" + } + ], + "gap_zh": "观察：inputs/ 有完整视频和会话日志，但无状态日志、无成功参考视频；三路相机中的车内包体及部分指端接触始终受盖板遮挡，无法直接判定指端是否短暂碰包、接触力或精确开口余量。推断：打开汽车按视频最大开口附近约视频 21.0 s 判定；双臂共享躯干导致盖板回落的机制由日志代码与视频联合推断，未有独立状态轨迹验证；两包终态为假同时受评分器 q_score=0.0 约束。log step 62 保存之后的恢复快照试验不属于本次交付。" + }, + "summary_zh": "观察：机器人在视频约21.0 s 抬开汽车后备厢盖，按事件节点计完成1/4步；车库出口未打开，两只包均未完成放到沙发旁，评分器 q_score=0.0。推断：断点是公文包步骤的取包阶段，视频约23.5 s 盖板回落并挡住右爪；日志显示右臂单独求解会改变共享躯干，未保持左爪抬盖位姿。观察：没有状态日志或成功参考视频，包体受遮挡，具体接触与控制机制仍有证据缺口。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "WHERE 标签（car_opened≈视频21 s、其余三点未达、断点在公文包取包阶段、q_score=0）与视频、日志一致，现象与根因有日志和帧支持；唯一需改的是 briefcase_next_to_sofa 的 contact_actual 用了“双臂协作”，而右爪并未抓握任何物体。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "car_opened≈视频21 s、其余三点未达、断点在公文包取包阶段、q_score=0 均与帧和日志一致；第1轮的 contact_actual 问题已修正，未发现新错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:48:42Z", + "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-unloading-the-car-i00-privileged--cvkhzay/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-privileged--cvkhzay/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-privileged--cvkhzay/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-privileged--cvkhzay/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f6df23ad8375a1db82b376a9f1b52a0ccd6f522dc87b87b6bbaf9d7b5196a881", + "video_sha256": "25fa82d2b113fb857e02024f90b70ff347db1d3a8742fc72b37baf8efda88106", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--8yybnlc.json b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--8yybnlc.json new file mode 100644 index 0000000000000000000000000000000000000000..561c570c85308f235c220b370236691441c1d150 --- /dev/null +++ b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--8yybnlc.json @@ -0,0 +1,275 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-standard--8yybnlc", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "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": 3582, + "sim_steps": 3582, + "physics_steps": 14328, + "steps": 585, + "elapsed_s": 6658.8, + "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-unloading-the-car-i00-standard--8yybnlc/replay.mp4", + "duration_s": 119.4, + "fps": 30.0, + "frames": 3582, + "sha256": "4f40c23626fc3a285b455a8497c8b64a484d4756b5c4ea3bed48d6390814fa2f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 6.0–17.0 s 可见红色汽车侧门和后备厢盖均在关闭位置，没有可供完整取包的开口。" + }, + { + "t": 18.0, + "log_step": null, + "text_zh": "观察：视频 17.6–20.8 s，机器人左夹爪靠向后备厢盖边缘、闭合并上提；腕部画面中指尖抵着红色表面，随后空爪离开，头部画面中厢盖未打开。时刻取自视频。" + }, + { + "t": 37.0, + "log_step": null, + "text_zh": "观察：视频 31.5–61.0 s、64.0–72.5 s，机器人右夹爪反复伸向侧门把手区域，闭合后向外撤；侧门始终未形成开口。视频 84.5–95.5 s 又尝试后备厢区域，仍无取包开口。" + }, + { + "t": 119.3, + "log_step": null, + "text_zh": "观察：视频 107.5–119.3 s，机器人再次对侧门把手区域进爪、闭爪、退爪；最后一秒及视频 119.3 s 的末尾画面中侧门仍关闭，未见包被取出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "机器人先用左夹爪指尖抵压、擦过后备厢盖边缘，后用右夹爪指尖反复抵压侧门把手及其周围门板；虽多次闭爪，画面未证实形成包夹住门盖或把手的对向抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘支撑机器人绕汽车行驶，多次调整到后备厢与侧门的操作位置。" + } + ] + }, + "garage_exit_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.5–1.0 s 的车库大门与视频 2.0–2.5 s 的室内通行门都由木色门板封住门洞。" + }, + { + "t": 90.0, + "log_step": null, + "text_zh": "观察：视频 24.0–28.0 s、77.0–81.0 s、89.5–91.0 s 及97.0–99.5 s 再次看到这些门，门板仍在关闭位置；机器人始终围着汽车操作，没有伸手操作车库出口门，也未穿过出口。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 119.3, + "log_step": null, + "text_zh": "观察：视频 0.0–119.3 s 的头部及双腕画面中，机器人始终在车库围绕汽车移动或操作门盖；未见公文包离车、随夹爪搬运或到达客厅沙发旁，视频 119.3 s 末尾仍面对关闭的汽车侧门。" + }, + { + "t": 119.3, + "log_step": null, + "text_zh": "推断：汽车内部被车身与深色车窗遮挡，无法直接追踪公文包的初末位姿；但全程没有搬包出车的可见过程，且评分器 reward.q_score=0.0、live_matches_replay=1。DAG 中两项相邻目标初态均为假，零目标总分也决定本节点最终为 false；并非仅凭零分推定未尝试。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 119.3, + "log_step": null, + "text_zh": "观察：视频 0.0–119.3 s 的头部及双腕画面中，机器人始终在车库围绕汽车移动或操作门盖；未见挎包离车、随夹爪搬运或到达客厅沙发旁，视频 119.3 s 末尾仍面对关闭的汽车侧门。" + }, + { + "t": 119.3, + "log_step": null, + "text_zh": "推断：汽车内部被车身与深色车窗遮挡，无法直接追踪挎包的初末位姿；但全程没有搬包出车的可见过程，且评分器 reward.q_score=0.0、live_matches_replay=1。DAG 中两项相邻目标初态均为假，零目标总分也决定本节点最终为 false；并非仅凭零分推定未尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "car_opened", + "t": 18.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 17.6–20.8 s，机器人第一次对后备厢盖边缘闭爪并上提，指尖抵住表面而门盖没有打开，随后空爪撤开。视频 31.5–72.5 s、84.5–95.5 s 及107.5–119.3 s 的后续尝试也未形成取包开口，因此这一打开汽车步骤始终未修复。" + }, + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 18.0, + "log_step": null, + "evidence_zh": "观察：视频 17.6–20.8 s 左夹爪抵在后备厢盖边缘，闭合、上提时门盖未打开，随后指尖沿表面擦离；视频 36.5–38.0 s、48.0–49.0 s 及115.0–117.0 s 的侧门尝试中，指尖同样抵住把手周围表面，退爪后门仍关闭。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 会话日志（仅作根因旁证）", + "evidence_zh": "推断：机器人能驶到汽车旁并把夹爪送到门盖或把手区域，但进爪、闭爪与拉动未建立有效的开门作用。视频 17.6–20.8 s 的首次厢盖尝试和视频 31.5–72.5 s、107.5–119.3 s 的多次侧门重试均显示这一模式。作为根因旁证，会话 log step 42、53 的代码采用预设夹取位姿再上提或沿铰链弧拉动；log step 98 读取会话中保存的 004_try_trunk 本体数据，闭爪阶段仍有指爪间距、后续才闭至近零，log step 63 读取 007_firm_door 本体数据，记录接触操作阶段末端运动受限及随后夹爪闭至零。这些会话数据尚未与交付视频建立经核对的控制步映射，不作为视频对应时刻的本体观测。视频与会话旁证支持开门接触执行失败，尚不能可靠区分接触几何设计与轨迹跟踪问题，故停在控制大项。" + } + ], + "gap_zh": "无模拟器状态日志，也无成功参考视频；汽车内部大部分被车身和深色车窗遮挡，无法核实两只包的精确位置、门盖关节角和每一对接触。画面与评分器总分足以判断节点均未完成，但不足以确认可行的替代抓法，或将控制根因进一步拆成抓取几何、轨迹或反馈子类。会话 log step 42、53、63、98 与交付视频之间缺少经核对的控制步对应，相关动作代码和本体读数仅作根因旁证，不用于节点值、断点或现象的观察证据。" + }, + "summary_zh": "机器人在车库绕车观察，并反复以左夹爪尝试后备厢、右夹爪尝试侧门，四个节点均未达到，两个包均未搬到沙发旁，评分器 q_score=0.0。最早未修复的断点是视频约18.0 s 的打开汽车：夹爪抵压表面却未带动门盖打开，后续重试亦未成功，根因归为控制。无状态日志或成功参考视频，车内遮挡使具体抓取几何和门盖状态无法精确核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点（四个均未达成）、断点 car_opened 和根因大项与视频一致；仅有一处证据归属问题：把 agent 会话中的本体读数当成图形化回合的观察。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "四个节点均未达成、断点 car_opened 以及控制根因与视频和 q_score=0 一致；上一轮的证据归属问题已修正，未发现新的错误。", + "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": "2026-10-30T21:47:42Z", + "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-unloading-the-car-i00-standard--8yybnlc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-standard--8yybnlc/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-standard--8yybnlc/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-standard--8yybnlc/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ec5b46f41e06b3b8e859903f45d5b925ab04f73964014df807a9133a6777c023", + "video_sha256": "4f40c23626fc3a285b455a8497c8b64a484d4756b5c4ea3bed48d6390814fa2f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--coakzd9.json b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--coakzd9.json new file mode 100644 index 0000000000000000000000000000000000000000..ca0e515a4b852cef5575d2d04763c642c7cd508b --- /dev/null +++ b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--coakzd9.json @@ -0,0 +1,288 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-standard--coakzd9", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "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": 32290, + "sim_steps": 32290, + "physics_steps": 129160, + "steps": 30094, + "elapsed_s": 13949.2, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-unloading-the-car-i00-standard--coakzd9/replay.mp4", + "duration_s": 1076.333, + "fps": 30.0, + "frames": 32290, + "sha256": "4ac9401fea94befe51ea57aea1262cd2c5bd6a2589d80a663def426da125ddb7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [ + [ + 855.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 15.0, + "log_step": null, + "text_zh": "观察：视频 15 s 车尾后备厢盖闭合，视频 55 s 和后续车侧检查也未见可取包的开口。" + }, + { + "t": 855.5, + "log_step": 426, + "text_zh": "观察：视频 853–856 s 右夹爪夹住后备厢盖后缘并上提，厢口明显露出；视频 855.5 s 已形成可取包的开口，视频 863–869 s 可见两只包及伸入厢内的左手。首次达成时间按画面估计约有 1 s 误差。" + }, + { + "t": 1075.5, + "log_step": null, + "text_zh": "观察：视频 998–1014 s 后备厢盖曾落回关闭位置，视频 1044–1050 s 左夹爪重新将其提起，视频 1075.5 s 仍在支撑开盖；本节点为事件，后来的关盖不撤销已达成值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 853–869 s 右二指夹爪夹住后备厢盖后缘抬起并保持；视频 1044–1050 s 改由左二指夹爪夹持盖缘重新开盖。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "视频 805–815 s 左右夹爪同时抵住汽车尾部面板，随后尝试向上移动；此时不能据此认定两手都夹住了面板。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人多次由轮式底盘在地面支撑下驶到车尾、车侧并调整开盖位置，视频 5–20 s、405–425 s、785–795 s 可见这些移动。" + } + ] + }, + "garage_exit_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.0, + "log_step": null, + "text_zh": "观察：视频 5–20 s 的车库转向画面中，通向室内的窄木门及大木门均未露出可供机器人携包通过的门洞。" + }, + { + "t": 495.0, + "log_step": null, + "text_zh": "观察：视频 495 s 窄木门仍关闭，大木门中间只露狭缝，门板仍占据出口；视频 575–585 s、695–705 s 的再观察未见出口打开。机器人全程在汽车周围操作，未见操作车库出口门或携包通过门洞。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 887.0, + "log_step": 449, + "text_zh": "观察：视频 875–889 s 右夹爪保持后备厢盖，左夹爪伸向厢内左侧黑色公文包、闭合并再次抬起调整；包仍在原车厢内，未随手完整取出。视频 887 s 的腕部画面可见闭合指端与包的边缘。" + }, + { + "t": 920.5, + "log_step": 472, + "text_zh": "观察：检查视频 916–923.75 s 的头部和左腕画面，左手向上撤离时未带出公文包；随后视频 938–949 s 可再次看到包仍留在厢内。log step 471 的“已夹住”及 log step 474 的“滑脱”为 agent 的自述，画面不能确认曾形成承重抓持。" + }, + { + "t": 1075.5, + "log_step": null, + "text_zh": "推断：视频 950–998 s 左手多次接近包体与提手，未将包取离汽车；视频 1075.5 s 仍可见黑色公文包留在后备厢内，机器人未到客厅。结合评分器 q_score=0（两项原始相邻目标初态均为假），公文包放沙发旁的最终值为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "取公文包期间右二指夹爪一直夹持后备厢盖后缘，为左臂伸入提供开口；此项抓握指右手对车盖的实际夹持，不据此认定左手已抓牢公文包。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "视频 887–998 s 左夹爪多次贴近并抵压公文包上缘及提手附近，右手同时夹持车盖；包没有被完整提离，未确认公文包的双侧承重夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 859–864 s 机器人夹持开盖并由轮式底盘支撑微调车尾位置，以便空闲左手接近公文包；没有携公文包驶向客厅。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1062.0, + "log_step": 537, + "text_zh": "观察：视频 1054–1067.5 s 左夹爪保持后备厢盖，右夹爪伸向右侧棕色挎包并闭合，随后上抬；棕色包仍在厢内，没有随右手离开原位置。" + }, + { + "t": 1075.5, + "log_step": 540, + "text_zh": "观察：视频 1070–1076 s 右夹爪改由侧面再次接近棕色挎包，视频 1075.5 s 和视频 1076 s 包仍留在后备厢，未出现搬到沙发旁并释放的动作。" + }, + { + "t": 1076.0, + "log_step": null, + "text_zh": "推断：视频中的挎包从未搬离车库；评分器 q_score=0，且两项相邻目标初态均不成立，进一步确定该放置目标最终为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "视频 1054–1076 s 左二指夹爪夹住后备厢盖后缘保持开口，右手同时尝试取挎包；实际确认的抓握是左手对车盖的夹持。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "视频 1058–1063 s 和视频 1071–1076 s 右夹爪触及棕色挎包上部、前侧后闭合，左手保持车盖；没有观察到挎包随右手被提走，不能认定已抓牢挎包。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 1044–1050 s 机器人在左手保持开盖时由轮式底盘支撑驶近车尾，准备以右手取挎包。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "briefcase_next_to_sofa", + "t": 887.0, + "log_step": 449, + "where": "操作中", + "evidence_zh": "观察：视频 875–889 s 机器人在右手保持车盖的同时，左夹爪对公文包闭合、抬起调整，但包留在厢内。此后视频 916–998 s 的多次抓取也没有将包取出；机器人随后转试棕色挎包，直到视频 1076 s 两包仍在汽车内。公文包放置是开盖完成后首先实际尝试、并始终未完成的步骤。" + }, + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 887.0, + "log_step": 449, + "evidence_zh": "观察：视频 887–889 s 左夹爪在公文包上缘附近闭合，随后重新张开并换角度；包没有被带起。视频 916–923.75 s 的提手动作后包仍在厢内，视频 950–998 s 重试亦未取走。这里指没有建立可将公文包提走的抓持接触；普通碰触、抵压确实发生，不能把它们当作已抓牢。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：机器人采用上缘斜夹、前侧提手夹取和向下夹取，所选夹持位置未形成可靠的对向接触。视频 887–998 s 反复闭合后包仍在车内；log step 449、456、460、468、490、494、509 的机器人本体观测多次显示左夹爪闭合至接近零，而未带走包；log step 499 从服务本体感知读取的两指关节作用量分别约为 -22.65 与 -0.025，支持该次只有一侧指端受阻，另一侧未对夹。接触布置不合适比单纯逆解求解失败更符合这些记录；未验证其他抓法是否可行。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志，也没有成功参考视频。后备厢内部及夹持处很暗，已放大、提亮检查头部与腕部画面，仍不能确定公文包边缘是否曾被短暂夹住或离开支撑面；因此不采用 agent 在 log step 471、474 自述的“抓住后滑脱”作为没保持住的证据，抓取现象依据视频 887–889 s 等明确的未提起尝试。节点时刻均来自视频取帧，未把 agent 工作时间或各次动作块的步数累计直接换算为视频时间；车盖首次形成足够开口的时刻约有 1 s 误差。" + }, + "summary_zh": "机器人反复尝试车盖和车门后，于视频约 855.5 s 打开后备厢，最终仅完成打开汽车这 1/4 个节点；车库出口未打开到可携包通行，两只包均未送到沙发旁，q_score=0。断点为公文包放沙发旁：左夹爪多次闭合、抵压和抬手仍未建立可取走公文包的抓持，接触几何与对夹布置不合适有本体感知记录支持；随后尝试挎包亦未取出。无状态日志，昏暗和遮挡使短暂夹持、滑脱无法确认。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 850/855/857/887/1000/1075 s：后备厢约 855 s 打开、1000 s 已落回关闭、1075 s 重新开启，与标注一致；包始终未取出，q_score=0，断点与接触抓取设计的因果有日志支撑，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": "2026-10-30T21:38:03Z", + "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-unloading-the-car-i00-standard--coakzd9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-standard--coakzd9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6e47cafef64acb143a2237683946024880c1047e7444b94c888e4ea46d1c1976", + "video_sha256": "4ac9401fea94befe51ea57aea1262cd2c5bd6a2589d80a663def426da125ddb7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--edasyrk.json b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--edasyrk.json new file mode 100644 index 0000000000000000000000000000000000000000..9d0cf1e5f3b3dfc36f2c0e1b82cac1c1557b86f9 --- /dev/null +++ b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--edasyrk.json @@ -0,0 +1,235 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-standard--edasyrk", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "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": 2022, + "sim_steps": 2022, + "physics_steps": 8088, + "steps": 2022, + "elapsed_s": 1606.5, + "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": 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-unloading-the-car-i00-standard--edasyrk/replay.mp4", + "duration_s": 67.4, + "fps": 30.0, + "frames": 2022, + "sha256": "e5c6acd818f87802c10007926a174e7b54835aa4b5e400f373934c3db48a1aa5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.4, + "log_step": null, + "text_zh": "观察：视频 0.4 s 的汽车侧面未见敞开的车门；视频 28.0、34.0、42.0、48.0、52.0 s 的侧面和后部观察中，车门及后盖仍贴合车身，没有形成可取包开口。机器人仅绕车移动并调整观察方向，未见夹爪拉开门盖。" + }, + { + "t": 67.367, + "log_step": 155, + "text_zh": "观察：视频 53.5 s 后机器人视野大幅翻转，视频 66.4–67.367 s 头部视野贴近地面，腕部仍可见车库和汽车；log step 155 的服务状态为 control_steps=2022、done=true、reason=\"failure: the robot fell over\"。截至终止未见打开汽车。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在地面上转向、接近并绕行红色汽车以检查车门、车窗和后盖（视频 0.2–53.5 s）；记录底盘移动时的地面支承，未见夹爪抓握汽车门盖。" + } + ] + }, + "garage_exit_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.2, + "log_step": null, + "text_zh": "观察：视频 0.2 s 可见木质单扇通行门关闭，视频 0.6 s 可见木质分节车库大门关闭；视频 20.0、24.0、38.0、48.0 s 再次出现的出口门仍封住门洞。整个视频中机器人留在车库，未见操作通行门或打开可携包通过的出口。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 48.0, + "log_step": null, + "text_zh": "观察：视频 0.0–52.0 s 所检查的头部和双腕画面均在车库，机器人只观察汽车及周围，未见公文包离车、进入夹爪或被送到客厅沙发旁；视频 53.5–67.367 s 机器人倾倒，仍未出现搬包或放包。" + }, + { + "t": 67.367, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 q_score=0.0、live_matches_replay=1；DAG 的两项包与沙发相邻目标初始均不成立，零总分不允许其中任一目标在终态成立，故公文包放沙发旁 final=false。该终态推断与全程没有可见取包和运输一致，不用零分单独断言没有尝试。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 48.0, + "log_step": null, + "text_zh": "观察：视频 0.0–52.0 s 所检查的头部和双腕画面均在车库，机器人只观察汽车及周围，未见挎包离车、进入夹爪或被送到客厅沙发旁；视频 53.5–67.367 s 机器人倾倒，仍未出现搬包或放包。" + }, + { + "t": 67.367, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 q_score=0.0、live_matches_replay=1；DAG 的两项包与沙发相邻目标初始均不成立，零总分不允许其中任一目标在终态成立，故挎包放沙发旁 final=false。该终态推断与全程没有可见取包和运输一致，不用零分单独断言没有尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "car_opened", + "t": 1.7, + "log_step": 55, + "where": "探索", + "evidence_zh": "观察：视频 0.2–1.4 s 机器人转向观察汽车，视频 1.6–2.4 s 首次接近汽车时视野明显倾斜；log step 55 执行转向并向前移动，log step 59 的现场服务读数为 control_steps=53、基座高度约0.327 m，log step 61 的基座竖直分量为0.48。后续机器人虽重新直立，视频 28.0–52.0 s 仍只绕车查看关闭的门盖，打开汽车这一步始终未完成；视频 53.5 s 附近再次倾倒，log step 155 确认服务最终按跌倒终止。断点取首次未被完成该步骤修复的失衡，位置为寻找取物入口的探索。" + }, + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 1.7, + "log_step": 59, + "evidence_zh": "观察：视频 1.6–2.4 s 汽车与墙面在机器人视野中明显倾斜；现场服务的 log step 59、61 给出基座高度约0.327 m、竖直分量0.48，确认是基座失衡而非仅相机转动。视频 53.5–58.0 s 再次大幅翻转，视频 66.4–67.367 s 头部相机朝向近处地面，机器人未恢复直立；log step 155 的服务终止原因为机器人跌倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 1.7, + "log_step": 51, + "source_zh": "日志", + "evidence_zh": "推断：agent 的导航控制未能维持移动和恢复过程的基座稳定。log step 51 的 forward 默认以每控制步0.15 m发送底盘位移，log step 55 用该函数直行1.4 m后，log step 59、61 的现场读数已显示基座抬高且严重倾斜，与视频 1.6–2.4 s 一致；log step 98 的恢复控制持续发送偏航旋转，log step 153 在绕车观察时报告倾斜0.333、恢复失败后仍继续尝试恢复并最终跌倒，视频 53.5–67.367 s 可见持续翻倒。控制命令、基座反馈与画面共同支持移动稳定性控制失败，具体动力学子因未能确定。" + } + ], + "gap_zh": "没有独立状态日志，也没有成功参照视频。两只包始终未在可用视角中被清楚辨认，无法逐帧核实车内精确位置或接触对，终态未达由评分总分结合未见搬运的画面判定；倾倒时没有接触力或轮地接触记录，无法进一步区分惯性、躯干姿态与环境接触的贡献。现场服务控制步可核对视频时钟：log step 59 的53步/30 Hz约为视频1.77 s，与视频1.8 s首次倾斜一致，终止2022步/30 Hz=视频67.4 s；未使用agent工作时间换算视频。" + }, + "summary_zh": "机器人在车库内转向并绕汽车观察，汽车门盖及车库出口均未打开，两只包均未搬到沙发旁，DAG终态为0/4，评分器q_score=0。打开汽车的探索阶段在视频约1.7 s首次出现基座失衡，之后虽恢复直立却始终未完成该步骤，视频约53.5 s再次倾倒并最终触发跌倒终止，日志支持移动与恢复控制未能保持稳定。缺少独立状态日志且包被车体遮挡，包的终态由评分总分与无可见搬运共同判定，倾倒的具体动力学成因仍不明。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全为 false 与画面一致（全程只在车库绕车，未见开门盖或出口门）；断点 car_opened/探索、现象 平衡、根因 控制 与 log step 59/61/64/98/153/155 及视频的反复倾斜一致；时钟换算（53步/30Hz≈1.77 s，2022步=67.4 s）正确。未发现必须修改之处。", + "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": "2026-10-30T21:45:31Z", + "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-unloading-the-car-i00-standard--edasyrk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-standard--edasyrk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "25d6b580df20fd51847f34be5ed5c5b887e73da152f8f610c350d248dc0d5877", + "video_sha256": "e5c6acd818f87802c10007926a174e7b54835aa4b5e400f373934c3db48a1aa5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--kqf5lc4.json b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--kqf5lc4.json new file mode 100644 index 0000000000000000000000000000000000000000..f38265f685cb242a9254523f725c188e77ccea0b --- /dev/null +++ b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--kqf5lc4.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-standard--kqf5lc4", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "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": 36899, + "sim_steps": 36899, + "physics_steps": 147596, + "steps": 19331, + "elapsed_s": 9184.5, + "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-unloading-the-car-i00-standard--kqf5lc4/replay.mp4", + "duration_s": 1229.967, + "fps": 30.0, + "frames": 36899, + "sha256": "01ad0f11dde8252967777892bebae2a7d36624d7d67a4071f9be12dd02115212" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [ + [ + 702.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0–630 s 的环视及绕车画面中，红色汽车侧门和后备厢盖均关闭；机器人先在侧窗、车门把手及车尾反复探触。" + }, + { + "t": 702.5, + "log_step": 137, + "text_zh": "观察：视频 690–703 s，机器人左夹爪夹住后备厢盖边缘向上抬起；视频 702.5–709 s 可见盖板与车体分离、厢内形成宽大的取物开口，右臂随后移向厢口。首次满足时刻按可见开口估计为视频 702.5 s，约有 1 s 的视觉判定误差。" + }, + { + "t": 711, + "log_step": null, + "text_zh": "观察：视频 710–711 s 盖板再次落回；本节点是打开事件，已经出现的充分开口不因后来回闭而撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 690–709 s 左侧二指夹爪夹住后备厢盖的后缘并抬盖；此前也在侧门把手处闭爪探触，未拉开侧门。" + }, + { + "who": "双臂协作", + "how": "未知", + "note_zh": "观察：视频 901–919 s 左夹爪持盖、右夹爪移到盖板下方，随后两臂改到盖板下缘尝试托举。盖板及车体遮挡接触处，无法确认双爪是否都形成有效承托，不认定双手均抓住盖板。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人以轮式底盘绕车、移动到车尾并在抬盖和重新抓盖时前后调整位置；车轮在车库地面支撑这些移动。" + } + ] + }, + "garage_exit_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30, + "log_step": null, + "text_zh": "观察：视频 0–40 s 的环视显示木质车库大门与侧墙小门均由门板封闭；视频 120–200 s、300–340 s、490–500 s、620–630 s 再次看向这些出口，未见形成可通行门洞。" + }, + { + "t": 1229.8, + "log_step": null, + "text_zh": "观察：视频 703–1229.8 s 机器人一直在车尾操作，背景侧墙小门保持关闭，没有机器人开出口门或携包离开车库的动作；所检查的全程画面未见可用出口被打开。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 974, + "log_step": 185, + "text_zh": "观察：视频 965–975 s 右腕画面可辨厢内带亮色扣件的深红色公文包，机器人右夹爪从厢口向其近角伸入；视频 980–1005 s 公文包始终留在厢内，夹爪闭合和撤回时未带出包。log step 185、189 的代码明确以这只公文包近角为接近目标。" + }, + { + "t": 990, + "log_step": 191, + "text_zh": "观察：log step 191 中，机器人服务返回右夹爪闭合后的开口约 0.0000009 m，两指均近零；视频 989–993 s 右腕画面中公文包仍在爪前，未被夹持抬起。" + }, + { + "t": 1229.8, + "log_step": 236, + "text_zh": "观察：视频 1223–1228 s 的右腕画面仍能看到厢内公文包，视频 1228.8–1229.8 s 右夹爪空着退出；头部画面仍在车尾，未发生搬到客厅或在沙发旁释放。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0，live_matches_replay=1；DAG 的两个 nextto 目标初态均为假，因此终态没有任一目标相邻关系成立，与视频未搬出公文包一致。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "未知", + "note_zh": "观察：视频 965–1005 s、1223–1229.8 s 左夹爪夹持后备厢盖，右夹爪向公文包伸入、闭合再退出；未见右夹爪夹住公文包。右指是否轻擦包体受暗光及盖板遮挡，无法确认其实际接触方式；此处不把空夹记为抓握公文包。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 976–980 s 等取包尝试间，轮式底盘在车尾小幅前移以缩短接近距离；没有携公文包跨房间移动。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1229.8, + "log_step": null, + "text_zh": "观察：所检查的全程视频中，机器人仅绕车、开盖、在厢口调整右臂，未见挎包离车、随夹爪搬运或在客厅沙发旁释放。视频 1228.8–1229.8 s 机器人仍停在车尾，右夹爪空着退出。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：DAG 给出挎包的 nextto 目标初态为假，评分器终态 q_score=0.0 且 live_matches_replay=1，故挎包在沙发旁的终值为假；该判断结合视频无搬运，未把零分解释为从未尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "briefcase_next_to_sofa", + "t": 990, + "log_step": 191, + "where": "操作中", + "evidence_zh": "观察：视频 965–1005 s 机器人左夹爪持后备厢盖，右夹爪反复伸向厢内公文包，闭爪后没有带出包；log step 185、189、191 记录相应接近和闭爪动作。推断：视频约 990 s 的空夹是公文包步骤中可定位的失败锚点，此后虽多次重试和重新开盖，直到视频 1229.8 s 仍未取出或放置公文包，该步骤从未修复。" + }, + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 990, + "log_step": 191, + "evidence_zh": "观察：视频 980–1005 s 的右腕画面显示公文包一直留在厢内，右夹爪闭合后未包住或抬起它；log step 191 的服务本体读数显示两指接近全闭、总开口约 0.0000009 m。视频 1223–1229.8 s 再次接近后仍空爪退出。推断：取包所需的夹持接触没有建立，不是包已经拿起后又滑落；此判断不排除手指曾轻擦包体。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 189 在接近公文包时，服务测得右臂第一关节力矩达到 -55 N·m，跟踪偏差增至 0.052 rad；log step 196 的服务读数显示躯干第一关节为 100 N·m，躯干关节仍偏离命令。log step 234–235 的最后重试再次出现右臂偏差约 0.095 rad、右臂第一关节 -55 N·m、躯干第一关节 100 N·m；视频 1223–1229.8 s 对应右爪接近公文包后空爪撤回。推断：持盖同时伸臂取包的执行持续不能把夹爪送到有效夹持位置，属于控制失败；现有证据不能可靠细分为接触布局、轨迹求解或反馈控制。" + } + ], + "gap_zh": "没有状态日志或成功参考视频。后备厢内较暗，头部相机被盖板遮挡，右腕增强画面能确认包未被取出，但不能确定手指与包、前臂与盖板之间的全部接触对，也不能独立核实 agent 在 log step 213、237 所称的具体碰撞与可达性结论，因此不追加“被挡/碰撞”或“够不着”，根因保留在控制大类。挎包未被单独清楚展示，终态假由无搬运画面与 q_score=0.0 共同约束。汽车充分开口的首次时间是视觉近似值。" + }, + "summary_zh": "机器人在视频约 702.5 s 抬起后备厢盖，完成打开汽车事件；车库通道未打开，两只包均未放到沙发旁，最终完成 1/4 个节点。断点在公文包取出阶段：视频约 990 s 右夹爪空夹，之后持续重试到视频末尾仍未取出公文包；服务读数反复出现关节力矩饱和与跟踪偏差，支持控制失败。厢盖遮挡和暗光限制了具体接触及控制子类的判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点时间与值（car_opened 约 702.5 s 到达、其余三节点未达、final=1、q_score=0 约束）与帧一致；断点在公文包步骤、现象“没建立接触”、根因停在“控制”均有视频与服务读数支持，未发现必须修改的内容。", + "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": "2026-10-30T21:42:01Z", + "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-unloading-the-car-i00-standard--kqf5lc4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-standard--kqf5lc4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ffd505cc59bdfe192005d58d6e38ef066d7a4684597d21130206ac4ea589058d", + "video_sha256": "01ad0f11dde8252967777892bebae2a7d36624d7d67a4071f9be12dd02115212", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--tymbxwt.json b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--tymbxwt.json new file mode 100644 index 0000000000000000000000000000000000000000..0eda0b1593e8d4435c809a0d7ec5db606f0c8a12 --- /dev/null +++ b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--tymbxwt.json @@ -0,0 +1,255 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-standard--tymbxwt", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "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": 25489, + "sim_steps": 25488, + "physics_steps": 101952, + "steps": 24451, + "elapsed_s": 5814.2, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-unloading-the-car-i00-standard--tymbxwt/replay.mp4", + "duration_s": 842.4, + "fps": 30.0, + "frames": 25272, + "sha256": "eea50d84e4c4cfc0bf483fd29cf5d5ea06e77cf5d2f02786afa281d3260781e0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 142, + "log_step": null, + "text_zh": "观察：视频 138–161 s 的头部画面中汽车侧门保持贴合车身；左腕画面显示左夹爪反复在凹入式门把手前张开、闭合及退回，门板没有随夹爪拉出。" + }, + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频 170–200 s 再次接近把手、闭爪后，侧门仍未形成打开的门缝；视频 350–360 s 可见车尾盖也没有掀起。" + }, + { + "t": 480, + "log_step": null, + "text_zh": "观察：视频 458–480 s 左臂从侧窗上方探入、退出，腕部看到座椅，头部仍见车门下半部贴合车身；这不是门盖打开。视频 670–750 s 的后续探查也未见门盖打开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 154–172 s 左夹爪在汽车外门把手及周围门面前反复抵近、贴压、闭合并回撤；未见夹爪包住把手并将门板带走，不记为成功抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 110–140 s、174–178 s、330–360 s 等，轮式底盘承载机器人接近汽车侧门、后退及绕到车尾探查。" + } + ] + }, + "garage_exit_opened": { + "method": "visual", + "intervals": [ + [ + 26.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9, + "log_step": null, + "text_zh": "观察：视频 0–9 s 的转头画面中，车库内小木门封住门洞；车库宽大木门也关闭。" + }, + { + "t": 26.5, + "log_step": null, + "text_zh": "观察：视频 25.0–26.7 s 机器人移动、视野急剧倾斜和旋转；视频 26.5–26.7 s 首次清楚看见小门门板已让开、门洞露出走廊木地板及对面墙面，形成可通行开口。时间为首次可见锚点，实际打开约在视频 25–26.5 s，直接推动部位被遮挡。" + }, + { + "t": 550, + "log_step": null, + "text_zh": "观察：视频 74 s、82 s 和 550 s 可见同一室内出口门洞敞开，门板不再挡住通道；这一事件已达成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 25–26.7 s 机器人非持物移动、转动时，室内通行门由关闭变成敞开；底盘在移动阶段承载机器人。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 25–26.7 s 门板近处被机器人本体和旋转视野遮挡，不能辨认机器人哪一部位直接推到门板，亦未见夹爪夹住门把手。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 480, + "log_step": null, + "text_zh": "观察：视频 0–842.3 s 检查到的头部和双腕画面始终在车库内；视频 458–480 s 机器人探入侧窗后空手退出，没有可见的公文包离车、随夹爪搬运及在沙发旁释放的过程。" + }, + { + "t": 842.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，DAG 的两个目标均非初始满足，故终态不能有任一包的相邻目标为真，公文包放沙发旁 final=false。live_matches_replay=0，因此该总分只作为现场终态的边界证据；视频 838–842.3 s 仍在汽车与车库大门附近，未出现与此推断矛盾的放置。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 480, + "log_step": null, + "text_zh": "观察：视频 0–842.3 s 检查到的头部和双腕画面始终在车库内；视频 458–480 s 机器人探入侧窗后空手退出，没有可见的挎包离车、随夹爪搬运及在沙发旁释放的过程。" + }, + { + "t": 842.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，DAG 的两个目标均非初始满足，故终态不能有任一包的相邻目标为真，挎包放沙发旁 final=false。live_matches_replay=0，因此该总分只作为现场终态的边界证据；视频 838–842.3 s 仍在汽车与车库大门附近，未出现与此推断矛盾的放置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "car_opened", + "t": 155.0, + "log_step": 98, + "where": "操作中", + "evidence_zh": "观察：视频 142–161 s 左夹爪在汽车侧门把手附近反复闭合，随后回撤时门板仍贴合车身；视频 170–200 s 及后续探查未修复开门步骤。log step 98、102、119、121 的机器人客户端回读也记录闭爪后开口为零、回撤完成，却没有门被带开的结果。车库出口另已于视频约 26.5 s 可通行，两只包始终未见取出；最早未修复的操作步骤是打开汽车。" + }, + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 155.0, + "log_step": 121, + "evidence_zh": "观察：视频 154–161 s、180–200 s，左夹爪在把手前张合、离开，未见把手被两指夹住并跟随回撤，汽车侧门始终关闭。log step 121 的客户端输出显示闭爪开口为零、TCP 已退回，且视频中没有门板跟随；所需的可传递开门拉力的抓持接触未建立，接近或贴压门面不等于抓住把手。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：开门目标明确，但实际接近、闭合及拉回未形成能带动门板的接触。视频 154–200 s 的空夹与不动的门板，结合 log step 119–121（接近后闭爪、拉回）及 log step 148、151、158（请求继续插入而 TCP 停滞，躯干/左臂关节力矩增大，闭爪后又为零），支持把手操作的接触执行失败；没有充分证据区分接触几何设计与受阻后的控制处理，故停在控制大类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志或成功参考视频，不能核实指腹与把手的精确接触对、汽车碰撞几何及可行替代握法；log step 358 关于“隐形碰撞壳、无法从外部开门”的说法只是 agent 自述，不能据此归因任务或环境。车库出口在视频约 25–26.5 s 由关闭变为敞开，但直接受力部位遮挡，接触记未知。log step 339–340 的服务返回 pre-physics 错误及 base_link 四元数 NaN，结束了后续操作；视频 838–842.3 s 仍在车旁且视野倾斜，不能仅据此确定数值错误的触发原因。开门的物理失败早已发生且未修复，按该断点标注；不把服务错误当作已证明的根因。live_matches_replay=0，现场末尾 control_steps 也未与视频长度建立可靠对应，本文所有视频时间均直接取自抽查帧，未换算日志或 agent 时间。" + }, + "summary_zh": "观察：车库室内出口由关闭变为可通行，视频约 26.5 s 首次清楚可见，最终完成 1/4 个节点；汽车门盖没有打开，两只包均未见取出或放到沙发旁，评分器 q_score=0。推断：最早未修复的断点是打开汽车，夹爪反复在把手前闭合、回撤却未建立能带开门板的抓持接触，根因仅能定位到控制。观察：log step 339–340 最终记录仿真错误和 NaN 姿态；没有状态日志或成功参考，精确接触、可行开门方案及终止错误的来源仍不确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "车库小门在视频 24–25 s 仍关闭、约 26.5–31 s 起敞开，门节点时间合理；汽车门/后盖在 150–835 s 的抽帧中始终关闭，两只包未见取出，断点 car_opened、没建立接触、控制（未分到子类）均有证据支持，未发现必须修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + 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"HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--vc2nqap.json b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--vc2nqap.json new file mode 100644 index 0000000000000000000000000000000000000000..077bc445fe99c18314e903325d0d5961b470fe43 --- /dev/null +++ b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--vc2nqap.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-standard--vc2nqap", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "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": 3941, + "sim_steps": 4091, + "physics_steps": 16364, + "steps": 1309, + "elapsed_s": 3755.7, + "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-unloading-the-car-i00-standard--vc2nqap/replay.mp4", + "duration_s": 136.4, + "fps": 10.0, + "frames": 1364, + "sha256": "359a9c4b4a8195f91d2815dd7f66ae51ee924b71d4d6e26e9ee24c4c33e6c13b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 4.0 s、32.0 s 与 62.0–68.0 s 可见红色汽车门板贴合车身，未见门盖形成可完整取包的开口；侧窗可见车内，但没有包被取出的画面。" + }, + { + "t": 105.5, + "log_step": 102, + "text_zh": "观察：视频 103.5–105.0 s 左夹爪在侧窗下缘合拢，视频 105.5–110.5 s 左手向外拉离，门板没有随手转开；视频 116.0–120.0 s 再次看见门板仍贴合车身。log step 101 的服务夹爪开度为 0.049，log step 102 拉动后为 0.000，不能把 agent 自述“抓住门边”当成开门完成。" + }, + { + "t": 136.3, + "log_step": 111, + "text_zh": "观察：视频 124.0–128.2 s 机器人向车尾伸左手，未见后备厢盖打开；视频 128.4 s 起画面侧转，视频 135.4–136.3 s 仍侧倒在车旁，取物开口始终未建立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 103.5–105.0 s 左侧二指夹爪跨住汽车侧窗下方门板上缘并合拢，随后拉离而未保持夹持；此前还多次在同一门边定位、空闭合。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人由轮式底盘支撑在车库地面移动，接近汽车侧门并随后绕向车尾以尝试开门盖（视频 20.0–72.0 s、116.0–128.4 s）。" + } + ] + }, + "garage_exit_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 0.0–14.0 s 环视中可见车库的单扇木门与双扇车库大门均关闭；视频 34.0–36.0 s、54.0–58.0 s 和 112.0–114.0 s 再次看到门板封住门洞。机器人全程在汽车周围活动，没有操作出口门或穿过门洞。" + }, + { + "t": 136.3, + "log_step": null, + "text_zh": "观察：视频 135.4–136.3 s 机器人侧倒后的画面仍显示关闭的车库大门，没有可携包通过的出口开口。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.0, + "log_step": null, + "text_zh": "观察：视频 0.0–128.2 s 的三相机画面中，机器人始终在车库环视、接近汽车或操作汽车门边，没有可见的公文包离车、随夹爪搬运或到达沙发旁；视频 135.4–136.3 s 仍侧倒在车旁。" + }, + { + "t": 136.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0；DAG 的两项新增目标分别为公文包和挎包 nextto 沙发，初态均不成立，因此终态零个目标成立，公文包放沙发旁 final=false。这与全程未见搬包的画面一致，并非仅由零分推定没有尝试。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.0, + "log_step": null, + "text_zh": "观察：视频 0.0–128.2 s 的三相机画面中，机器人始终在车库环视、接近汽车或操作汽车门边，没有可见的挎包离车、随夹爪搬运或到达沙发旁；视频 135.4–136.3 s 仍侧倒在车旁。" + }, + { + "t": 136.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0；DAG 的两项新增目标分别为公文包和挎包 nextto 沙发，初态均不成立，因此终态零个目标成立，挎包放沙发旁 final=false。这与全程未见搬包的画面一致，并非仅由零分推定没有尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "car_opened", + "t": 105.5, + "log_step": 102, + "where": "操作中", + "evidence_zh": "观察：视频 74.5–78.5 s 的首次夹爪闭合及拉动未使车门转开；重试至视频 103.5–110.5 s，左夹爪合拢门边后拉离，门仍关闭。机器人此后改到车尾尝试，视频 128.4 s 起侧翻，直到视频 136.3 s 未恢复；“打开汽车”是最早被实际操作且始终未完成的步骤。" + }, + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 105.5, + "log_step": 102, + "evidence_zh": "观察：视频 104.5–105.0 s 左夹爪两指跨在车门上缘，视频 105.5–106.5 s 拉动时夹爪与门边分离、门板仍在原处；log step 101 服务报告闭合后的左夹爪开度 0.049，log step 102 保持闭合指令拉动后开度变为 0.000，随后才执行主动松开。推断：门边夹持在拉动中丢失，未把门拉开。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 128.4, + "log_step": 111, + "evidence_zh": "观察：视频 128.2 s 机器人仍贴近汽车后侧，视频 128.4–130.2 s 三个相机视角一起持续侧转，视频 135.4–136.3 s 墙和车保持横倒方向；log step 112 的服务本体读数 base_joint 中 rx=-1.514、ry=-1.706，与机器人侧翻一致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "观察：log step 100–102 的脚本用左夹爪反复对准、闭合汽车门板上缘，再沿预设弧线拉动；视频 103.5–106.5 s 显示夹爪只短暂夹住边缘后脱离，门不随动。log step 111 又执行靠近车尾的底盘位移和转向，视频 128.4–130.2 s 出现未受控的侧翻。推断：开门接触维持和近车移动控制未实现所需动作；现有证据不足以进一步区分夹持几何、接触力或跟踪误差，根因停留在控制。" + } + ], + "gap_zh": "观察：inputs/ 无状态日志或成功参考视频，包所在位置和沙发在本次画面中不可见；单包终态由评分器零目标总分与未搬运画面共同判定。夹爪垫接触点、门铰链状态、实际接触力及侧翻时的底盘碰撞点没有记录，不能断定门锁卡住或精确细分控制根因；侧窗虽有开口，未见其能够让整只包通过。评分器 task_failure=0，故不把可见侧翻写成已触发跌倒判负。" + }, + "summary_zh": "本次四个节点均未达成：机器人一直在车库内尝试打开汽车，未打开通行门，也未搬出或放置任何包，评分器 q_score=0。车门边缘夹持在拉动时丢失，最早未修复的步骤为“打开汽车”；继续绕到车尾后，机器人在视频约 128.4 s 侧翻并保持至结尾。无状态日志，接触力与车内包的位置不可见，控制根因只作类别判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "四个节点均未达成、断点为 car_opened、门边夹持丢失与侧翻两项现象均与视频帧及 log step 101/102/112 一致，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:30:14Z", + "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-unloading-the-car-i00-standard--vc2nqap/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-unloading-the-car-i00-standard--vc2nqap/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "231a5c3702439d9466348f640b72a2131489c1cdf5eef7357fbce67354c6520c", + "video_sha256": "359a9c4b4a8195f91d2815dd7f66ae51ee924b71d4d6e26e9ee24c4c33e6c13b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--wdcsqgo.json b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--wdcsqgo.json new file mode 100644 index 0000000000000000000000000000000000000000..d898002b08c74069e25f39490f4d908fb0a61df7 --- /dev/null +++ b/phase2/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--wdcsqgo.json @@ -0,0 +1,282 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-standard--wdcsqgo", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "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": 4661, + "sim_steps": 4661, + "physics_steps": 18644, + "steps": 1554, + "elapsed_s": 1045.7, + "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": 0.219, + "peak_processes": 6, + "peak_disk_gb": 0.262, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-unloading-the-car-i00-standard--wdcsqgo/replay.mp4", + "duration_s": 155.367, + "fps": 30.0, + "frames": 4661, + "sha256": "724e4396c79e1d52dccec81c9d7dbdeef0d4af02d0e50640de7daa743291194d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 46.0, + "log_step": null, + "text_zh": "观察：视频 18–86 s 机器人转向并绕汽车侧后方观察；视频 46.0 s 和 53.0 s 可见侧门板仍与车身闭合，后盖未掀起，没有形成取出整只包的门盖开口。" + }, + { + "t": 86.0, + "log_step": 129, + "text_zh": "观察：视频 86–110 s 机器人离开汽车、转向车库内门，随后直到视频 155.3 s 均未返回车旁操作门盖；log step 92、100 是绕车与升降躯干观察脚本，未执行开车门动作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30–86 s 轮式底盘支撑机器人靠近并绕汽车观察取物入口，没有看到夹爪抓住或推动汽车门盖；视频 142.5–144.5 s 机器人空手在门口转向，底盘仍与地面支承接触。推断：结合 log step 178–180 的返回汽车乘客侧导航，末段移动归入返回汽车、继续建立取物开口的转场，尚未进入公文包取放作业。" + } + ] + }, + "garage_exit_opened": { + "method": "visual", + "intervals": [ + [ + 139.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 110.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s、90–110 s 可见车库内木门封住通往室内的门洞；车库大门在视频 10–16 s、60–64 s 也保持关闭。" + }, + { + "t": 139.5, + "log_step": 172, + "text_zh": "观察：视频 136.5 s 木门开始明显移开，视频 139.5–141.0 s 门板已转到门洞侧边，露出连续的室内木地板与走廊，机器人头部视角进入门洞；以视频约 139.5 s 记为已具备携包通过的开口，精度约半秒。log step 172–174 的脚本驱动底盘向门口前进。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 90–139.5 s 底盘支撑机器人驶向内门，先靠近、退后，再向门洞前进。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "推断：视频 136.5–139.5 s 门板随机器人前进向室内摆开，应有机器人与门板的推动接触；实际接触点被机体及门板遮挡，不能确定由底盘、躯干还是收拢的手臂施力，未见夹爪围夹把手。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 53.0, + "log_step": null, + "text_zh": "观察：视频 30–86 s 机器人只在汽车侧后方移动观察，双腕画面没有出现持包搬运，车门未打开；随后机器人空手移向内门，没有把公文包搬到客厅沙发旁。" + }, + { + "t": 144.5, + "log_step": 178, + "text_zh": "观察：视频 142.5–145.5 s 机器人在门口空手转向并翻倒；log step 178–180 启动返回汽车乘客侧、停到公文包前方的导航脚本，但视频至 155.3 s 结束未见机器人恢复、取包或放包。" + }, + { + "t": 155.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，两个原本均不满足的目标分别是公文包与挎包紧邻沙发，故公文包终态必为未满足；这与视频中未发生搬运一致，不用零分反推抓取接触。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 86.0, + "log_step": 161, + "text_zh": "观察：视频 30–86 s 机器人绕车观察，没有看到挎包离车或被夹爪持有；log step 161–163 仅向服务请求假设基座位置的逆解计算，没有提交取挎包的执行轨迹。" + }, + { + "t": 155.3, + "log_step": null, + "text_zh": "推断：视频 90–155.3 s 机器人空手在车库内门附近活动并翻倒，未发生挎包搬运；评分器 reward.q_score=0.0 且初始两项相邻目标均不成立，因此挎包终态不在沙发旁。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "car_opened", + "t": 144.5, + "log_step": 178, + "where": "转场", + "evidence_zh": "观察：视频 18–86 s 机器人绕汽车侧后方探索取物入口，视频 46.0 s、53.0 s、70.0 s 和 86.0 s 的汽车侧门板及后盖均未形成可取包的开口；log step 92、100 的脚本只转向、移动并升降躯干观察，未执行开门盖动作。视频约 139.5 s 车库内门已打开；log step 178–180 的脚本随后空手返回汽车乘客侧，但视频 142.5–145.5 s 机器人在门口转向、持续倾覆，到视频 155.3 s 仍未恢复，log step 183 服务终态为 done=True、reason=“failure: the robot fell over”。推断：最早已开展探索却从未完成的步骤是 car_opened，转去打开车库通道并未修复它，返回汽车时仍须先完成该前置步骤；依 docs/03_trajectory.md Step 3.1、DECISIONS.md S14 和 CASES.md FAIL-21，将断点归于打开汽车的返回转场，而非尚未开始取放的公文包步骤。" + }, + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 144.5, + "log_step": 183, + "evidence_zh": "观察：视频 143.5–145.5 s 门框、墙面及地面在机器人相机中持续大幅倾转，此后到视频 155.3 s 视角倒向一侧，未恢复直立；log step 183 的机器人服务确认回合因机器人跌倒结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 178–180 启动的是空手返回汽车的底盘导航，而视频 142.5–145.5 s 的转向未能保持机体稳定，持续倾覆后没有恢复；log step 185 读取该导航末尾记录的 tilt_metric=-0.5368，支持底盘运动控制未维持直立。现有证据不能把控制问题细分到轨迹、轮速参数或反馈环节。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志或成功参考视频。门口接触点被机体和门板遮挡，不能确定推门的具体作用端，也不能确定翻倒是否由门框碰撞、底盘运动参数或反馈控制导致；因此不补充碰撞现象或更细控制根因。汽车内部与包的细部不清晰，但未见取包搬运，且评分器总分决定两个放置目标的终态均为假。log step 186–188 是跌倒终结后才写入并作语法检查的方案及总结，不能作为已执行取放的证据。" + }, + "summary_zh": "机器人绕车观察后打开了车库内门（视频约 139.5 s），完成 1/4 个节点；汽车门盖始终未打开，两只包均未搬到沙发旁。断点归于最早探索后仍未完成的打开汽车步骤：转去开内门并未修复它，机器人空手返回汽车途中在门口转向失衡（视频约 144.5 s），持续翻倒至回合结束，现象为平衡失败，根因仅能支持到控制层。没有状态日志，推门接触点和翻倒的具体动力学诱因无法确定；回合结束后编写的取放脚本未在该视频中执行。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值与时间（车库门约139.5 s、车门盖未开、两包未搬）和平衡现象均与帧一致；但断点选在公文包步骤，而更早且从未修复的是“打开汽车”：机器人 18–86 s 绕车观察，随后离开，直到翻倒前都没有打开车门盖。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第一轮意见已采纳；节点值、断点 car_opened、平衡现象与控制根因均与帧和日志一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:48:52Z", 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