Add 147 trajectories (phase 2, remaining runs; batch S21)

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--hernsrv.json

@@ -0,0 +1,358 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-privileged--hernsrv",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.867675,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.867675,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 2.6465,
+   "de_p90": 6.9767,
+   "de_bad_frac": 0.049987,
+   "de_mean_sheet": 2.6457,
+   "ssim_L": 0.876774,
+   "paint_iou": 0.979916,
+   "paint_area_mm2": 50282.9,
+   "target_paint_area_mm2": 50288.8,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 1.3133,
+   "ssim_L_fine": 0.805418,
+   "edge_corr": 0.740331,
+   "region_cov_min": 0.441753,
+   "region_cov_mean": 0.95996,
+   "n_regions": 92.0,
+   "n_strokes": 386.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.4437,
+   "register_shift_mm": 0.4437,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 2.752,
+   "de_p90_unregistered": 7.336,
+   "ssim_L_unregistered": 0.869414,
+   "edge_corr_unregistered": 0.719259,
+   "paint_iou_unregistered": 0.97878,
+   "path_mm": 8822.5,
+   "longest_stroke_mm": 170.2,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2664,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.867675,
+   "sim_steps": 22168.0,
+   "resets": 1.0,
+   "n_contacts": 386.0,
+   "samples": 110840.0,
+   "contact_samples": 30395.0,
+   "max_press_m": 0.013207,
+   "max_tilt_deg_in_contact": 0.450471,
+   "max_speed_in_contact_mps": 0.075515,
+   "handle_contact_samples": 0.0,
+   "n_dips": 386.0,
+   "dry_strokes": 0.0,
+   "n_frames": 601.0,
+   "replay_wall_s": 359.8,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 22168,
+   "video_rendered": 1,
+   "agent_sessions": 64,
+   "agent_resets": 63,
+   "agent_sim_steps": 1012333,
+   "agent_records": 38,
+   "agent_replays": 13,
+   "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/robopaint-acrylic-bedroom-i00-privileged--hernsrv/replay.mp4",
+  "duration_s": 60.1,
+  "fps": 10.0,
+  "frames": 601,
+  "sha256": "12711796ba133b2871bc1e7a3918d3520e3c196bf412890366cb6efc85809a3b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸为空白；视频 0.1 s 右下角画纸图已经出现第一小段黄褐色笔迹，视频 0.2–0.4 s 该笔迹随机械臂笔刷移动而延长。"
+     },
+     {
+      "t": 0.1,
+      "log_step": null,
+      "text_zh": "推断：依据任务初态干刷且必须浸入颜料井才可着色，首段有色笔迹确认机械臂已完成首次蘸料；将视频 0.1 s 作为最早可见确认时刻，实际浸蘸发生在此前，精度受视频采样限制。评分器终态记录 n_dips=386、n_dry_strokes=0，与此一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端安装的圆头笔刷刷毛浸入颜料井接触颜料，随后在视频 0.1 s 留下有色笔迹；评分器记录386次蘸料。候选接触名“浸蘸”：现有抓握、推扫、压擦、托舀等值不能准确描述刷毛加载颜料；首次液面接触未被清晰拍到。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.1–0.4 s 机械臂以竖直笔刷压纸扫绘，形成黄褐色弯曲笔迹；视频 2.0 s 多条棕色笔迹出现，视频 20.0 s 已有上方蓝灰墙面、深绿门窗、右侧黄褐床铺和左下棕色地板，后续仍反复补画。"
+     },
+     {
+      "t": 55.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0、40.0、50.0、55.0 s 及视频 59.0–60.0 s 右下画纸图均可见卧室构图；与成功参考视频 59.9 s 的完成画面对照，本次床铺上沿附近的浅色笔触、左侧椅子与地板交界的色块形状和白色间隙仍有差别，部分细小留白被并入较大的棕色色块。"
+     },
+     {
+      "t": 60.0,
+      "log_step": 78,
+      "text_zh": "观察：inputs/run.json 的评分器终态及 log step 78 对交付文件的两次独立重放均报告 de_mean=2.6465（要求≤2.0）、de_p90=6.9767（≤6.0）、ssim_L=0.876774（≥0.92）、edge_corr=0.740331（≥0.8），四项不通过；paint_iou=0.979916、386笔、path_mm=8822.5、scribble_share=0均通过，deterministic=1，image_success=0。"
+     },
+     {
+      "t": 55.0,
+      "log_step": null,
+      "text_zh": "推断：视频前段尚缺大块区域，后段持续存在笔触轮廓与留白差异，最终四项图像指标也未达标，未发现临摹验收成立的区间；无逐帧评分日志，不能将终态分数外推成各帧的精确分数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂用固定安装的圆头笔刷刷毛压住主纸并沿平面扫绘，在视频 0.1–0.4 s 可见有色笔迹随笔尖延长，后续不断叠画和修补；换色浸蘸依次发生。作用接触为刷毛与主画纸，不另标工具安装处的握持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 2.6465
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 6.9767
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.876774
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.740331
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.979916
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 386.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 8822.5
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.3133
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.805418
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.441753
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.95996
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.867675
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 55.0,
+   "log_step": 78,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 55.0 s 机械臂仍在主纸上修补，卧室的大块颜色已形成，但床沿、椅子与地板的局部笔触轮廓及留白仍有偏差，视频 59.0–60.0 s 未消除；log step 78 的交付轨迹重放和最终评分器均确认四项图像阈值不通过。推断：断点为“临摹卧室画”，视频 55.0 s 仅作后段修补仍未达标的导航锚点，不能定位为某一笔首次造成不可逆失败。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触轮廓与留白偏差",
+    "t": 55.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 55.0 s 及视频 59.0–60.0 s 的画纸图中，床铺上沿的浅色条、左侧椅子和棕色地板交界的笔触呈现不同的块状边界；与成功参考视频 59.9 s 对照，本次一些细小白色间隙变少或形状改变，左侧棕色色块连成较大的片。后段补画没有恢复这些局部结构。",
+    "note_zh": "候选现象“笔触轮廓与留白偏差”：描述绘画结果中可见的局部形状与留白差异；现有接触、运动、全身等条目不能准确覆盖该画面缺陷，且没有证据将其直接归为机械臂位姿跟踪不准。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 39,
+    "evidence_zh": "推断：agent 的画法以逐笔局部色差收益选择路径，未对整幅图的笔触布局和覆盖顺序作联合规划，导致大色块已近似而边界和留白仍难复现。依据是 log step 18 的色差收益追踪、log step 39 的离线预览代码以平滑后Lab色差总和的单笔减少量选笔，以及 log step 73 的交付生成器说明仍采用该��心方法；log step 70、77、80 确认交付文件为该 r40 方案且重新生成的动作逐项一致。agent 在 log step 81 自述“逐笔选择，不能复现目标的笔触布局和参差边缘”，与视频 55.0–60.0 s 的残余差异及 log step 78 的图像评分一致。",
+    "source_zh": "日志 / agent 自述 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有逐帧状态或图像评分日志，无法精确定位首次满足或破坏各数值阈值的笔触，故以视频后段残余缺陷定位临摹断点。首次浸蘸的液面接触不清晰，节点时刻由视频 0.1 s 的首段有色笔迹确认；成功参考仅用于比较完成画面，不当作本次轨迹事实。根因是结合选笔代码与画面作出的规划层面推断，尚不能量化规划误差和实际刷迹预测误差各自的贡献。"
+ },
+ "summary_zh": "机械臂完成蘸料并绘出卧室的大块色区，最终完成1/2个节点；“临摹卧室画”未达标，色差、SSIM和边缘相关四项指标失败，覆盖IoU及笔数、路径、涂抹规则通过。视频后段仍有床沿、椅子和地板局部笔触轮廓及留白偏差，日志支持逐笔贪心规划未充分复现整体笔触布局的归因；交付已独立重放，未发现保存或重放不一致。无逐帧评分日志，断点以视频 55.0 s 的后段修补为粗略导航锚点。",
+ "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、评分器字段一致：brush_loaded 达成，bedroom_copied 未达成，终帧可见白色留白与笔触块状偏差，断点、现象、推断型根因均有证据并标为推断。首笔有色笔迹实际在视频约 0.2 s 出现（0.1 s 帧仍为空白），差 0.1 s，属导航精度内，不需修改。",
+    "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": "2026-10-30T22:37:39Z",
+  "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/robopaint-acrylic-bedroom-i00-privileged--hernsrv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-privileged--hernsrv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "251c9dff91eb0fb98386d09be25b10d83fcb03caa769ea530950d7fa0ab94d16",
+   "video_sha256": "12711796ba133b2871bc1e7a3918d3520e3c196bf412890366cb6efc85809a3b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--hzqwefc.json

@@ -0,0 +1,381 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-privileged--hzqwefc",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.655125,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.655125,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 6.8975,
+   "de_p90": 20.4644,
+   "de_bad_frac": 0.246436,
+   "de_mean_sheet": 6.8975,
+   "ssim_L": 0.634334,
+   "paint_iou": 0.957599,
+   "paint_area_mm2": 50342.9,
+   "target_paint_area_mm2": 50218.8,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 4.8895,
+   "ssim_L_fine": 0.570698,
+   "edge_corr": 0.074512,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.766769,
+   "n_regions": 92.0,
+   "n_strokes": 388.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": -0.8874,
+   "register_shift_mm": 0.8874,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 6.9448,
+   "de_p90_unregistered": 20.6438,
+   "ssim_L_unregistered": 0.634897,
+   "edge_corr_unregistered": 0.070183,
+   "paint_iou_unregistered": 0.957055,
+   "path_mm": 5852.13,
+   "longest_stroke_mm": 65.42,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.7572,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.655125,
+   "sim_steps": 22240.0,
+   "resets": 1.0,
+   "n_contacts": 388.0,
+   "samples": 111200.0,
+   "contact_samples": 49863.0,
+   "max_press_m": 0.013084,
+   "max_tilt_deg_in_contact": 0.114095,
+   "max_speed_in_contact_mps": 0.039813,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 587.0,
+   "replay_wall_s": 167.7,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 22240,
+   "video_rendered": 1,
+   "agent_sessions": 33,
+   "agent_resets": 26,
+   "agent_sim_steps": 578369,
+   "agent_records": 16,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.034,
+   "peak_memory_gb": 1.705,
+   "peak_processes": 15,
+   "peak_disk_gb": 0.847,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-bedroom-i00-privileged--hzqwefc/replay.mp4",
+  "duration_s": 58.7,
+  "fps": 10.0,
+  "frames": 587,
+  "sha256": "8c0c8888d565342d0b727800e9530960e3944d954862fb34a0a8f079f79cb209"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.2 s 主纸为空白，视频 0.3 s 右下画纸视图首次出现深绿色笔迹，视频 0.4–1.0 s 笔迹继续延长。按本节点允许以有色笔迹确认蘸料的判据，至视频 0.3 s 已完成蘸料；实际浸入颜料井的瞬间被机械臂遮挡。"
+     },
+     {
+      "t": null,
+      "log_step": 173,
+      "text_zh": "观察：log step 173 保存的轨迹含22240个动作，终态工具输出 loaded=true、n_dips=10、dry_strokes=0；inputs/run.json 的评分器亦报告 n_dips=10、n_dry_strokes=0。动作数与 log step 182 所列最终交付一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装的圆头笔刷刷毛浸蘸颜料井中的颜料；视频 0.3 s 起的有色笔迹及评分器记录的10次蘸料支持此接触。候选名“浸蘸”：现有接触词不能准确表示刷毛进入液体加载颜料；不是夹取或托舀。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.3–30 s 机械臂用安装笔刷在主纸上逐步留下深绿、黄绿、蓝灰及棕色笔迹；右下画纸视图仍缺少整片床铺和地板，不符合完整卧室临摹的判据。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "观察：视频 57.5–58.6 s 右下画纸视图中，右侧黄褐床铺、上方蓝灰墙面和左下棕色地板已形成，但左下椅子附近是连成大片的圆钝棕色色块，上方墙面的小线条和色块边界明显简化；与成功示例视频 59.9 s 可见的椅子线条、墙面短线及床沿层次不同。"
+     },
+     {
+      "t": 58.6,
+      "log_step": 173,
+      "text_zh": "观察：inputs/run.json 的终态评分为 image_success=0，平均ΔE=6.8975>2、p90ΔE=20.4644>6、SSIM=0.634334<0.92、edge_corr=0.074512<0.8；IoU=0.957599、388笔、path_mm=5852.13及scribble_share=0满足各自限制。log step 173 的保存结果与这些字段一致。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "推断：完整视频的粗采样显示各色区域先后增加，早期画面缺块，后期画面虽覆盖大部分纸面仍保留上述轮廓和细节差异，因此没有观察到本节点曾达标后又失去的阶段，终态也未达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.3–3.0 s 的侧视及画纸视图显示机械臂末端安装笔刷在主纸表面接触、移动并留下深绿色笔迹；其后各色笔迹持续增加。实际接触是刷毛压擦主纸，换色浸蘸依次发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 6.8975
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 20.4644
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.634334
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.074512
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.957599
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 388.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 5852.13
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 4.8895
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.570698
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.766769
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.655125
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 58.6,
+   "log_step": 173,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.6 s 的最终画纸仍由较粗色块构成，椅子、墙面短线及床沿细节未像成功示例视频 59.9 s 那样复现；inputs/run.json 的图像验收未通过。log step 171–173 生成并保存的22240动作轨迹就是 log step 182 所列交付文件，未把会话中其他测试计作此视频进度。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "色块轮廓与细节失真",
+    "t": 58.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 57.5–58.6 s 右下画纸中左下椅子与地板附近的棕色笔触合并为宽大圆钝色块，上方墙面缺少成功示例视频 59.9 s 可见的短线和清晰小轮廓，床沿的多层细节也被简化。",
+    "note_zh": "候选现象“色块轮廓与细节失真”：现有接触、运动、全身等条目不能准确描述已留下颜料的图像边界和细节失真；没有证据将其归为机械臂位姿偏差或接触丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": null,
+    "log_step": 32,
+    "evidence_zh": "推断：agent脚本在log step 32将388笔全部按10种颜色分配，计划预测颜料覆盖IoU为0.8827；log step 150的代码把分色路径栅格化为覆盖掩膜，并用不透明色块叠加后的模糊色差优化遮盖顺序。最终log step 171以RCB_WIDTH_MM=16生成388笔方案，预测覆盖IoU=0.9665、路径6056毫米，log step 173保存的22240动作与log step 182最终交付一致，实测IoU=0.957599、路径5852.13毫米。视频57.5–58.6 s显示大片颜色虽已覆盖，椅子、墙面短线及床沿细节仍被宽色块简化，相比成功示例视频59.9 s有明显差异；评分器edge_corr=0.074512、SSIM=0.634334。综合支持分色宽笔覆盖及笔触分配策略未兼顾细节复现，按根因判别���序归为推理/规划。覆盖IoU接近预测值只支持覆盖效果接近计划，不能据此证明每段轨迹跟踪准确；目前无独立证据把失败归于逆解或跟踪失稳。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或逐帧图像指标，首次蘸料的入井瞬间也被机械臂遮挡，因此用视频0.3 s首个有色笔迹作完成锚点；未据会话时间推算视频时间。日志中的若干编辑调用仅显示占位文本，不能重建最终生成器全部细节；现有计划输出、log step 150代码和终态结果支持画法策略层面的归因，但没有逐段目标与实际轨迹对照，不能量化跟踪误差的贡献，也不能仅凭覆盖IoU接近就断言执行完全无偏差。"
+ },
+ "summary_zh": "机械臂至视频0.3 s已蘸料并在主纸留下有色笔迹，随后完成388笔多色扫绘，最终达到1/2个节点。断点为临摹卧室画：视频58.6 s的椅子、墙面和床沿细节被粗色块简化，色差、结构与边缘指标未达阈值；日志中的分色笔触配额、宽笔覆盖和遮盖顺序优化支持认知·推理/规划根因。无逐帧状态或图像指标，也无逐段目标与实际轨迹对照，不能量化跟踪误差的贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、时间和断点（bedroom_copied，操作中）与视频、评分器一致；问题在根因：证据描述的是规划层的画法选择（按色区生成中心线扫绘、388笔全部分配、16毫米宽笔），轨迹按计划执行（计划IoU 0.9665，实测0.9576），按判别次序应先归推理/规划，而不是停在“控制”。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（brush_loaded 达成、bedroom_copied 未达成）、断点 bedroom_copied/操作中、根因推理/规划均与视频和评分器字段一致；第1轮意见已采纳，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": "2026-10-30T23:06:42Z",
+  "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/robopaint-acrylic-bedroom-i00-privileged--hzqwefc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-privileged--hzqwefc/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-privileged--hzqwefc/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-privileged--hzqwefc/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a8922fa658f780193961fe8b31b27683f52c2400c54426895abe4151515816bc",
+   "video_sha256": "8c0c8888d565342d0b727800e9530960e3944d954862fb34a0a8f079f79cb209",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--mgsl7qk.json

@@ -0,0 +1,351 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-privileged--mgsl7qk",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.622155,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.622155,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 7.5569,
+   "de_p90": 22.5469,
+   "de_bad_frac": 0.231504,
+   "de_mean_sheet": 7.5568,
+   "ssim_L": 0.567951,
+   "paint_iou": 0.894427,
+   "paint_area_mm2": 47046.9,
+   "target_paint_area_mm2": 50352.9,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 5.8311,
+   "ssim_L_fine": 0.495322,
+   "edge_corr": 0.217322,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.782173,
+   "n_regions": 92.0,
+   "n_strokes": 365.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.2219,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 7.5761,
+   "de_p90_unregistered": 22.6564,
+   "ssim_L_unregistered": 0.567119,
+   "edge_corr_unregistered": 0.215102,
+   "paint_iou_unregistered": 0.894051,
+   "path_mm": 6633.55,
+   "longest_stroke_mm": 104.78,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2021,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.622155,
+   "sim_steps": 22454.0,
+   "resets": 1.0,
+   "n_contacts": 365.0,
+   "samples": 112270.0,
+   "contact_samples": 34615.0,
+   "max_press_m": 0.011916,
+   "max_tilt_deg_in_contact": 0.137049,
+   "max_speed_in_contact_mps": 0.044347,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 592.0,
+   "replay_wall_s": 179.1,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 22454,
+   "video_rendered": 1,
+   "agent_sessions": 14,
+   "agent_resets": 13,
+   "agent_sim_steps": 178928,
+   "agent_records": 3,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-bedroom-i00-privileged--mgsl7qk/replay.mp4",
+  "duration_s": 59.2,
+  "fps": 10.0,
+  "frames": 592,
+  "sha256": "f99abc2e47371d29c3e2c7d4ac4686809da383d7bae309b5cc2d8c25cd4ea4d5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": 296,
+      "text_zh": "推断：视频0.1–0.3 s机械臂末端移至主纸旁的颜料井上方并下降；视频0.8 s右下画纸图左缘已出现灰绿色笔迹，确认此前已蘸料。首次蘸料约取视频0.3 s，受快放采样及机械臂遮挡影响有约0.3 s误差。log step 296的交付生成脚本先将笔尖降到颜料井中心高度0.020米再绘画；评分器记录n_dips=10、n_dry_strokes=0，与有色笔迹一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂固定安装的圆头笔刷刷毛进入颜料井接触颜料，随后能在主纸着色；候选接触名“浸蘸”，现有接触方式没有对应的液体加载动作。首次入井细节被末端局部遮挡，由入井动作前后画面和后续着色确认。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.8 s已有灰绿色笔迹，视频2–28 s机械臂陆续画出墙面、地板及右侧黄褐色床铺；视频25–29 s刷尖反复下降、扫绘和抬起，右下画纸图随之增加黄褐色笔迹。此时仍缺门窗及床侧等颜色区域，尚未临摹完成。"
+     },
+     {
+      "t": 59.1,
+      "log_step": null,
+      "text_zh": "观察：视频58.0–59.1 s右下画纸图显示门窗周围、左中部与底部地板仍有大块或成排白缝，门窗和地板由断续竖条构成，右侧床面较平整但床侧红色轮廓与周边细节不完整；成功参考视频59.9 s对应部位的着色与轮���明显更连续。评分器image_success=0，平均色差7.5569>2、90分位色差22.5469>6、SSIM=0.567951<0.92、边缘相关0.217322<0.8、覆盖IoU=0.894427<0.95。"
+     },
+     {
+      "t": 59.1,
+      "log_step": 304,
+      "text_zh": "推断：全程粗看并检查绘画中段和末秒，前期缺少整块颜色，终态仍有未修复白缝及轮廓偏差，没有观察到整体达标状态。log step 296–300生成并重放最后交付轨迹，log step 304读取交付文件为22454行关节目标，与评分器n_actions=22454一致；早先会话测试及其自算IoU不作为本次节点达成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "固定底座单臂用末端安装的圆头笔刷刷毛接触主画纸、下压并扫绘，反复抬笔形成有色笔触；视频25–29 s可见刷尖下降和绘画图同步增加笔迹。换色时依次蘸料，不追加夹爪抓握或静止底座支撑。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 7.5569
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 22.5469
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.567951
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.217322
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.894427
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 365.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 6633.55
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 5.8311
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.495322
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.782173
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.622155
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 58.8,
+   "log_step": 296,
+   "where": "操作中",
+   "evidence_zh": "观察：视频58.0–59.1 s机械臂仍在完成最后的深红色床侧笔迹，但门窗、地板的白缝及断续竖条一直保留至末帧，整画未达到临摹判据；评分器image_success=0，笔数365、着色路径6633.55毫米及scribble_share=0均满足过程预算，失败来自画面质量。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "漏涂与轮廓失真",
+    "t": 58.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频58.0–59.1 s的右下画纸图中，墙面与门窗周围留有宽白隙，左中部及底部地板有成排细白缝和断开的竖条，床侧深红区域边缘呈条状，缺少成功参考视频59.9 s所示的连续门窗及斜向地板轮廓。",
+    "note_zh": "候选现象“漏涂与轮廓失真”：现有词表没有覆盖绘画结果中的缺色和笔触形状失真；没有证据表明刷尖从未接触、失去夹持或被障碍挡住，故使用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "t": 58.8,
+    "log_step": 296,
+    "evidence_zh": "推断：log step 296的最终生成脚本把颜色掩膜按固定横向间距20–36像素切成全竖直扫线，各色使用固定压深8–12毫米，滤掉短段并内缩端点；该接触路径及刷痕布局不能充分覆盖细碎区域并还原斜向轮廓。视频58.0–59.1 s保留与这种布局一致的成排白缝和断续竖条，说明画面误差由具体刷痕几何设计产生；没有观察到需要另归因的碰撞或失稳。成功参考视频59.9 s展示同任务可达到连续、完整的着色轮廓，验证存在可行替代画法。",
+    "source_zh": "日志 / 视频",
+    "note_zh": "此处指笔刷与纸面接触轨迹的间距、方向和覆盖布局，不涉及夹爪握持；无法单独量化每项压深或间距对误差的贡献，不进一步标参数调试。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态或画面评分日志，不能精确确定各数值指标何��越过阈值；首次蘸料局部被机械臂遮挡，以视频0.1–0.3 s入井附近动作和视频0.8 s有色笔迹确认，时间约有0.3 s误差。根因由最终生成脚本与可见条状缺陷联合推断，未逐项隔离压深、间距和短线过滤的贡献。会话中log step 295的自算IoU=0.9573不是交付重放的评分器IoU=0.894427，节点按录像和最终评分标注。"
+ },
+ "summary_zh": "机器人已蘸上颜料并在主纸完成多轮分色扫绘，最终达成1/2节点；临摹卧室画始终未达标，视频58.0–59.1 s仍有成排白缝及门窗、地板轮廓失真，最终五项画面验收指标均不合格。交付脚本采用固定间距竖直扫线、固定压深并过滤短段，推断其笔刷接触覆盖布局未能还原目标细节；笔数、路径及涂抹比例预算均满足。无逐帧评分日志，蘸料时刻及几何设计各项影响只能近似判断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时间（蘸料约视频0.3–0.5 s，终态未达标）、断点、现象与根因均有视频帧和评分器数值支持，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": "2026-10-30T22:37:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-privileged--mgsl7qk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-privileged--mgsl7qk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "44ab4cd219127413262e31c35d2e5acd79b428d371a278b8fac2db304ca660c3",
+   "video_sha256": "f99abc2e47371d29c3e2c7d4ac4686809da383d7bae309b5cc2d8c25cd4ea4d5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--vdncgk3.json

@@ -0,0 +1,337 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-privileged--vdncgk3",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.734085,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 5.3183,
+   "de_p90": 14.429,
+   "de_bad_frac": 0.183901,
+   "de_mean_sheet": 5.3183,
+   "ssim_L": 0.734522,
+   "paint_iou": 0.975888,
+   "paint_area_mm2": 51181.9,
+   "target_paint_area_mm2": 50152.1,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 3.8907,
+   "ssim_L_fine": 0.653788,
+   "edge_corr": 0.290307,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.828579,
+   "n_regions": 92.0,
+   "n_strokes": 365.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.6656,
+   "register_dy_mm": 0.4437,
+   "register_shift_mm": 0.7999,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 5.366,
+   "de_p90_unregistered": 14.6095,
+   "ssim_L_unregistered": 0.731232,
+   "edge_corr_unregistered": 0.293914,
+   "paint_iou_unregistered": 0.975473,
+   "success": 0,
+   "final_reward": 0.734085,
+   "path_mm": 7023.48,
+   "longest_stroke_mm": 120.78,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.5825,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.734085,
+   "sim_steps": 18172.0,
+   "resets": 1.0,
+   "n_contacts": 365.0,
+   "samples": 90860.0,
+   "contact_samples": 37901.0,
+   "max_press_m": 0.013324,
+   "max_tilt_deg_in_contact": 0.203703,
+   "max_speed_in_contact_mps": 0.043345,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 588.0,
+   "replay_wall_s": 156.1,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 18172,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 11,
+   "agent_resets": 3,
+   "agent_sim_steps": 185308,
+   "agent_records": 5,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-bedroom-i00-privileged--vdncgk3/replay.mp4",
+  "duration_s": 58.8,
+  "fps": 10.0,
+  "frames": 588,
+  "sha256": "e245ee774cd50b3dfb19c0b6b436a28a2bdde1e4ecc43361a65ebbb24cbab869"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频0.1–0.2 s的场景视角中，机械臂将安装的笔刷下降到颜料井处，随后抬起移向主纸；视频0.5 s已出现棕色笔迹，确认干刷已蘸上颜料。首次入井时刻约为视频0.2 s，误差约0.3 s。"
+     },
+     {
+      "t": 58.7,
+      "log_step": 108,
+      "text_zh": "观察：视频0.5–58.7 s机械臂持续以不同颜色绘画；log step 108对最终交付文件的新进程重放报告n_dips=10、dry_strokes=0，且指标与run.json的reward一致。首次蘸料事件此后保持成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端固定安装的圆头笔刷刷毛进入颜料井接触颜料，随后在主纸留下棕色笔迹。候选方式为“浸蘸”；词表没有准确描述刷毛浸入颜料液面的接触方式。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.8,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s主纸为空白；视频0.5–10.2 s机械臂用笔刷在纸面绘出棕色区域并开始黄褐床面，视频10.8–12.9 s右侧床面已被连成大块的宽笔触覆盖。此时上方墙面和门窗等仍未画出，整幅临摹条件未成立。"
+     },
+     {
+      "t": 58.7,
+      "log_step": 108,
+      "text_zh": "观察：视频14–56 s依次增加地板、墙面和门窗颜色，视频57.0–58.7 s补画床侧深红区域；右下独立画纸视图始终可见。最终床面大片连色、地板为圆钝色斑，缺少成功参考视频59.9 s所见的多条细窄留白与清晰笔触边界，未见完整匹配目标的时段。最终重放log step 108及run.json reward报告平均ΔE=5.3183>2、p90=14.429>6、SSIM=0.734522<0.92、边缘相关=0.290307<0.8、image_success=0；IoU=0.975888、365笔、路径7023.48毫米和scribble_share=0均通过对应门槛。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "固定底座单臂将末端安装的丙烯笔刷刷毛压在主画纸上并沿纸面移动，留下不同颜色的宽笔触；绘制之间抬笔移位，换色时依次到颜料井浸蘸。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 5.3183
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 14.429
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.734522
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.290307
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.975888
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 365.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 7023.48
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 3.8907
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.653788
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.828579
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.734085
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 10.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频10.8–12.9 s机械臂在主纸右侧将黄褐床面绘成大片连续色块；视频57.0–58.7 s仍未恢复目标中的细窄留白与笔触轮廓。log step 107生成并保存18172个动作的最终轨迹，log step 108重放得到与评分记录相同的画面指标和success=0，失败步骤为临摹卧室画；视频10.8 s作为宽笔触失真的导航锚点。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触轮廓与留白失真",
+    "t": 10.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频10.8–12.9 s的黄褐床面被宽笔触连成实心色块；视频58.7 s床面仍缺少成功参考视频59.9 s可见的细窄白缝，左下地板及椅子周围则呈宽大圆钝色斑，原本分开的笔触边界不清。",
+    "note_zh": "这是成画中可见的笔触几何与留白缺陷；现有词表没有准确的绘画结果现象，不将图像分数不达标本身充当现象，也没有证据将其归为未接触或接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "log_step": 104,
+    "t": 10.8,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent的绘画接触设计采用过粗的笔宽与扫绘分解，无法保留目标细节。log step 54的方案对比中，宽度倍率由1.0增至2.0使计划笔数由681降至364，同时离线边缘相关由0.462降至0.232；log step 104最终生成脚本沿用SMULT=2.0，并由笔宽校准换算压深，log step 106修正重复换算后，log step 107实际生成该方案。视频10.8–12.9 s及58.7 s可见宽笔触合并和留白消失，与上述几何取舍一致；log step 108证实最终交付重放仍有此画面误差。成功参考视频59.9 s保留较细笔触和留白，支持同任务存在可行替代，但不证明仅调整一个倍率即可成功。"
+   }
+  ],
+  "gap_zh": "无逐帧状态或画面评分日志，不能精确定位首次产生不可修复画面偏差的时刻；视频10.8 s仅为可见宽笔触失真的近似锚点。首次蘸料的液面高度在录像中难以精确量出，结合视频0.5 s的有色笔迹确认已蘸料；没有用agent工作时间换算视频时间。接触设计根因由最终脚本、方案对比与成画联合推断，不能进一步区分各局部压深、轨迹跟踪及引擎边缘效果的贡献。"
+ },
+ "summary_zh": "机械臂完成蘸料，并在主纸绘出床铺、地板、墙面及门窗，最终完成1/2个节点。临摹卧室画始终未达标：宽笔触连成大色块、细窄留白和轮廓丢失，最终平均色差、p90色差、SSIM及边缘相关均未通过，而覆盖率及过程预算通过；日志支持笔宽与接触路径设计不适配目标细节。无��帧状态和评分，精确偏差起点及各执行误差贡献仍不确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 brush_loaded 成立、bedroom_copied 未成立，与视频及 log step 107/108 的评分一致；断点、现象与根因（宽笔触倍率 SMULT=2.0 导致细节丢失）有 log step 54/104/107 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": "2026-10-30T22:39:36Z",
+  "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/robopaint-acrylic-bedroom-i00-privileged--vdncgk3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-privileged--vdncgk3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "596aae348c0fa76924d34245985cb59d88bca85434e1e5b04314000781b8698c",
+   "video_sha256": "e245ee774cd50b3dfb19c0b6b436a28a2bdde1e4ecc43361a65ebbb24cbab869",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--zpamyav.json

@@ -0,0 +1,348 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-privileged--zpamyav",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.59383,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.59383,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 8.1234,
+   "de_p90": 21.3028,
+   "de_bad_frac": 0.332463,
+   "de_mean_sheet": 8.1232,
+   "ssim_L": 0.661867,
+   "paint_iou": 0.965932,
+   "paint_area_mm2": 50768.1,
+   "target_paint_area_mm2": 50252.5,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 5.3052,
+   "ssim_L_fine": 0.57918,
+   "edge_corr": 0.148934,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.676464,
+   "n_regions": 92.0,
+   "n_strokes": 210.0,
+   "n_practice_strokes": 5.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.4437,
+   "register_dy_mm": -0.2219,
+   "register_shift_mm": 0.4961,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 8.1423,
+   "de_p90_unregistered": 21.276,
+   "ssim_L_unregistered": 0.661697,
+   "edge_corr_unregistered": 0.147474,
+   "paint_iou_unregistered": 0.965449,
+   "path_mm": 10324.18,
+   "longest_stroke_mm": 77.64,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.9323,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.59383,
+   "sim_steps": 14756.0,
+   "resets": 1.0,
+   "n_contacts": 215.0,
+   "samples": 73780.0,
+   "contact_samples": 31226.0,
+   "max_press_m": 0.012051,
+   "max_tilt_deg_in_contact": 0.314342,
+   "max_speed_in_contact_mps": 0.054001,
+   "handle_contact_samples": 0.0,
+   "n_dips": 133.0,
+   "dry_strokes": 0.0,
+   "n_frames": 592.0,
+   "replay_wall_s": 121.3,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 14756,
+   "video_rendered": 1,
+   "agent_sessions": 8,
+   "agent_resets": 8,
+   "agent_sim_steps": 35532,
+   "agent_records": 2,
+   "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/robopaint-acrylic-bedroom-i00-privileged--zpamyav/replay.mp4",
+  "duration_s": 59.2,
+  "fps": 10.0,
+  "frames": 592,
+  "sha256": "6f09703fc870f6f5386d9b0aeab16b9e57780e68c35bfb873c1c8ffdf27754f7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s主纸空白；视频0.1 s机械臂末端移至纸旁颜料井处，视频0.3 s右下画纸图首次出现红棕色笔迹，视频0.4 s该笔迹延长。推断：依据节点允许的有色笔迹确认蘸料，取视频0.3 s为最迟确认锚点；实际入液发生在此前约0.2 s内，无法从低分辨率场景视角精确定位。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂安装的圆头笔刷在颜料井取色，之后在纸上留下红棕色及其他颜色笔迹；候选接触名“浸蘸”。刷毛接触颜料液体，现有抓握、推扫、压擦、托舀均不准确；后续多次换色依次发生。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.3–2.3 s机械臂用笔刷在主纸画出分散彩色线段；随后全段抽帧可见它持续换色、落笔、扩展覆盖，早期画面仍缺大部分卧室结构。"
+     },
+     {
+      "t": 48.0,
+      "log_step": null,
+      "text_zh": "观察：视频47.0–49.0 s主纸已有上方灰蓝色、右侧黄褐色和下方棕色色块，但左上门窗没有形成深绿闭合轮廓，许多斜向宽笔触跨越家具边界；视频58.1–59.1 s逐帧检查后这些差异仍在。对照成功示例视频59.9 s，同一右下画纸图中深绿窗框、床沿和椅子轮廓清楚可辨。"
+     },
+     {
+      "t": 59.1,
+      "log_step": 41,
+      "text_zh": "观察：log step 39保存的14756步轨迹在log step 41新进程重放得到相同state_sha和相同指标，与本次评分记录一致：平均ΔE=8.1234>2、90分位ΔE=21.3028>6、亮度SSIM=0.661867<0.92、边缘相关=0.148934<0.8，image_success=0；覆盖IoU=0.965932通过，210笔及10324.18毫米路径未超预算。推断：结合全程画面从零散笔触逐渐形成仍失真的色块，临摹节点从未达到联合验收，终态为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "固定底座单臂以末端安装的圆头笔刷刷毛压住主画纸并沿多个方向扫绘，留下连续有色笔迹；落笔和抬笔交替，换色蘸料与压擦纸面依次发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 8.1234
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 21.3028
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.661867
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.148934
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.965932
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 210.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 10324.18
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 5.3052
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.57918
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.676464
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.59383
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 48.0,
+   "log_step": 41,
+   "where": "操作中",
+   "evidence_zh": "观察：视频47.0–49.0 s机械臂仍在主纸上添画，但已形成的卧室画缺少深绿门窗轮廓，床铺和地板被斜向宽笔触简化；视频58.1–59.1 s的后续修补未恢复这些细节。log step 41交付轨迹重放及评分记录均显示四项图像相似度指标未通过。推断：失败在临摹绘制本身，视频48.0 s仅作后期缺陷已清楚显现的导航锚点，并非声称这一帧首次或不可逆地判负。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "色块轮廓与细节失真",
+    "t": 48.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频48.0 s及视频59.1 s右下画纸图中，上方门窗区由灰蓝和橄榄色宽条交错填充，缺少成功示例视频59.9 s可见的深绿窗框与框内分隔；黄褐床面、红棕床侧及左下家具也被简化成相互覆盖的斜向色条，细小轮廓和留白位置与示例不同。",
+    "note_zh": "候选现象“色块轮廓与细节失真”：这是可见绘画结果的局部形状与笔触组织错误，现有接触、运动或全身条目不能准确描述；不以评分不达标本身充当现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 27,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent的笔触生成策略在执行前已将目标细节简化。log step 27–29的脚本用固定候选长度、宽度和局部方向的实心直线胶囊笔触，按模糊图的局部Lab残差下降贪心选笔，没有联合优化SSIM或边缘结构；log step 30离线生成在204笔、gain=0时结束，其自身离线评估已报SSIM约0.693、边缘相关约0.289。log step 39明确将这份greedy笔触列表用于最终保存的轨迹，log step 41重放仍失败；视频48.0–59.1 s也显示预期家具细节被粗色条替代。因此证据支持图像分解与笔触选择策略不足，未证明是关节跟踪失稳或接触丢失。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志或逐帧图像验收指标；首次蘸料用视频0.3 s可见的有色笔迹作最迟确认，不能精确到入液的物理采样。图像误差逐渐累积，没有单一可定位的损坏瞬间；日志支持笔触生成策略不足，但不足以逐笔分离规划近似、刷痕模型和执行误差的贡献。"
+ },
+ "summary_zh": "机械臂成功蘸料并持续绘制，最终完成1/2个节点；主纸覆盖率和笔数、路径预算通过，但门窗、床铺及家具轮廓被粗色条简化，临摹卧室画未达标。log step 39–41确认交付轨迹确定性重放一致，失败与笔触生成策略只作局部颜色近似、未还原结构细节相符。无逐帧状态及验收指标，首次蘸料和渐进画面偏差的时刻只能由视频近似定位。",
+ "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、日志和评分一致：蘸料节点在视频0.3 s已见有色笔迹；临摹节点终态false，由评分指标（ΔE 8.12、SSIM 0.66、edge 0.15）和视频59.1 s的画面（对照成功示例59.9 s）支持。断点、可见缺陷现象和“推理/规划”根因（log step 27–30用贪心残差笔触，其离线评估已不达标，step 39–41重放一致）均有证据，未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:51:47Z",
+  "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/robopaint-acrylic-bedroom-i00-privileged--zpamyav/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-privileged--zpamyav/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "75de6a3583cbdd5b81b3032ab5eaff16377ffe744234ca1d84a132718cefb116",
+   "video_sha256": "6f09703fc870f6f5386d9b0aeab16b9e57780e68c35bfb873c1c8ffdf27754f7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--jygyss4.json

@@ -0,0 +1,358 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-standard--jygyss4",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.06674,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.06674,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 18.6652,
+   "de_p90": 52.6324,
+   "de_bad_frac": 0.492418,
+   "de_mean_sheet": 18.661,
+   "ssim_L": 0.267606,
+   "paint_iou": 0.68521,
+   "paint_area_mm2": 35156.9,
+   "target_paint_area_mm2": 50382.4,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 17.2557,
+   "ssim_L_fine": 0.211875,
+   "edge_corr": 0.040799,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.514196,
+   "n_regions": 92.0,
+   "n_strokes": 388.0,
+   "n_practice_strokes": 3.0,
+   "n_dry_strokes": 1.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 18.6652,
+   "de_p90_unregistered": 52.6324,
+   "ssim_L_unregistered": 0.267606,
+   "edge_corr_unregistered": 0.040799,
+   "paint_iou_unregistered": 0.68521,
+   "path_mm": 8477.71,
+   "longest_stroke_mm": 83.77,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.3297,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.06674,
+   "sim_steps": 32365,
+   "resets": 0.0,
+   "n_contacts": 392.0,
+   "samples": 161825.0,
+   "contact_samples": 93349.0,
+   "max_press_m": 0.012514,
+   "max_tilt_deg_in_contact": 0.354684,
+   "max_speed_in_contact_mps": 0.145105,
+   "handle_contact_samples": 0.0,
+   "n_dips": 12.0,
+   "dry_strokes": 1.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 32365,
+   "physics_steps": 161825,
+   "steps": 32365,
+   "calls": 436,
+   "elapsed_s": 2017.9,
+   "video_rendered": 1,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "instance_mismatch": 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/robopaint-acrylic-bedroom-i00-standard--jygyss4/replay.mp4",
+  "duration_s": 60.1,
+  "fps": 10.0,
+  "frames": 601,
+  "sha256": "628d6e9bb7ba35933cd545665347a377736ddaa1b3c94033cabafda78154e050"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "推断：视频0.6–0.7 s机械臂笔尖在颜料井阵列处下降停留，视频1.4 s侧视画面中练习纸已出现有色笔迹，视频2.7 s主纸也开始出现灰绿色笔迹，确认笔刷此前已蘸上颜料；首次有效蘸料暂以视频0.6 s为近似锚点，井内刷尖受遮挡，时间误差约0.5 s。"
+     },
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "观察：视频1.3 s笔刷在练习纸处下压，视频1.4–1.7 s笔刷移开后练习纸留下灰绿色短条；此后主纸持续增加多种颜色的笔迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：机械臂末端安装的圆头笔刷下降到颜料井处，随后能在练习纸和主纸着色；刷毛接触井内颜料，候选接触名为“浸蘸”，现有接触方式没有准确对应值。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.7–3.0 s主纸出现首条灰绿色线，视频3.5–6.0 s左下增加数块宽黄褐笔迹，视频6.5 s起又增加较细的线；视频后续各颜色依次铺开，但大片底纸一直可见。"
+     },
+     {
+      "t": 47.5,
+      "log_step": null,
+      "text_zh": "观察：视频47.5–52.0 s机器人继续在右侧床铺区域落笔，黄褐笔迹之间仍是大片浅色底纸；左下地板和上方墙面也主要由交错线条组成。成功参考���频59.9 s同一视图则显示连续的黄褐床面、蓝灰墙面和棕色地板色块，此参考仅用于理解完成态。"
+     },
+     {
+      "t": 60.0,
+      "log_step": 146,
+      "text_zh": "观察：视频59.0–60.0 s包括最后一帧，右侧床面和左下地板仍有大量网状空隙，未出现目标要求的完整宽色块；inputs/run.json评分器终态记录image_success=0、de_mean=18.6652、de_p90=52.6324、ssim_L=0.267606、edge_corr=0.040799、paint_iou=0.68521，五项画面阈值均未满足；n_strokes=388、path_mm=8477.71、scribble_share=0符合相应预算。agent也在log step 146自述最终画面仍有明显未涂区域。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频2.7 s后，固定底座单臂用安装的圆头笔刷反复下压主纸、沿纸面扫绘并抬笔，刷毛经过处留下灰绿、棕、黄褐及深红等笔迹；绘画期间依次去颜料井换色，无移动底盘或直接夹爪抓取。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 18.6652
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 52.6324
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.267606
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.040799
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.68521
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 388.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 8477.71
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 17.2557
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.211875
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.514196
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.06674
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 47.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频47.5 s机械臂正在右侧床铺区域继续绘制黄褐线条，床面内部仍有大块未着色空隙；视频59.0–60.0 s这些空隙及地板、墙面的漏涂仍未修复。评分器终态image_success=0，画面色差、结构、边缘和覆盖均未达标；本断点属于整幅临摹操作，视频47.5 s仅作可见缺陷的导航锚点。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "漏涂",
+    "t": 47.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频47.5–52.0 s以及视频59.0–60.0 s，右侧黄褐床面被画成网格状细线，线间是明显浅色空白；左下棕色地板和上方蓝灰墙面也有大量未被笔触覆盖的区域。机器人已经能蘸料并着色，但没有把目标宽色块填满。",
+    "note_zh": "候选名“漏涂”：现有接触、位姿、碰撞或全身类现象无法准确表达着色后色块内部仍缺少覆盖这一可见画面缺陷，故用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 114记录agent因前15笔过宽而改成更长、更窄的中心线；log step 118的脚本从颜色掩膜骨架提取路径，并仅按width=1.12×剩余色面积/总路径长度给每种颜色设统一刷宽，路径不足时切分已有长线以凑定额；log step 121输出右侧黄褐色组刷宽5.6毫米及contact_z=0.0142米，log step 122把这些深度用于后续实际绘画。结合视频47.5–60.0 s路径之间持续留白，说明扫绘路径与刷毛覆盖宽度的组合未覆盖目标色块；这是接触覆盖设计不适配，现有证据不足以细分为轨迹跟踪或某个压深参数的误差。成功参考视频59.9 s展示同一任务的宽笔触连续色块，inputs/oracle/oracle.json记录success=1，仅用于证明确有可行替代画法。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有逐帧图像评分或刷毛覆盖宽度读数；首次蘸料的井内刷尖被工具遮挡，视频0.6 s是结合随后着色确认的近似时刻。画面与代码支持接触覆盖设计不适配，但不能量化漏涂中局部路径分布、实际笔宽及遮盖先后各自的贡献；未从agent工作时间或控制步数换算视频时间。"
+ },
+ "summary_zh": "机械臂已完成蘸料并实际绘制整幅画，但最终只达到1/2个节点：主纸仍有大面积网状留白，临摹卧室画从未达标。断点在临摹操作中；按颜色骨架安排路径并用总面积估算统一刷宽的接触覆盖设计，未能形成目标的连续宽色块，终态五项画面指标均失败，笔数及路径预算则合格。无状态日志，首次蘸料时间及局部实际笔宽存在不确定性。",
+ "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、日志和评分器终态一致：brush_loaded 达成，bedroom_copied 未达成（视频59.9 s仍有大片留白，image_success=0），断点、现象与根因均有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:05:24Z",
+  "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/robopaint-acrylic-bedroom-i00-standard--jygyss4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--jygyss4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d9e302fe3da8d3e827175d0e853ab7e29f781749dbb9af00ba8da6e9432cc291",
+   "video_sha256": "628d6e9bb7ba35933cd545665347a377736ddaa1b3c94033cabafda78154e050",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--ks8vm28.json

@@ -0,0 +1,387 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-standard--ks8vm28",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.829333,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.829333,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 3.1996,
+   "de_p90": 7.3868,
+   "de_bad_frac": 0.064046,
+   "de_mean_sheet": 3.1992,
+   "ssim_L": 0.818227,
+   "paint_iou": 0.968282,
+   "paint_area_mm2": 49808.5,
+   "target_paint_area_mm2": 50336.6,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 1.9214,
+   "ssim_L_fine": 0.749429,
+   "edge_corr": 0.616704,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.943008,
+   "n_regions": 92.0,
+   "n_strokes": 393.0,
+   "n_practice_strokes": 17.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.2193,
+   "de_p90_unregistered": 7.483,
+   "ssim_L_unregistered": 0.817366,
+   "edge_corr_unregistered": 0.615135,
+   "paint_iou_unregistered": 0.968187,
+   "path_mm": 17093.87,
+   "longest_stroke_mm": 307.51,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.3057,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.829333,
+   "sim_steps": 20596,
+   "resets": 1.0,
+   "n_contacts": 410.0,
+   "samples": 102980.0,
+   "contact_samples": 56497.0,
+   "max_press_m": 0.013855,
+   "max_tilt_deg_in_contact": 0.38499,
+   "max_speed_in_contact_mps": 0.25561,
+   "handle_contact_samples": 0.0,
+   "n_dips": 52.0,
+   "dry_strokes": 0.0,
+   "n_frames": 590.0,
+   "replay_wall_s": 144.9,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 20596,
+   "physics_steps": 102980,
+   "steps": 18486,
+   "calls": 145,
+   "elapsed_s": 3577.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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/robopaint-acrylic-bedroom-i00-standard--ks8vm28/replay.mp4",
+  "duration_s": 59.0,
+  "fps": 10.0,
+  "frames": 590,
+  "sha256": "4f059c439533bbde43ae5102800bbd75e6017f54879b957d5a61717f04732d43"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": 18,
+      "text_zh": "观察：视频 0.3 s 侧视图中机械臂笔尖已呈黄褐色，视频 0.4–1.4 s 在左侧练习纸连续留下黄褐色笔迹；log step 18 的脚本先将安装笔刷下探至 paint04 颜料井，再进行练习纸宽度标定。首次蘸料取视频约 0.3 s（约有 0.2 s 不确定性），后续有色笔迹确认已蘸料。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–58.9 s 主纸持续新增多种颜色的笔迹；评分器终态记录 n_dips=52、n_dry_strokes=0，支持首次蘸料事件已经发生并保持计入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端安装的圆头笔刷刷毛进入右侧颜料井并带色离开，随后在练习纸和主纸着色；候选接触名“浸蘸”。现有方式词表没有刷毛浸入颜料的准确项，故用其他。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.8 s 主纸为空白，视频 4.0 s 开始出现灰绿色笔迹；随后机械臂分色绘出上部墙面、右侧黄褐床铺及左下棕色地板，视频 28.0–54.0 s 又补上门窗、床侧和家具线条，始终是在临摹该卧室。"
+     },
+     {
+      "t": 56.0,
+      "log_step": 97,
+      "text_zh": "观察：视频 54.0–56.0 s 主体已画出���但右侧黄褐色床面及左下棕色地板仍散布碎白孔隙，色块边缘破碎，上部墙面与门窗轮廓也有偏差；机械臂末段继续局部补画。log step 97 中 agent 的相机评估报告未着色缺口、错色像素和 success_image=False；该脚本数值只作会话诊断，不代替评分器。"
+     },
+     {
+      "t": 58.9,
+      "log_step": 102,
+      "text_zh": "观察：视频 58.9 s 机械臂已抬离主纸，床面和地板仍有细碎白缺口与杂色笔迹；对照成功参考视频 59.8 s，墙面与门窗边界更破碎，床铺及地板色块形状也有偏差。评分器终态 de_mean=3.1996>2、de_p90=7.3868>6、ssim_L=0.818227<0.92、edge_corr=0.616704<0.8，且 n_strokes=393>388；paint_iou=0.968282 已过覆盖阈值。log step 102 的 agent 自写评估仍为 success_image=False。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "推断：主纸从空白逐渐成形，到视频 58.9 s 仍有色块、轮廓偏差和碎白缺口，结合评分器上述多项未达标及 image_success=0，临摹验收从未达到；不是仅由总成功值为零推断未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂用末端安装笔刷的刷毛压住主纸并沿各颜色区域移动，留下墙面、床铺、地板及家具笔迹；末段再次压擦主纸修补空隙。换色时先抬笔，再到颜料井浸蘸，接触依次发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 3.1996
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 7.3868
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.818227
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.616704
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.968282
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 393.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 17093.87
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.9214
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.749429
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.943008
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.829333
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 56.0,
+   "log_step": 97,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 56.0 s 主体绘制后，床面与地板仍有碎白孔隙，墙面、门窗及床铺交界的色块和轮廓也有偏差；机械臂末段继续局部补画，至视频 58.9 s 仍未修好。log step 97、102 的相机诊断前后均报告 success_image=False；评分器最终也未接受临摹，且记录 393 笔超过 388 笔上限。断点为临摹卧室画，视频 56.0 s 是未修复画面偏差的导航锚点，不是笔数首次超限时刻。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "色块错配与缺口",
+    "t": 56.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 56.0 s 主纸的黄褐床面及棕色地板散布碎白孔隙；视频 57.0 s、58.0 s 机械臂在主纸局部补画，至视频 58.9 s 仍可见缺口。对照成功参考视频 59.8 s，当前画面上部蓝灰墙面与绿黄门窗的色块边界更破碎，门窗轮廓的宽窄、床面与地板交界处的色块形状也有偏差，床面和地板内杂色笔迹较多，不只是少量留白。评分器终态 de_mean=3.1996>2、de_p90=7.3868>6、ssim_L=0.818227<0.92、edge_corr=0.616704<0.8，分别支持色差、结构和边缘未达标；这些数值不用于定位每处偏差。",
+    "note_zh": "候选现象“色块错配与缺口”：描述主纸可见的颜色分布、轮廓和覆盖偏差；现有接触、运动、全身条目不能准确表达这些绘画结果，且不能逐处归为末端位姿或接触力异常，故用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "���知",
+    "item": "推理/规划",
+    "log_step": 98,
+    "evidence_zh": "推断：agent 的修补规划只处理已诊断误差的一部分，且将计划路径条数用于实际笔数预算。log step 97 的自写相机评估报告 success_image=False、错色像素 8.12% 和未着色缺口 3.93%；log step 98 的修补脚本实际用 (label_map == color_idx) & (obs_label == -1) 生成 hole_mask，只对未着色孔隙选择至多 24 条路径，没有把已着色但错色的区域纳入候选。log step 102 补画后自测仍为 success_image=False（量化色评估 mean_de=2.9958、ssim=0.8197、edge_corr=0.6078），agent 随后在 log step 103、105 仍整理交付并宣告完成；这些是会话诊断与决策证据，不代替评分器。早期 log step 47、50、53、60 的不同方案图像自测曾失败，但 log step 62 实际为 success_image=True（mean_de=1.896），不能据此说所有离线方案或最终执行方案在执行前都已图像自测失败。笔数方面，log step 81、94 记录主体计划为 358 条，log step 82 按计划索引报告执行进度，log step 98 最多追加 24 条，log step 105 自述为“382 / 388 strokes”，而评分器实测主纸 393 笔；计划条数与实际接触笔触数未对齐，差额 11 笔的具体来源未知。",
+    "source_zh": "日志 / agent 自述 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐笔评分轨迹，无法精确定位第 389 笔及首次超限时刻，也无法确定计划 382 条与实测 393 笔之间多出的 11 笔由哪些接触分段产生。色块错配、轮廓偏差与缺口可直接观察，日志支持修补策略只针对未着色孔隙；但不足以区分每处原始偏差来自路径覆盖设计、笔宽模型还是实际跟踪误差，因此不再添加具体控制根因。agent 自写离线评估和相机评估只作会话诊断，不当作官方逐帧验收；早期方案中既有图像自测失败也有通过，不能概括为最终方案执行前已被证明失败。"
+ },
+ "summary_zh": "机械臂在视频约 0.3 s 蘸上颜料，随后绘出卧室主体并追加修补，最终完成 1/2 个节点。临摹在视频约 56.0 s 可见床面及地板缺口，至视频 58.9 s 仍有色块错配、轮廓偏差和缺口；终态色差、结构与边缘指标未达标，实际 393 笔也超过 388 笔上限，日志支持修补规划只覆盖未着色孔隙且计划笔数核算与实际计数失配。无逐笔状态轨迹，首次超限时刻、多出 11 笔的来源及每处画面偏差的具体控制成因不能确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（节点、时钟、断点 bedroom_copied）无误；问题在 phenomena/root_causes：「违反约束」只是复述未达标的笔数指标（N10），而画面失败的主体（颜色错配、结构/边缘偏差）既没进现象，根因证据也只覆盖笔数。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（brush_loaded 达成、bedroom_copied 未达成）、断点 bedroom_copied、现象「其他·色块错配与缺口」及根因「推理/规划」均有视频与日志支持；上一轮问题已处理，未发现新的实质错误。",
+    "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": "2026-10-30T23:08:30Z",
+  "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/robopaint-acrylic-bedroom-i00-standard--ks8vm28/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--ks8vm28/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--ks8vm28/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--ks8vm28/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c7eb3c95be75e2fb7ce27f3d650644b57df8503206615ea1fca40d455b8ec8fc",
+   "video_sha256": "4f059c439533bbde43ae5102800bbd75e6017f54879b957d5a61717f04732d43",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--nhhxaxr.json

@@ -0,0 +1,354 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-standard--nhhxaxr",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.82476,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.82476,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 3.5048,
+   "de_p90": 9.4398,
+   "de_bad_frac": 0.091338,
+   "de_mean_sheet": 3.5045,
+   "ssim_L": 0.783443,
+   "paint_iou": 0.968073,
+   "paint_area_mm2": 50613.2,
+   "target_paint_area_mm2": 50337.2,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 1.9531,
+   "ssim_L_fine": 0.69445,
+   "edge_corr": 0.458889,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.923888,
+   "n_regions": 92.0,
+   "n_strokes": 385.0,
+   "n_practice_strokes": 17.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.2219,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.5158,
+   "de_p90_unregistered": 9.4979,
+   "ssim_L_unregistered": 0.783014,
+   "edge_corr_unregistered": 0.458878,
+   "paint_iou_unregistered": 0.96784,
+   "path_mm": 15359.46,
+   "longest_stroke_mm": 91.44,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.0564,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.82476,
+   "sim_steps": 19187,
+   "resets": 1.0,
+   "n_contacts": 402.0,
+   "samples": 95935.0,
+   "contact_samples": 45858.0,
+   "max_press_m": 0.011891,
+   "max_tilt_deg_in_contact": 0.11188,
+   "max_speed_in_contact_mps": 0.103015,
+   "handle_contact_samples": 0.0,
+   "n_dips": 96.0,
+   "dry_strokes": 0.0,
+   "n_frames": 601.0,
+   "replay_wall_s": 120.18,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 19187,
+   "physics_steps": 95935,
+   "steps": 19180,
+   "calls": 136,
+   "elapsed_s": 1385.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.84,
+   "peak_processes": 15,
+   "peak_disk_gb": 0.25,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-bedroom-i00-standard--nhhxaxr/replay.mp4",
+  "duration_s": 60.1,
+  "fps": 10.0,
+  "frames": 601,
+  "sha256": "1f19a9310f3a2f49938d6f4acb1a9d83e6f804b5397bee00d1b856676078305a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": 10,
+      "text_zh": "观察：视频0.0–0.3 s机械臂从颜料井附近移向练习纸，视频0.4–1.2 s侧视图中笔刷扫过练习纸并留下棕色笔迹；log step 10的脚本先执行dip(6)，再画练习线。推断：有色笔迹确认首次蘸料已完成，以视频0.4 s作确认锚点，首次入井时刻约有0.3 s不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：机械臂末端固定安装的圆头笔刷先到颜料井，随后在练习纸留下棕色笔迹，后续绘画还多次返回颜料井换色。候选接触名“浸蘸”：刷毛接触井中颜料，现有方式词表无准确项，不是夹爪抓握。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": 28,
+      "text_zh": "观察：视频3.6–4.0 s主纸右侧开始出现黄褐色横向笔迹，此前主要在旁边练习纸画测试线；随后机械臂持续用笔刷在主纸铺画，视频全程可见床铺、墙面与地板逐步形成。log step 28开始执行主纸计划，log steps 31、40–42继续主体绘画及三轮修补。"
+     },
+     {
+      "t": 60.0,
+      "log_step": 46,
+      "text_zh": "观察：视频59.0–60.0 s右下角画纸图保持黄褐床铺、红色床侧、蓝灰墙面及棕色地板，但床侧和椅子附近轮廓粗化，前景布满细小横向白点，大片预期留白被棕色填平；���功示例视频59.9 s可辨的左上墙面两条深色短横线在本次终态缺失。成功示例只用于识别完成态特征，不作为本次进度证据。"
+     },
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：本次reward报告image_success=0、live_matches_replay=1、finalized=1；de_mean=3.5048>2、de_p90=9.4398>6、ssim_L=0.783443<0.92、edge_corr=0.458889<0.8，paint_iou=0.968073、385笔、path_mm=15359.46及scribble_share=0均通过各自阈值。推断：临摹节点终态为假；结合先前未成画及后来持续可见的轮廓和留白差异，未发现该节点曾达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频3.6–60.0 s机械臂用固定安装笔刷在主纸压下、平移扫绘、抬起，留下各色笔迹；侧视图可见刷头接近纸面，右下角同步出现笔迹。换色时先后浸蘸颜料，不另计工具握持或静止底座支撑。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 3.5048
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 9.4398
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.783443
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.458889
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.968073
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 385.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 15359.46
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.9531
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.69445
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.923888
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.82476
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 45.0,
+   "log_step": 37,
+   "where": "操作中",
+   "evidence_zh": "观察：视频44.0–45.5 s主体色块已铺开，但床铺与前景仍呈多道平行线纹，椅子和床侧轮廓粗化；后续修补直到视频59.0–60.0 s，终画仍有细密横向白点、被填平的留白和缺失的深色短笔。log step 37的相机自算结果为meanE 5.50，log steps 40–42继续修补；评分器最终仍判image_success=0。推断：失败步骤是持续未修复的整幅卧室临摹，视频45.0 s仅为主体已形成时的导航锚点，不由agent时间换算。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触形状与留白失真",
+    "t": 45.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频44.0–45.5 s黄褐床面和棕色前景留下密集平行细白纹；视频59.0–60.0 s修补后仍有细碎横向漏白，椅子附近多处较大白色间隙被棕色覆盖，左上蓝灰墙面缺少深色短横线；对照成功示例视频59.9 s，床侧、椅子和地板的笔触边界及留白形状仍明显不同。",
+    "note_zh": "候选现象“笔触形状与留白失真”：描述画面中漏白、过度填色及局部细节缺失。词表没有绘画材料结果的对应项，不能从这些差异断言机器人位姿偏移或接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：agent用理想化直线色带替代目标笔触，并围绕局部色差贪心优化，未充分保留细节形状与留白，这是本次成画残差的规划层原因。依据：log step 20的规划代码在256像素画布上以实心胶囊形直线掩模覆盖颜色，按局部色差收益选笔；log step 26仍沿用该模型，log step 27对实际选用的9/5毫米方案自算meanE=4.404，log step 28随即开始执行，log step 32的修补器继续沿用该模型。视频44.0–45.5 s及59.0–60.0 s可见规则直线纹理和细节被简化；agent在log step 46也自述真实笔迹比模型假定更窄、更不规则。上述模型数值是agent的自算结果，不当���评分器的逐帧指标。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或逐帧图像评分，无法精确定位各指标是否短暂越过阈值；节点历史依据完整过程抽帧中早期缺色、后期持续形状差异判断。笔刷模型与真实笔迹不匹配得到代码和agent自述支持，但无法独立分离压深、实际刷宽与绘画模型各自贡献，不再细分控制根因；视频时钟经压缩，未用agent工作时间或控制步数换算节点时间。"
+ },
+ "summary_zh": "机械臂蘸料并在练习纸测试，随后在主纸完成385笔铺画和修补，两节点中仅“笔刷蘸上颜料”达成。断点为“临摹卧室画”：主体可辨，但笔触形状、细节及留白仍失真，色差、结构和边缘四项指标未通过；日志支持理想化直线笔触模型及贪心绘画方案未充分还原目标。无逐帧评分，达标历史和模型误差的具体物理贡献存在证据缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、评分器读数一致：brush_loaded 约视频0.4–1.0 s可见练习纸笔迹，bedroom_copied 终态为假（image_success=0，de_mean/ssim/edge 未过），断点与现象符合 FAIL-15（描述可见的漏白而非复述指标），根因有log代码支持。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": "2026-10-30T22:51:12Z",
+  "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/robopaint-acrylic-bedroom-i00-standard--nhhxaxr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--nhhxaxr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c781555906c79f17973146f2f8b0bf4f3fac9d4c4395f705b5b69f2c69187815",
+   "video_sha256": "1f19a9310f3a2f49938d6f4acb1a9d83e6f804b5397bee00d1b856676078305a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--pds4m5a.json

@@ -0,0 +1,358 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-standard--pds4m5a",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 32.1443,
+   "de_p90": 59.7635,
+   "de_bad_frac": 0.786208,
+   "de_mean_sheet": 32.1329,
+   "ssim_L": 0.316184,
+   "paint_iou": 0.460163,
+   "paint_area_mm2": 23520.6,
+   "target_paint_area_mm2": 50382.4,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 28.988,
+   "ssim_L_fine": 0.278868,
+   "edge_corr": 0.062477,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.216344,
+   "n_regions": 92.0,
+   "n_strokes": 389.0,
+   "n_practice_strokes": 7.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 1.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 32.1443,
+   "de_p90_unregistered": 59.7635,
+   "ssim_L_unregistered": 0.316184,
+   "edge_corr_unregistered": 0.062477,
+   "paint_iou_unregistered": 0.460163,
+   "path_mm": 14216.88,
+   "longest_stroke_mm": 116.43,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.6607,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.0,
+   "sim_steps": 7762,
+   "resets": 0.0,
+   "n_contacts": 396.0,
+   "samples": 38810.0,
+   "contact_samples": 13184.0,
+   "max_press_m": 0.011938,
+   "max_tilt_deg_in_contact": 0.546898,
+   "max_speed_in_contact_mps": 0.220838,
+   "handle_contact_samples": 0.0,
+   "n_dips": 7.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 7762,
+   "physics_steps": 38810,
+   "steps": 5239,
+   "calls": 35,
+   "elapsed_s": 3503.2,
+   "video_rendered": 1,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "instance_mismatch": 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/robopaint-acrylic-bedroom-i00-standard--pds4m5a/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "a8aa9af8e9af9a167828ac9a77f8c5098384785d568663f57518bee10de0f732"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.0–0.3 s 机械臂末端移到颜料盘，视频 0.4 s 侧视图可见笔尖已呈黄褐色；视频 0.6–1.0 s 笔刷在练习纸留下有色细线，随后完成多条练习线。log step 37–38 记录先蘸 paint04 再绘制七条练习线的脚本与执行反馈。"
+     },
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "推断：由首次蘸料动作之后笔尖变色及练习纸着色确认蘸料已完成，首次完成锚点取视频约 0.4 s，误差约 0.2 s；这是锁存事件，后续换色不使它失效。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.2–0.4 s，Panda 单臂将固定安装的圆头笔刷笔尖降入颜料盘区域，随后刷毛带黄褐颜料并在练习纸着色。候选接触名“浸蘸”：刷毛接触颜料，现有抓握、推扫、压擦、托舀均不能准确表达该接触。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.0 s 主纸空白，练习纸出现七条试画线；视频 3.4–5.0 s 机器人开始在主纸上留下零散黄褐色曲线。此后按视频每 3 s 检查到视频 57.0 s，主纸逐步增加灰色门窗轮廓、右侧黄褐色床面和左下散笔，未出现完整卧室画面。"
+     },
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 54.0–57.8 s 机器人仍在��纸扫绘，右下画纸图中的墙面大部分空白，右侧床面和左下地板的斜向笔迹间有宽白缝；成功参考视频 59.9 s 的同一画纸视图则有连续蓝灰墙面、深绿门窗、黄褐床铺与棕色地板。参考视频仅用于辨认完成态。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 58.0–59.8 s，末段只增加床侧附近深红小块等局部笔迹，大片漏涂和白缝仍在。评分器 reward 报告 de_mean=32.1443（阈值≤2）、de_p90=59.7635（≤6）、ssim_L=0.316184（≥0.92）、edge_corr=0.062477（≥0.8）、paint_iou=0.460163（≥0.95），n_strokes=389（≤388）；现场 finalized=1，graded_by_live=1，无重置、仿真错误或基础设施错误。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 3.4–59.8 s，固定底座 Panda 的末端圆头笔刷反复落笔、沿主纸表面扫绘并留下有色痕迹，再抬起换笔；接触为刷毛压擦主纸。视频开头另在练习纸试画七条线，绘画间歇将笔尖移向颜料盘蘸色；没有可操作夹爪或移动底盘。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 32.1443
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 59.7635
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.316184
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.062477
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.460163
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 389.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 14216.88
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 28.988
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.278868
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.216344
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 54.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54.0–57.8 s 机器人继续在主纸绘画，但上半墙面仍大面积未着色，床面及左下地板只有被宽白缝分隔的斜向笔迹；视频 58.0–59.8 s 的后续局部添画没有补齐这些区域。断点锚点取视频 54.0 s 的未修复画面缺陷，失败步骤是临摹卧室画；评分器终态还记录主纸 389 笔超过 388 笔上限。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "大片漏涂与笔触间白缝",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0 s 的右下画纸图中，墙面只剩灰色门窗框和少量孤立笔迹，大部分仍为纸色；右侧床面和左下地板的斜线之间有宽白缝。视频 59.8 s 这些空白仍然存在，对比成功参考视频 59.9 s 可见对应位置应有连续色块。",
+    "note_zh": "候选现象“大片漏涂与笔触间白缝”描述实际画面缺陷。现有接触、运动、全身、约束和汇报条目均不能准确表达已着色但覆盖不完整的绘画结果，故使用其他；不以图像分数未达标代替可见现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 56,
+    "evidence_zh": "推断：log step 53 的离线规划输出为 2048 笔，其自制模拟评分尚未通过；log step 56 的执行脚本按笔长×中位宽度排序，仅取前 388 笔（argsort(area)[::-1][:388]），未重新生成满足笔数预算的完整覆盖方案。log step 58–59 记录该脚本执行完毕；视频 54.0–59.8 s 对应画面仍大片漏涂，支持“截取局部笔触而没有全图覆盖方案”的规划缺陷导致临摹失败。这里引用离线测试解释方案选择，不将其模拟分数当作现场进度。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无逐帧状���日志或现场图像指标，无法确定任何数值阈值的逐帧变化；节点按所见画面及终态评分判断。视频可确认大片漏涂，但不能单独分离笔触筛选、未成功测得的笔宽标定及各次蘸色定位误差对色差和覆盖的贡献；只保留有执行代码证据的规划根因。评分器计 389 笔与 agent 自述执行 388 笔（log step 60–61）不一致，采用评分器计数，无法定位多出的一笔。视频为压缩过程，不将 agent 工作时间或控制步直接换算成视频时间。"
+ },
+ "summary_zh": "本次现场绘画完成笔刷蘸料（视频约 0.4 s），随后在主纸绘画，但临摹卧室画始终未完成，最终为 1/2 节点。视频 54.0–59.8 s 显示墙面大片漏涂、床面与地板笔迹之间有宽白缝；日志显示 agent 将 2048 笔方案截取为面积最大的 388 笔执行，终态图像指标全部未达标，且评分器实际计 389 笔超过上限。无逐帧状态和分数，笔宽标定及蘸色误差的独立贡献、额外一笔的发生时刻不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 brush_loaded 达成（约 0.4 s）、bedroom_copied 未达成，与视频和评分器数值一致；断点、现象与规划根因有日志执行代码（只取前 388 笔）与视频漏涂支持，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": "2026-10-30T23:05:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--pds4m5a/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--pds4m5a/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "970ad57c71138296abc9512b810e53ec363156e0ddab4660421bce9034fdf8fa",
+   "video_sha256": "a8aa9af8e9af9a167828ac9a77f8c5098384785d568663f57518bee10de0f732",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--qjsoyap.json

@@ -0,0 +1,372 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-standard--qjsoyap",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.28748,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.28748,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 6.0113,
+   "de_p90": 17.1808,
+   "de_bad_frac": 0.197354,
+   "de_mean_sheet": 6.0101,
+   "ssim_L": 0.58867,
+   "paint_iou": 0.909967,
+   "paint_area_mm2": 46669.1,
+   "target_paint_area_mm2": 50313.8,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 4.8828,
+   "ssim_L_fine": 0.495245,
+   "edge_corr": 0.441205,
+   "region_cov_min": 0.095732,
+   "region_cov_mean": 0.81084,
+   "n_regions": 92.0,
+   "n_strokes": 944.0,
+   "n_practice_strokes": 96.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": -0.2219,
+   "register_dy_mm": -0.2219,
+   "register_shift_mm": 0.3138,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 6.0443,
+   "de_p90_unregistered": 17.2523,
+   "ssim_L_unregistered": 0.588272,
+   "edge_corr_unregistered": 0.435861,
+   "paint_iou_unregistered": 0.909549,
+   "path_mm": 23535.93,
+   "longest_stroke_mm": 143.72,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.2263,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.28748,
+   "sim_steps": 62761,
+   "resets": 1.0,
+   "n_contacts": 1040.0,
+   "samples": 313805.0,
+   "contact_samples": 120232.0,
+   "max_press_m": 0.015066,
+   "max_tilt_deg_in_contact": 2.034402,
+   "max_speed_in_contact_mps": 0.264002,
+   "handle_contact_samples": 1948.0,
+   "n_dips": 40.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 125.62,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 62761,
+   "physics_steps": 313805,
+   "steps": 61678,
+   "calls": 831,
+   "elapsed_s": 5069.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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/robopaint-acrylic-bedroom-i00-standard--qjsoyap/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "93a78a7169895416d74e9dba4a28fc0beb223d61a980a8b63dcced8dc091e5ee"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": 68,
+      "text_zh": "观察：视频0.1 s机械臂末端位于右侧颜料井区域，视频0.5 s笔尖已在左侧练习纸留下有色细线，主纸仍空白；log step 68的首次蘸料调用返回笔尖位置[-0.10000048,0.17531122,0.02470888]米。"
+     },
+     {
+      "t": 0.5,
+      "log_step": 68,
+      "text_zh": "推断：有色练习笔迹确认笔刷已经蘸料；首次进入液面的瞬间在加速视频中不清楚，保守以视频0.5 s的着色确认帧记首次达成，时间误差约0.4 s。该事件此后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：固定安装于Panda单臂末端的圆头笔刷刷毛进入颜料井接触颜料，由视频0.1 s的井区动作和视频0.5 s的着色练习笔迹确认；后续多次换色。候选接触名“浸蘸”：现有抓握、压擦、推扫、托舀均不能准确描述刷毛浸入颜料。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.4,
+      "log_step": 284,
+      "text_zh": "观察：视频0–11.8 s主纸保持空白，机械臂主要在练习纸上试笔；视频12.4 s主纸开始出现灰绿色曲线，随后至视频31.0 s，机械臂把大部分卧室形状都画成同一种灰绿色，床铺和地板尚无所需黄褐、棕色分区。"
+     },
+     {
+      "t": 31.0,
+      "log_step": 302,
+      "text_zh": "观察：视频31.0 s主纸几乎全为灰绿色且有大量白缝；密查视频31.0–33.5 s可见随后出现深红床侧、深绿门窗等不同颜色。log step 302为执行器新增按笔触cls选择颜料井并蘸料的逻辑，log step 304启动第二轮绘画。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 337,
+      "text_zh": "观察：视频58.9–59.8 s，机械臂完成补画后离开纸面，右侧黄褐床铺、上方蓝灰墙面和左下棕色地板已可辨认，但各色块之间仍遍布细长白缝，门窗和家具边缘呈破碎线条；相比成功参考视频59.8 s，其色块更连续，当前画面留缝明显更多。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "观察：本次评分器终态字段de_mean=6.0113（须≤2）、de_p90=17.1808（须≤6）、ssim_L=0.58867（须≥0.92）、edge_corr=0.441205（须≥0.8）、paint_iou=0.909967（须≥0.95），n_strokes=944（须≤388），image_success=0，live_matches_replay=1。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 358,
+      "text_zh": "推断：全程先为空白、再为大面积错色图，后续靠重画才出现多色卧室，未见完整达标画面；首轮383笔计划已实际执行（log steps 282、284、292），随后再完整重画及补150笔（log steps 304、330、337），使不可撤销的主纸笔数上限失守。结合终态画面及评分器指标，临摹节点从未达成；不把agent自己的计划模拟分数当作主纸进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频12.4–31.0 s及后续换色、补画阶段，Panda单臂用固定安装的圆头笔刷压住主画纸并沿曲线路径扫绘，纸上随笔尖运动留下颜料；先在练习纸试笔，换色时依次到颜料井浸蘸，无移动底盘。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 6.0113
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 17.1808
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.58867
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.441205
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.909967
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 944.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 23535.93
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 4.8828
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.495245
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.095732
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.81084
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.28748
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 12.4,
+   "log_step": 284,
+   "where": "操作中",
+   "evidence_zh": "观察：视频12.4 s开始在主纸绘制灰绿色笔迹，视频31.0 s整幅卧室的多数色区都被画成同一种灰绿色；视频59.8 s虽经换色覆盖仍有大量白缝和轮廓差异。推断：失败发生在“临摹卧室画”的绘制中，首轮错色之后仅靠重画未完成该步，且评分器累计944笔已超过388笔历史上限；视频12.4 s只是错误开始的导航锚点，不是精确超限时刻。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "其他",
+    "t": 12.4,
+    "log_step": 284,
+    "evidence_zh": "观察：视频12.4–31.0 s机械臂在主纸上把原本应分为黄褐床铺、蓝灰墙面和棕色地板的形状画成同一种灰绿色；视频59.8 s多色覆盖后，床沿、墙面和地板仍被密集细长白缝割裂，轮廓比成功参考视频59.8 s更零碎。",
+    "note_zh": "候选现象名“临摹错色与漏涂”：描述实际笔迹的颜色、覆盖缺陷。现有接触类不描述这类着色结果，位姿不准也不能准确概括首轮使用错误颜料；故用其他，不把低分本身当作现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 12.4,
+    "log_step": 258,
+    "evidence_zh": "观察：log step 258写出的首轮执行器build仅用笔触path和wprof生成移动、下压、扫绘、抬笔，从未读取cls换色或生成蘸料动作；log steps 281–282仅修改笔宽表和数组处理，log step 284随即执行这些轨迹。log step 302才新增if s['cls']!=loaded[0]时去对应颜料井的逻辑；视频12.4–31.0 s的单色主纸、随后多色覆盖与此吻合。推断：执行脚本遗漏换色蘸料，使正确分色意图未落实为机械臂动作，首轮消耗了大量主纸笔数，后续重画无法撤销这部分计数。",
+    "source_zh": "日志",
+    "note_zh": "控制子类不明，停在“控制”；具体为执行脚本遗漏换色逻辑。没有轨迹求解失败、跟踪失稳或已证实错误参数的充分证据，不强归这些子类。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，视频经过加速，不能精确定位首次蘸入液面或第389笔的时刻，也不能从帧中量出各画面指标首次越线时间。最终白缝的具体笔宽/接触参数成因未独立核实，不另推断控制子类。agent在log steps 341、357–358自算916笔及37939毫米，与评分器944笔及23535.93毫米不同，采用评分器数值；其自算量不是额外世界状态证据。"
+ },
+ "summary_zh": "观察：机械臂已蘸料并在练习纸试笔，随后在主纸完成单色首轮、换色重画和局部补画；最终仅“笔刷蘸上颜料”达成，进度1/2。推断：断点为“临摹卧室画”，首轮执行脚本遗漏换色蘸料，造成大面积错色和额外重画；视频59.8 s仍有密集白缝，评分器多项画面指标未达标且累计944笔超过388笔上限。无逐帧状态日志，蘸料及超限精确时刻、最终漏涂的具体接触参数原因尚不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点值与时间（brush_loaded 视频0.5 s，bedroom_copied 未达成）与视频帧、评分器终态指标一致；断点、现象和根因（执行脚本遗漏换色蘸料，log step 258/302）有日志与帧支持，时钟均标明视频时间。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": "2026-10-30T22:54:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--qjsoyap/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--qjsoyap/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7eef15acb17476156eaf2e3816eb2f3d4016664def48cfe991d30325a95c6c53",
+   "video_sha256": "93a78a7169895416d74e9dba4a28fc0beb223d61a980a8b63dcced8dc091e5ee",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--quxktq4.json

@@ -0,0 +1,360 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-standard--quxktq4",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.818485,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.818485,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 3.6303,
+   "de_p90": 8.7558,
+   "de_bad_frac": 0.084976,
+   "de_mean_sheet": 3.6297,
+   "ssim_L": 0.828148,
+   "paint_iou": 0.972858,
+   "paint_area_mm2": 50328.0,
+   "target_paint_area_mm2": 50210.6,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 2.3746,
+   "ssim_L_fine": 0.765107,
+   "edge_corr": 0.496309,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.928802,
+   "n_regions": 92.0,
+   "n_strokes": 385.0,
+   "n_practice_strokes": 8.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.2219,
+   "register_dy_mm": 0.6656,
+   "register_shift_mm": 0.7016,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.7982,
+   "de_p90_unregistered": 9.4079,
+   "ssim_L_unregistered": 0.818391,
+   "edge_corr_unregistered": 0.472423,
+   "paint_iou_unregistered": 0.971774,
+   "path_mm": 11218.71,
+   "longest_stroke_mm": 214.75,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.1552,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.818485,
+   "sim_steps": 17131,
+   "resets": 1.0,
+   "n_contacts": 393.0,
+   "samples": 85655.0,
+   "contact_samples": 24213.0,
+   "max_press_m": 0.014033,
+   "max_tilt_deg_in_contact": 0.292186,
+   "max_speed_in_contact_mps": 0.092482,
+   "handle_contact_samples": 0.0,
+   "n_dips": 91.0,
+   "dry_strokes": 0.0,
+   "n_frames": 592.0,
+   "replay_wall_s": 121.56,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 17131,
+   "physics_steps": 85655,
+   "steps": 17096,
+   "calls": 120,
+   "elapsed_s": 3992.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.943,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.278,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-bedroom-i00-standard--quxktq4/replay.mp4",
+  "duration_s": 59.2,
+  "fps": 10.0,
+  "frames": 592,
+  "sha256": "a11b3838cac9eed85c03d574cc0aab548e7974e7a4fb83cd70541ce6a50d400b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": 41,
+      "text_zh": "观察：视频 0.0 s 纸面尚空；视频 0.5 s 侧视图已出现练习纸上的浅绿色笔迹，视频 0.8–2.4 s 又可见机械臂在练习纸留下多条有色线；log step 41 记录机器人先将安装笔刷降入颜料井，再在练习纸划线。首次蘸料以视频约 0.5 s 首次可确认着色为锚点，实际浸蘸略早于此，约有 0.3 s 定位误差。"
+     },
+     {
+      "t": 2.9,
+      "log_step": null,
+      "text_zh": "观察：视频 2.9 s 主纸右侧开始出现黄褐色笔迹，随后机器人持续换色绘画，确认已经加载颜料；首次加载作为事件保持计入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端固定安装的圆头笔刷刷毛浸入颜料井并带出颜料，由随后可见的练习纸着色和蘸料动作记录共同确认；候选接触名“浸蘸”，现有方式词表没有描述刷毛浸入颜料的准确值。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.9–7.0 s 机器人用笔刷在主纸铺出右侧黄褐色床面和左下棕色色块，视频 10.0–20.0 s 再加入地板、墙面、门窗及深红床侧；这些阶段仍缺少大块目标内容。"
+     },
+     {
+      "t": 59.1,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–59.1 s 已形成卧室整体构图，末尾视频 58.2–59.1 s 仍可清楚看到床面与左下地板呈连续色块；与成功示例视频 59.9 s 同视角相比，床面内部及地板的多处纸色短缝被颜料填平，笔触边界和细节不同。全过程未见达到参考完成态后再失去的阶段。"
+     },
+     {
+      "t": 59.1,
+      "log_step": 550,
+      "text_zh": "观察：评分器终态字段 de_mean=3.6303>2.0、de_p90=8.7558>6.0、ssim_L=0.828148<0.92、edge_corr=0.496309<0.8，image_success=0；paint_iou=0.972858、n_strokes=385、path_mm=11218.71、scribble_share=0 均满足各自阈值。评分器 live_matches_replay=1、deterministic=1；agent 在 log step 550 自述的 SSIM=0.951 和 edge_corr=0.923 与评分器字段不符，不能据此计为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 2.9–58.9 s，固定底座单臂用末端安装笔刷压住主画纸并沿纸面划动，留下不同颜色的笔迹；抬笔和换色浸蘸依次发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 3.6303
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 8.7558
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.828148
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.496309
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.972858
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 385.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 11218.71
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 2.3746
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.765107
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.928802
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.818485
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 7.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.0–7.0 s 机器人已把床面及左下区域铺成大块连续底色；视频 14.0 s 这些底色继续扩展，直到视频 59.1 s 仍未恢复成功示例视频 59.9 s 中床面和地板内部的断续留白。推断：这是临摹步骤中未修复的画面偏差，视频 7.0 s 为便于查看底色铺绘的粗略锚点；终态评分器 image_success=0，失败集中在色差、结构与边缘验收。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触间留白被覆盖",
+    "t": 7.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 7.0 s 左下棕色区和右侧床面已被铺成连续色块，视频 58.2–59.1 s 仍是如此；对照成功示例视频 59.9 s，床面中央的数个纸色短缝及地板中散布的断续白缝在本次画面中消失，局部笔触连成片。",
+    "note_zh": "现有接触、运动、全身等现象词项不能准确表达绘画结果中纸色留白被填色这一可见缺陷，使用其他，候选名“笔触间留白被覆盖”；不是仅将评分未达标改写为现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 479,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 的先铺连续底色、再补细节方案没有保留目标的断续纸色空隙。log step 479 的底色生成代码将连通区域投影到主轴后以每条带内的最小、最大位置连成整笔，并用54像素宽实心笔触填底；其自测已显示110笔底色会把目标纸色区中的14416像素涂上颜料。log step 480 将这一裁剪填底方式用于正式规划，log step 497 记录正式底色仍为110笔，log step 504 启动正式绘制。视频 5.0–14.0 s 出现大块连续底色，视频 59.1 s 对比成功示例视频 59.9 s 仍缺少内部白缝，支持这一策略导致留白丢失；不据此推断逆解或跟踪失稳。"
+   }
+  ],
+  "gap_zh": "没��逐帧状态或图像评分日志，不能精确定位连续指标首次失守的时刻；蘸料首次时刻以可见着色确认，颜料井中的微小接触未能直接分辨。log step 480 和 log step 503 的脚本文本有截断，根因只归于可见代码、自测及视频共同支持的填底策略，无法进一步区分笔刷宽度模型、压深及轨迹跟踪各自的影响。"
+ },
+ "summary_zh": "机器人完成蘸料并持续绘制出卧室的主要色块和构图，节点终态为1/2；临摹步骤始终未达标，终态色差、结构相似度和边缘相关失败，覆盖率及过程预算通过。视频显示床面和地板的笔触间留白被连续底色填平，日志中的宽笔触填底方案及其溢色自测支持规划归因。无逐帧评分，不能确定各连续指标首次失守时刻，agent 自报达标数值不作为实际完成证据。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "brush_loaded 约视频 0.5–0.6 s 首次着色、bedroom_copied 终态未达标均与帧和评分器字段一致；断点、接触、现象与规划根因有视频对照（视频 59.1 s 对成功示例 59.9 s）和 log step 479/497 支持，推断已标注，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": "2026-10-30T23:00:13Z",
+  "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/robopaint-acrylic-bedroom-i00-standard--quxktq4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--quxktq4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e2bc5eca1316e4753ddb81880893fd0d62e190da1b0dca36de5f0480942a7e40",
+   "video_sha256": "a11b3838cac9eed85c03d574cc0aab548e7974e7a4fb83cd70541ce6a50d400b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--wqr5d4c.json

@@ -0,0 +1,320 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-standard--wqr5d4c",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 1,
+  "reward": 0.9157,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 1.686,
+   "de_p90": 3.7903,
+   "de_bad_frac": 0.015005,
+   "de_mean_sheet": 1.6858,
+   "ssim_L": 0.949178,
+   "paint_iou": 0.988822,
+   "paint_area_mm2": 50582.2,
+   "target_paint_area_mm2": 50382.4,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 1.0259,
+   "ssim_L_fine": 0.914409,
+   "edge_corr": 0.921794,
+   "region_cov_min": 0.375171,
+   "region_cov_mean": 0.990061,
+   "n_regions": 92.0,
+   "n_strokes": 388.0,
+   "n_practice_strokes": 17.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 1.686,
+   "de_p90_unregistered": 3.7903,
+   "ssim_L_unregistered": 0.949178,
+   "edge_corr_unregistered": 0.921794,
+   "paint_iou_unregistered": 0.988822,
+   "success": 1,
+   "final_reward": 0.9157,
+   "path_mm": 15987.61,
+   "longest_stroke_mm": 214.92,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.1382,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 1.0,
+   "image_final_reward": 0.9157,
+   "sim_steps": 59804,
+   "resets": 1.0,
+   "n_contacts": 405.0,
+   "samples": 299020.0,
+   "contact_samples": 129608.0,
+   "max_press_m": 0.014305,
+   "max_tilt_deg_in_contact": 0.140163,
+   "max_speed_in_contact_mps": 0.040964,
+   "handle_contact_samples": 0.0,
+   "n_dips": 78.0,
+   "dry_strokes": 0.0,
+   "n_frames": 600.0,
+   "replay_wall_s": 150.68,
+   "replay_success": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 59804,
+   "physics_steps": 299020,
+   "steps": 59804,
+   "calls": 563,
+   "elapsed_s": 2891.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "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/robopaint-acrylic-bedroom-i00-standard--wqr5d4c/replay.mp4",
+  "duration_s": 60.0,
+  "fps": 10.0,
+  "frames": 600,
+  "sha256": "aba07b39cc52788f3a3f756a2dccd070d420200cf058a4cb9ae8f4f614c62eb9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": 12,
+      "text_zh": "推断：视频 0.1 s 机械臂笔尖位于颜料井区域，视频 0.2 s 已移向练习纸，视频 0.5–1.4 s 侧视图可见浅绿笔迹逐条出现，说明笔刷已蘸料；首次蘸料约记视频 0.2 s，误差约 0.2 s。log step 12 的机器人控制脚本先在颜料井位置将笔尖降至 z=0.024 m，再到练习纸试刷；该代码仅辅助解释画面，未用 agent 时间换算视频时间。"
+     },
+     {
+      "t": 2.3,
+      "log_step": null,
+      "text_zh": "观察：视频 1.8–2.4 s 机械臂笔刷在练习纸另一侧压下并移动，出现黄色宽笔迹；视频 4.0 s 练习纸已有多组有色条纹，主纸开始出现黄褐色笔触，确认笔刷能着色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端安装的圆头笔刷刷毛接触颜料井内颜料；依据视频开头由颜料井移向练习纸后留下有色笔迹，以及 log step 12 的先蘸后画脚本。候选接触名为“浸蘸”，现有词项不能准确描述刷毛加载颜料；后续换色时重复蘸料。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–10.0 s 主纸从空白逐渐增加右侧黄褐床铺笔触、左下棕色笔触和上方灰绿色笔触；视频 12.0–30.0 s 机械臂继续压刷扫绘，深绿门窗、蓝灰墙面、红褐床侧及地板区域逐步形成。"
+     },
+     {
+      "t": 59.9,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 54.0–59.8 s 每隔 0.2 s 的画面及视频 59.9 s 末帧；右下角画纸图持续显示右侧黄褐床铺、深红褐床侧、上方蓝灰墙面与深绿门窗、左下棕色地板和椅子轮廓，末帧笔刷已离开主纸。评分器 reward 报告 success=1、replay_success=1、live_matches_replay=1、deterministic=1；终态平均 ΔE=1.686、p90=3.7903、SSIM=0.949178、edge_corr=0.921794、paint_iou=0.988822，且 388 笔、path_mm=15987.61、scribble_share=0，全部满足 DAG 阈值。"
+     },
+     {
+      "t": 59.9,
+      "log_step": 91,
+      "text_zh": "推断：终态画面与评分器成功结果共同确定本节点 final=true；无状态日志或逐帧官方分数，不能从低分辨率画面精确测得首次通过全部阈值的时刻，故区间起点保守记为已确认的终态视频 59.9 s，可能更早达标。log step 91 明确将 agent 的相机分数标为本地估计，未把它作为官方逐帧判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4.0–59.6 s 机械臂用末端固定安装的圆头笔刷在主画纸上压下、平移扫绘、抬起，笔刷经过处留下并覆盖彩色笔迹；上方视图部分被机械臂遮挡时，侧视图与右下角画纸图仍显示接触绘画及新增笔迹。换色蘸料与纸面绘画依次发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 1.686
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 3.7903
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.949178
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.921794
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.988822
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 388.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 15987.61
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.0259
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.914409
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.375171
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.990061
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.9157
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机械臂先蘸料并在练习纸试刷，再逐层临摹主纸上的卧室画，两个节点终态均完成；评分器确认成功，主纸共 388 笔、着色路径 15987.61 毫米，图像与路径指标均达标。无状态日志和逐帧官方分数，临摹节点以视频 59.9 s 已确认的终态作保守达成锚点，首次跨越全部阈值可能更早；本次自身即 oracle，未作独立成功录像比较。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点终态均为真，与评分器成功及视频末帧一致；brush_loaded 起点 0.2 s 与首帧所见相符，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": "2026-10-30T23:04:00Z",
+  "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/robopaint-acrylic-bedroom-i00-standard--wqr5d4c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--wqr5d4c/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ceb7be661775459dcf2e7b0c93f4aae579218389bf55b1974f8551dae6f51917",
+   "video_sha256": "aba07b39cc52788f3a3f756a2dccd070d420200cf058a4cb9ae8f4f614c62eb9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--znx346t.json

@@ -0,0 +1,350 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-standard--znx346t",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.376,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 12.48,
+   "de_p90": 32.9539,
+   "de_bad_frac": 0.404667,
+   "de_mean_sheet": 12.478,
+   "ssim_L": 0.348995,
+   "paint_iou": 0.811273,
+   "paint_area_mm2": 42132.6,
+   "target_paint_area_mm2": 50210.6,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 9.9489,
+   "ssim_L_fine": 0.27976,
+   "edge_corr": 0.096975,
+   "region_cov_min": 0.008345,
+   "region_cov_mean": 0.598882,
+   "n_regions": 92.0,
+   "n_strokes": 376.0,
+   "n_practice_strokes": 66.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.2219,
+   "register_dy_mm": 0.6656,
+   "register_shift_mm": 0.7016,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 12.6019,
+   "de_p90_unregistered": 33.3173,
+   "ssim_L_unregistered": 0.346586,
+   "edge_corr_unregistered": 0.099876,
+   "paint_iou_unregistered": 0.808538,
+   "success": 0,
+   "final_reward": 0.376,
+   "path_mm": 9993.63,
+   "longest_stroke_mm": 138.93,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.5368,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.376,
+   "sim_steps": 15270,
+   "resets": 1.0,
+   "n_contacts": 442.0,
+   "samples": 76350.0,
+   "contact_samples": 27670.0,
+   "max_press_m": 0.01365,
+   "max_tilt_deg_in_contact": 0.572699,
+   "max_speed_in_contact_mps": 0.274386,
+   "handle_contact_samples": 0.0,
+   "n_dips": 61.0,
+   "dry_strokes": 0.0,
+   "n_frames": 589.0,
+   "replay_wall_s": 105.4,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 15270,
+   "physics_steps": 76350,
+   "steps": 8342,
+   "calls": 169,
+   "elapsed_s": 4515.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "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/robopaint-acrylic-bedroom-i00-standard--znx346t/replay.mp4",
+  "duration_s": 58.9,
+  "fps": 10.0,
+  "frames": 589,
+  "sha256": "6b42a49f406814fcfe885a0b252b5d5ace4123ddc0f60a294163a28679aac088"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.2,
+      "log_step": null,
+      "text_zh": "观察：视频 1.8–2.2 s 场景视角中，机械臂末端笔刷移至右侧颜料井区域、下探后移向左侧练习纸；视频 2.3–2.6 s 低角度视角显示笔刷在练习纸上留下绿色笔迹，确认已经蘸上颜料。以视频约 2.2 s 记首次蘸料完成，存在约 0.3 s 的定位误差。"
+     },
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频 58.8 s 主纸已有多色笔迹；run.json 的评分器字段 n_dips=61、n_dry_strokes=0。首次蘸料为锁存事件，后续换色不使本节点失去。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 1.8–2.2 s 机械臂将安装的圆头笔刷下探到颜料井，随后在练习纸留下绿色笔迹；实际作用端为刷毛，对象为井内颜料。候选接触名“浸蘸”；现有抓握、推扫、压擦和托舀均不准确描述刷毛浸入液体加载颜料。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.0 s 主画纸为空白；视频 5.5 s 仅见少量测试色点，视频 26.5–35.0 s 才逐渐出现上方墙面、门窗等分散笔迹，尚无完整卧室画面。"
+     },
+     {
+      "t": 38.0,
+      "log_step": null,
+      "text_zh": "观察：视频 38.0–40.0 s 机械臂用笔刷绘制右侧黄褐床面，画纸图中该区域由斜向平行笔迹组成，笔迹之间有大量白缝；视频 44.0–52.0 s 绘制棕色地板后同样留有明显条状空隙。"
+     },
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频 54.0–58.8 s 补画后，床面和左下地板仍有密集白缝，上方墙面也呈分离条纹；成功参考视频 59.9 s 对应区域为较��续的色块与清楚的床、地板轮廓。本次评分器报告 de_mean=12.48（要求≤2）、de_p90=32.9539（≤6）、ssim_L=0.348995（≥0.92）、edge_corr=0.096975（≥0.8）、paint_iou=0.811273（≥0.95），image_success=0。"
+     },
+     {
+      "t": 58.8,
+      "log_step": 214,
+      "text_zh": "观察：本次评分器报告 n_strokes=376、path_mm=9993.63、scribble_share=0，三项均在预算内，deterministic=1、live_matches_replay=1；agent 最终报告（log step 214）自述笔迹变窄、留有纸面间隙并预计无法达到图像阈值。节点未达成依据完整绘画过程、可见缺陷与图像评分，不能用 agent 自报的386笔替代评分器的376笔。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 26.5–52.0 s 及视频 54.0–58.0 s，固定底座机械臂用安装的圆头笔刷压住主纸并扫绘，形成灰蓝、黄褐、棕色和深红笔迹；实际接触为刷毛与主画纸。绘画间隙依次到颜料井换色，无夹爪抓握或底盘移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 12.48
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 32.9539
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.348995
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.096975
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.811273
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better",
+   "value": 376.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better",
+   "value": 9993.63
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 9.9489
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.27976
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.008345
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.598882
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.376
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "t": 38.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 38.0–40.0 s 机械臂正在绘制右侧床面，画面已形成带明显平行白缝的黄褐色条纹；视频 44.0–52.0 s 棕色地板也出现同类间隙，视频 54.0–58.8 s 补画未消除这些缺陷。以视频 38.0 s 作为可定位的绘制偏差锚点；主画纸始终未达到临摹验收，评分器 image_success=0，笔数、路径及涂抹预算均通过。"
+  },
+  "unmet": {
+   "bedroom_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔迹间隙过大",
+    "t": 38.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 38.0–40.0 s 的床面及视频 50.0–58.8 s 的地板由相互分开的细长笔迹构成，最终在应有连续颜色的区域仍留下密集白色条缝；成功参考视频 59.9 s 的同类区域覆盖更连续。该缺陷在本次视频 58.8 s 的无遮挡画纸图中仍清晰可见。",
+    "note_zh": "候选现象“笔迹间隙过大”：描述绘画结果中可见的条状漏涂。词表没有材料覆盖质量的现象项；本次笔刷确实接触并着色，也没有失握、放置不稳或碰撞证据，现有接触与运动项不能准确表达。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "source_zh": "日志",
+    "evidence_zh": "推断：扫线间距与实际着色宽度、补蘸频率不匹配，造成连续色块被画成有白缝的条纹。log step 114 的 plan3 代码为大色块设置 spacing_mm=8.5；log step 181 的实际执行脚本仅在换色或 path_since_dip>1100.0 时补蘸，log step 191 执行该主绘方案。agent 在 log step 194、197 自述实际笔迹约4毫米而规划按9.1毫米，归因于补蘸间隔过长；视频 38.0–40.0 s 及视频 50.0–58.8 s 的条状漏涂支持宽度与间距失配。log step 200 虽声称每250毫米补蘸，其调用代码并未修改1100毫米阈值，实际替换条件和设置250毫米发生在绘画结束后的 log step 206–208；log step 203 与213 的服务 control_steps 均为15270，表明这些后写的修正没有再执行。干刷的精确耗料曲线仍未经独立测量。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，不能精确量出首次浸蘸的液面深度、逐笔宽度或图像阈值的逐帧数值；节点时间取自所查视频帧，未将 agent 工作时间或 control_steps 换算成视频时间。笔迹缩至约4毫米、湿刷维持约250毫米等具体数值来自 agent 自述（log step 194、197、214），未独立验证；只把代码中8.5毫米间距与1100毫米补蘸阈值、视频可见漏涂用于参数失配的归因，不把 log step 200 的250毫米口头描述当作已执行事实。"
+ },
+ "summary_zh": "机械臂在视频约 2.2 s 蘸上颜料，随后完成多色主绘和局部补画，最终完成1/2个节点，未达到“临摹卧室画”。视频 38.0 s 起可见床面、随后地板的平行白缝，直到视频 58.8 s 仍未修好；评分器确认五项图像阈值均未达标而笔数、路径和涂抹预算均合规，日志支持扫线间距、有效笔宽与补蘸参数失配。无逐帧状态日志，干刷耗料的精确数值仅有 agent 自述；绘画结束后写入脚本的250毫米补蘸修正没有在评分回放中执行。",
+ "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、评分器字段一致：brush_loaded 约 2.2 s 达成（视频 2.6 s 低角度图练习纸已有绿色笔迹），bedroom_copied 未达成（视频 58.5 s 画纸满是白缝，评分器五项图像阈值均未达标）；断点、现象和参数调试根因有代码与视频支持，agent 自述部分已标明。",
+    "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": "2026-10-30T22:59:14Z",
+  "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/robopaint-acrylic-bedroom-i00-standard--znx346t/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--znx346t/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9f4ec847ef01763b457a20018aca6015f01ee579ab012bf5fc4fd1cc1ae5113b",
+   "video_sha256": "6b42a49f406814fcfe885a0b252b5d5ace4123ddc0f60a294163a28679aac088",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--d46rhhs.json

@@ -0,0 +1,354 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-privileged--d46rhhs",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.81324,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.81324,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 3.7352,
+   "de_p90": 8.0823,
+   "de_bad_frac": 0.072742,
+   "de_mean_sheet": 3.7021,
+   "ssim_L": 0.85438,
+   "paint_iou": 0.958342,
+   "paint_area_mm2": 48162.5,
+   "target_paint_area_mm2": 49474.1,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 2.7545,
+   "ssim_L_fine": 0.785349,
+   "edge_corr": 0.762928,
+   "region_cov_min": 0.549337,
+   "region_cov_mean": 0.930337,
+   "n_regions": 71.0,
+   "n_strokes": 326.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.7352,
+   "de_p90_unregistered": 8.0823,
+   "ssim_L_unregistered": 0.85438,
+   "edge_corr_unregistered": 0.762928,
+   "paint_iou_unregistered": 0.958342,
+   "path_mm": 8219.3,
+   "longest_stroke_mm": 154.54,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.6096,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.81324,
+   "sim_steps": 14676.0,
+   "resets": 1.0,
+   "n_contacts": 326.0,
+   "samples": 73380.0,
+   "contact_samples": 32593.0,
+   "max_press_m": 0.012046,
+   "max_tilt_deg_in_contact": 0.221016,
+   "max_speed_in_contact_mps": 0.106702,
+   "handle_contact_samples": 0.0,
+   "n_dips": 20.0,
+   "dry_strokes": 0.0,
+   "n_frames": 589.0,
+   "replay_wall_s": 102.8,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 14676,
+   "video_rendered": 1,
+   "agent_sessions": 27,
+   "agent_resets": 33,
+   "agent_sim_steps": 123091,
+   "agent_records": 0,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-bluehorses-i00-privileged--d46rhhs/replay.mp4",
+  "duration_s": 58.9,
+  "fps": 10.0,
+  "frames": 589,
+  "sha256": "ac5f3c6ba760d771ebe2f3071ef473064c43cab2fb5ecd1b7457bc8363188f5e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.1–0.3 s 的场景视角中，机械臂末端画笔移至颜料井列并下探；视频 0.6 s 主画纸出现第一段浅蓝紫色笔迹。推断：画笔已在约视频 0.2 s 蘸上颜料，时间精度约 ±0.2 s，之后换色不撤销该事件。"
+     },
+     {
+      "t": 58.8,
+      "log_step": 158,
+      "text_zh": "观察：log step 158 对最终交付文件的新进程回放返回 loaded=true、n_dips=20、dry_strokes=0，终局指标与本次评分器字段一致；视频 58.8 s 主纸上已有多色笔迹，支持已加载颜料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：浸蘸；视频 0.1–0.3 s 机械臂末端安装画笔在颜料井处下探，随后主纸出现有色笔迹，后续还多次换色。作用端为笔毛，对象为井内颜料；词表没有浸蘸，非托/舀或压擦固体。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主画纸空白，视频 0.6 s 开始出现浅蓝紫色笔迹；视频 2–28 s 机械臂逐步增加蓝紫、深紫、绿色等色块，上部红粉黄色背景仍未齐全。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 40.0 s 已有蓝紫色马匹、深紫轮廓、右侧浅色长带及上部多色背景，但红绿色带内部和蓝紫色块接缝存在多处细小纸色缺口；视频 30–58 s 的逐秒俯视画面及视频 57.8–58.8 s 的逐帧���查显示，补画后仍有这些缺口。对照成功参考视频 59.9 s，相应色带与色块明显更连续。"
+     },
+     {
+      "t": 58.8,
+      "log_step": 158,
+      "text_zh": "观察：评分器终局 de_mean=3.7352>2.0、de_p90=8.0823>6.0、ssim_L=0.85438<0.92、edge_corr=0.762928<0.8；paint_iou=0.958342、n_strokes=326、path_mm=8219.3、scribble_share=0 均符合各自阈值，image_success=0、strict_ok=1。log step 145 保存的 14676 步轨迹在 log step 157 被恢复为最终交付，log step 158、160 的新进程回放复现相同指标及状态哈希。推断：结合视频始终未完整覆盖或仍有缺口的画面，该临摹节点未达到，终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频 0.6–58.8 s 机械臂末端安装的圆头画笔多次下压并扫过主画纸，留下和覆盖多色笔迹；侧视可见笔尖触纸，俯视可见随之出现的色块。作用端为笔毛，对象为主画纸。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 3.7352
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 8.0823
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.85438
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.762928
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.958342
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 326.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 8219.3
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.81324
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 2.7545
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.785349
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.549337
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.930337
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 40.0,
+   "log_step": 145,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 40.0 s 机械臂正在整幅图的补画阶段，主纸已有主要色块，但上方红绿背景及蓝紫马匹色块间仍有纸色裂隙和小孔，视频 57.8–58.8 s 仍未消除；评分器 image_success=0，四项图像指标未达阈值，而 strict_ok=1。推断：断点是整幅蓝马图临摹，视频 40.0 s 用作持续缺陷的可见锚点，不能定位到唯一一笔的首次偏离。"
+  },
+  "unmet": {
+   "bluehorses_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触覆盖缺口",
+    "t": 40.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 40.0 s 及视频 57.8–58.8 s 的无遮挡画布视角中，上方红绿颜料带内部散布纸色小孔，中央和右下蓝紫色块的边缘呈断续漏白；成功参考视频 59.9 s 对应色块更连续。此处描述的是本次画面上的局部漏涂，而非仅重复评分未通过。",
+    "note_zh": "候选：笔触覆盖缺口。现有接触和运动现象没有准确覆盖绘画色块的漏涂、接缝留白；画笔实际多次触纸，亦无明确抓持丢失或碰撞阻断，故用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 147,
+    "evidence_zh": "观察：log step 128 的执行器代码把预定笔宽换算为下压深度，以约 2 mm 间隔的路径点开环调用 IK 并执行，没有依据实际画布逐笔修正；log step 143 的几何栅格预估为 de_mean=2.356、ssim_L=0.9488，log step 145 实际执行后变为 3.7352、0.85438。log step 147 对这次交付候选的画布诊断返回计划与实现颜色标签一致率 0.9314，实际着色像素 980321、计划 1007036，log step 157–160 确认最终交付采用并复现此候选；视频 40.0 s 和 58.8 s 也可见残留漏白。推断：实际笔触覆盖与计划覆盖不一致，开环绘画控制未把局部色块衔接补足；现有证据支持控制层归因，不能再细分为逆解、跟踪或笔宽参数问题。",
+    "source_zh": "日志 / 视频",
+    "note_zh": "保留控制大类；几何栅格预估本身也未达到全部阈值，不把它当作已验证成功方案。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志及本次原始画布文件，压缩视频不能精确复算逐时图像指标，也不能确定是哪一笔首次造成持续偏差；蘸色时刻约有 ±0.2 s 的视觉不确定性。日志中的计划与实现比较支持覆盖控制不足，但不足以区分笔触模型、轨迹跟踪和压力动态各自的贡献。成功参考仅用于比较外观，不作为本次进度证据。"
+ },
+ "summary_zh": "观察：机械臂约在视频 0.2 s 完成首次蘸色，随后绘出蓝紫马匹、深紫轮廓及多色背景，最终完成 1/2 个节点；交付轨迹两次新进程回放一致。观察：视频 40.0–58.8 s 的画面仍有色块接缝漏白及纸色小孔，终局色差、明度结构和边缘指标未达标，笔数与过程规则通过；推断：实际笔触覆盖偏离计划，断于整幅临摹的控制。缺少逐帧状态和原始画布，无法确定首次偏差及控制子因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点和现象与视频及评分器数值一致：brush_loaded 约视频 0.2 s 达成，bluehorses_copied 未达成（图像指标未过阈值，视频 58.8 s 仍有纸色缺口）；控制根因停在大类，有 log 的计划与实现对比支持。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": "2026-10-30T22:39:59Z",
+  "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/robopaint-acrylic-bluehorses-i00-privileged--d46rhhs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-privileged--d46rhhs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "421bf6ed19d50769efd7445703e01991c271e9ffe45247db8ffcfd4afc6619d9",
+   "video_sha256": "ac5f3c6ba760d771ebe2f3071ef473064c43cab2fb5ecd1b7457bc8363188f5e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--d55khwa.json

@@ -0,0 +1,360 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-privileged--d55khwa",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.858085,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.858085,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 2.8383,
+   "de_p90": 7.4787,
+   "de_bad_frac": 0.058657,
+   "de_mean_sheet": 2.8191,
+   "ssim_L": 0.89066,
+   "paint_iou": 0.970533,
+   "paint_area_mm2": 50233.8,
+   "target_paint_area_mm2": 49432.5,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 1.4225,
+   "ssim_L_fine": 0.822592,
+   "edge_corr": 0.798965,
+   "region_cov_min": 0.307692,
+   "region_cov_mean": 0.949693,
+   "n_regions": 71.0,
+   "n_strokes": 389.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 2.8728,
+   "de_p90_unregistered": 7.6002,
+   "ssim_L_unregistered": 0.888393,
+   "edge_corr_unregistered": 0.791377,
+   "paint_iou_unregistered": 0.970289,
+   "path_mm": 11350.62,
+   "longest_stroke_mm": 154.21,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2321,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.858085,
+   "sim_steps": 25029.0,
+   "resets": 1.0,
+   "n_contacts": 389.0,
+   "samples": 125145.0,
+   "contact_samples": 40906.0,
+   "max_press_m": 0.013148,
+   "max_tilt_deg_in_contact": 0.190501,
+   "max_speed_in_contact_mps": 0.044501,
+   "handle_contact_samples": 0.0,
+   "n_dips": 389.0,
+   "dry_strokes": 0.0,
+   "n_frames": 597.0,
+   "replay_wall_s": 232.9,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 25029,
+   "video_rendered": 1,
+   "agent_sessions": 29,
+   "agent_resets": 27,
+   "agent_sim_steps": 476960,
+   "agent_records": 15,
+   "agent_replays": 8,
+   "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/robopaint-acrylic-bluehorses-i00-privileged--d55khwa/replay.mp4",
+  "duration_s": 59.7,
+  "fps": 10.0,
+  "frames": 597,
+  "sha256": "e4a42edc624a5a3ae1a56a3256a0c6658a2b3759675a2ee39a8e2dde66f4bb29"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.1 s 主画纸为空白，视频 0.2 s 机械臂安装的画笔在主纸上留下第一段深紫色痕迹；随后持续换色作画。"
+     },
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "推断：结合任务文本规定干刷初态、视频 0.2 s 的有色笔触及本次评分器 n_dips=389、n_dry_strokes=0，可确定笔刷此前已经蘸色。首次浸入的细节被手腕遮挡，取首次着色的视频 0.2 s 作达成锚点，约有 0.2 s 的时刻不确定性；后续换色不撤销此事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端固定画笔的笔毛浸蘸颜料井中的颜料；依据干刷初态、视频 0.2 s 起的有色笔触、视频中反复往返颜料盘及评分器 n_dips=389。候选：浸蘸；现有接触方式没有笔毛浸入液态颜料这一项。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：按视频 0–59 s 每秒检查画布，机械臂从零散深紫色弧线开始，逐步增加蓝紫马身、深色轮廓及上方绿红粉黄色背景；视频 12.0 s 仍有大片未补齐区域，此后继续覆盖和补画。"
+     },
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 54.0 s 及视频 58.7–59.6 s 的右下角实时画布显示主体与各背景色带已经形成；与成功参考视频 59.9 s 的画布相比，本次马身内部的���紫色细弧成为较宽的块状笔触，右侧浅色长带的边缘形状也有差异，末段补笔未消除这些差异。参考录像仅用于比较达标外观。"
+     },
+     {
+      "t": 59.6,
+      "log_step": 75,
+      "text_zh": "观察：本次 reward 的 de_mean=2.8383>2.0、de_p90=7.4787>6.0、ssim_L=0.89066<0.92、edge_corr=0.798965<0.8；paint_iou=0.970533、389 笔、path_mm=11350.62、scribble_share=0 均合格。log step 73 选定 v6b 为交付轨迹，log step 74–76 两个新进程回放得到相同评分及状态哈希，与本次 reward 一致，故这些终局数值对应交付回放。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "推断：前段画面尚未成形，后段持续保留上述局部形状偏差，未观察到先完成再失去的阶段；结合终局四项图像指标不合格，将整幅临摹记为未达成。录像不能精确复算逐帧指标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.2 s 起机械臂末端固定画笔以笔毛压触主画纸并扫过，画布同步出现有色笔触；视频 54.0 s 及末段仍在补画。评分器记录 389 次主纸有色连续接触、零干刷笔触，支持实际着纸绘画的接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 2.8383
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 7.4787
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.89066
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.798965
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.970533
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 389.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 11350.62
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.858085
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.4225
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.822592
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.307692
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.949693
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 54.0,
+   "log_step": 75,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54.0 s 机械臂仍在临摹，马身浅紫色细部及右侧浅色长带的形状差异在视频 58.7–59.6 s 仍可见；本次评分器和 log step 75 的交付回放均报告四项图像指标未过线。推断：失败步骤是整幅蓝马图临摹；视频 54.0 s 是末段缺陷的导航锚点，无法据此指定某一笔首次出错。"
+  },
+  "unmet": {
+   "bluehorses_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触形状偏差",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0 s、58.7–59.6 s 的实时画布中，马身内浅紫色笔触呈较宽的块状；成功参考视频 59.9 s 同一区域仍能分辨较细的弧形浅色线。右侧浅色长带边界也与参考形状不同，整体构图相近但这些局部细节没有复现。",
+    "note_zh": "候选：笔触形状偏差；现有现象词项没有直接涵盖绘画结果中色带宽度、弧线和边界形状的局部偏差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 78,
+    "evidence_zh": "推断：agent 在 log step 78 将最终方法描述为在有限笔宽的直线与小曲率扫笔候选中贪心选笔，并自述剩余误差主要在笔触边缘、未尝试预测精确边缘；log step 11 的生成代码确实使用中心线及近似笔宽掩模评估候选。结合视频 54.0–59.6 s 的局部形状偏差，以及 log step 75–76 对交付轨迹重复回放仍得到同一不合格结果，支持精细绘画控制不足的归因；不把 agent 自述的误差占比当作本次评分器测量。",
+    "source_zh": "agent 自述",
+    "note_zh": "仅归到控制；现有证据不能��一步区分笔触接触模型、路径生成与实际跟踪各自的贡献。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志和逐帧图像评分，压缩录像无法复算阈值或排除极短暂的数值过线，也不能定位某一笔首次造成最终差异。首次蘸色被机械臂遮挡，由干刷初态、首次有色笔触及评分器蘸色计数推断；视频 0.2 s 是首次可确认的达成锚点。根因的边缘建模解释部分来自 agent 在 log step 78 的自述，尚无交付轨迹逐笔目标与实际笔尖路径、印迹的完整对照，故不细分控制子类。"
+ },
+ "summary_zh": "观察：交付回放已蘸色并完成蓝马主体及背景的大部分绘画，两个节点中最终仅“笔刷蘸上颜料”达成；389 笔及路径、涂填比例合格，但四项图像指标未达阈值。推断：断点在“蓝马图临摹完成”的操作中，末段仍有局部笔触形状偏差，日志支持精细绘画控制不足；没有逐帧评分与完整笔触对照，无法定位首次错误笔触或更细的控制原因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两个节点（笔刷蘸色达成、整幅临摹未达成）、末帧画布与成功参考的局部差异、断点（bluehorses_copied，操作中）和现象均与视频、评分器数值（四项图像指标未过线）一致；log 步号按 id 计且存在。根因“控制”仅有推断级支持并已如实标注，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": "2026-10-30T22:38:42Z",
+  "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/robopaint-acrylic-bluehorses-i00-privileged--d55khwa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-privileged--d55khwa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "58b8b0333a835c8d5895afce619a408c1feebf2543e5acf4417b4634e0d2b81b",
+   "video_sha256": "e4a42edc624a5a3ae1a56a3256a0c6658a2b3759675a2ee39a8e2dde66f4bb29",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--fwg4yse.json

@@ -0,0 +1,346 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-privileged--fwg4yse",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.53509,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 9.2982,
+   "de_p90": 27.5293,
+   "de_bad_frac": 0.310096,
+   "de_mean_sheet": 9.2693,
+   "ssim_L": 0.602268,
+   "paint_iou": 0.942942,
+   "paint_area_mm2": 49452.5,
+   "target_paint_area_mm2": 49236.3,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 7.2318,
+   "ssim_L_fine": 0.532816,
+   "edge_corr": 0.250904,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.699521,
+   "n_regions": 71.0,
+   "n_strokes": 362.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 1.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.4437,
+   "register_dy_mm": -1.1093,
+   "register_shift_mm": 1.1948,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 9.4658,
+   "de_p90_unregistered": 28.179,
+   "ssim_L_unregistered": 0.593982,
+   "edge_corr_unregistered": 0.195314,
+   "paint_iou_unregistered": 0.940464,
+   "success": 0,
+   "final_reward": 0.53509,
+   "path_mm": 26829.85,
+   "longest_stroke_mm": 351.22,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.5105,
+   "scribble_share": 0.006019,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.53509,
+   "sim_steps": 34341.0,
+   "resets": 1.0,
+   "n_contacts": 363.0,
+   "samples": 171705.0,
+   "contact_samples": 86725.0,
+   "max_press_m": 0.012809,
+   "max_tilt_deg_in_contact": 0.062697,
+   "max_speed_in_contact_mps": 0.046498,
+   "handle_contact_samples": 0.0,
+   "n_dips": 202.0,
+   "dry_strokes": 1.0,
+   "n_frames": 594.0,
+   "replay_wall_s": 232.3,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 34341,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 10,
+   "agent_resets": 10,
+   "agent_sim_steps": 177286,
+   "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/robopaint-acrylic-bluehorses-i00-privileged--fwg4yse/replay.mp4",
+  "duration_s": 59.4,
+  "fps": 10.0,
+  "frames": 594,
+  "sha256": "feb81c434ad87e6f7fab718aa94aac4079edf157631b395c0d25430aca271179"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸为空白；视频 0.2 s 机械臂末端移到总览画面右侧的颜料井处，视频 0.3 s 主纸俯视图出现第一段浅紫灰色笔痕，视频 0.4–1.0 s 该笔痕继续延长。"
+     },
+     {
+      "t": 0.3,
+      "log_step": 76,
+      "text_zh": "推断：任务记录说明画笔初始干燥，结合视频 0.2 s 的颜料盘处运动和视频 0.3 s 已出现有色痕迹，首次加载约在视频 0.2 s，误差约 0.1 s。log step 76 对最终交付文件的回放结果为 loaded=true、n_dips=202；它佐证确有蘸色，不用于将日志时钟换算成视频时钟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：浸蘸。机械臂末端固定画笔的笔尖进入颜料井加载颜料；视频 0.2 s 的颜料盘处运动及随后有色笔痕支持首次浸蘸，后续换色时重复。笔毛浸入颜料不属于抓握、托舀或固体表面压擦，故用其他。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主画纸空白；按视频每 2 s 检查至视频 58.0 s，机器人先画浅色、黄色及蓝紫色区域，再画上部粉红红绿色带，最后添加深紫色轮廓，期间整图持续不完整。"
+     },
+     {
+      "t": 45.2,
+      "log_step": null,
+      "text_zh": "观察：视频 43.8–47.2 s 的主纸俯视图中，机器人逐笔把中央深紫色区域画成粗直斜带；成功参考视频 59.9 s 的相应轮廓有明显弯曲，右侧蓝紫色带也呈弧形层次。本次直线填扫形成的边界与之不同。"
+     },
+     {
+      "t": 59.3,
+      "log_step": 76,
+      "text_zh": "观察：逐帧检查视频 58.3–59.3 s，中央粗斜带、右侧直条状蓝紫色区域及中央断续浅色缺口保留至末帧。inputs/run.json 的终局评分与 log step 76 最终交付文件的回放一致：de_mean=9.2982>2、de_p90=27.5293>6、ssim_L=0.602268<0.92、edge_corr=0.250904<0.8、paint_iou=0.942942<0.95，image_success=0；n_strokes=362、strict_ok=1。"
+     },
+     {
+      "t": 59.3,
+      "log_step": 76,
+      "text_zh": "推断：早期画面仍缺大块色区，后期可见的轮廓偏差到视频 59.3 s 未修复，且交付文件的终局图像指标不合格，因此整幅临摹节点无达成区间、终态为假；不是仅由 success=0 推断未作画。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂末端固定圆头画笔保持近竖直，以笔毛压触主画纸并沿纸面拖扫，形成浅色、蓝紫、红绿和深紫笔痕；视频 0.3–1.0 s 可见首条笔痕增长，视频 44.2–46.2 s 可见中央深紫斜带随触纸扫动增长。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 9.2982
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 27.5293
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.602268
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.250904
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.942942
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 362.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 26829.85
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.006019
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.53509
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 7.2318
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.532816
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.699521
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 45.2,
+   "log_step": 73,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 44.2–46.2 s 机器人正在主纸上添加中央深紫色粗斜带；视频 58.3–59.3 s 该带仍近乎笔直，右侧蓝紫区域也保留直条边界及缺口，与成功参考视频 59.9 s 的弧形轮廓不同。log step 74 保存的 34341 行动作与 log step 76 回放及评分器终局指标一致，图像验收失败而过程规则通过。推断：断点为整幅蓝马图临摹；视频 45.2 s 仅作轮廓偏差形成期间的导航锚点，此失败是逐步累积的图像偏差。"
+  },
+  "unmet": {
+   "bluehorses_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "色带轮廓失真",
+    "t": 45.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 45.2–47.2 s，主纸中央深紫色带沿近直线斜贯蓝紫区域；视频 58.3–59.3 s 中央粗斜带和右侧平行直条状蓝紫笔触仍在，中央留有断续浅色缺口。成功参考视频 59.9 s 相应区域呈弯曲的深紫轮廓及蓝紫弧带，本次成画将这些弧形简化成较粗的直段。",
+    "note_zh": "候选：色带轮廓失真。这里直接可见的是画纸上色带曲率、边界和断续形状的差异；现有接触、碰撞或末端位姿类词项不能准确表达这一成画缺陷，不用数值指标未达标代替现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": null,
+    "log_step": 73,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 在 log step 55 明确改用逐连通色区的直线填扫；最终交付生成脚本（log step 73）将目标按十种颜料及纸色作最近颜色分类、合并微小色块，并声明沿每个色区的主轴生成直线往返扫笔。该脚本在 log step 74 生成并保存的结果经 log step 76 回放得到同样失败指标；视频 44.2–47.2 s 及视频 59.3 s 显示中央及右侧形体被直段替代。策略以填充颜色区域近似目标笔触形状，未保留达标所需的弯曲轮廓和细部，这是规划的绘画路径与目标形状不符；没有独立证据归因于逆解或跟踪失稳。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或原��逐帧画布，无法精确复算每一帧的图像指标，也无法将轮廓误差量化分解为规划、压力和跟踪误差。首次蘸色由视频 0.2 s 的颜料盘处运动与视频 0.3 s 的有色笔痕夹定，约有 0.1 s 的时间不确定性；数值验收采用最终交付文件的评分器字段。"
+ },
+ "summary_zh": "机器人约在视频 0.2 s 蘸上颜料，随后持续在主纸绘画，最终完成 1/2 个节点，整幅蓝马图临摹未达成。视频 44.2–47.2 s 形成并保留至视频 59.3 s 的粗直深紫斜带及直条状蓝紫区域偏离参考弧形轮廓；交付脚本的按色区主轴填扫策略支持推理/规划根因，终局五项图像指标均未达标，笔数及过程规则通过。无逐帧状态日志或原始逐帧画布，无法精确定位数值偏差的首次出现及各类控制误差贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、评分器字段一致：蘸色节点约视频 0.2 s 达成，整幅临摹未达成，断点、现象（色带轮廓失真，画面可见）和根因（规划）有证据支持。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": "2026-10-30T22:38:07Z",
+  "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/robopaint-acrylic-bluehorses-i00-privileged--fwg4yse/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-privileged--fwg4yse/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "da1993be2698057287842b63e7a4beafdfe97fad9bcaf45d6317be43c97e73ac",
+   "video_sha256": "feb81c434ad87e6f7fab718aa94aac4079edf157631b395c0d25430aca271179",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--ivlymju.json

@@ -0,0 +1,353 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-privileged--ivlymju",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.841915,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.841915,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 3.1617,
+   "de_p90": 8.0296,
+   "de_bad_frac": 0.068291,
+   "de_mean_sheet": 3.1405,
+   "ssim_L": 0.878441,
+   "paint_iou": 0.964981,
+   "paint_area_mm2": 49886.2,
+   "target_paint_area_mm2": 49431.9,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 1.67,
+   "ssim_L_fine": 0.814116,
+   "edge_corr": 0.731027,
+   "region_cov_min": 0.010014,
+   "region_cov_mean": 0.939498,
+   "n_regions": 71.0,
+   "n_strokes": 390.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.2219,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.2131,
+   "de_p90_unregistered": 8.0964,
+   "ssim_L_unregistered": 0.876718,
+   "edge_corr_unregistered": 0.72363,
+   "paint_iou_unregistered": 0.964316,
+   "path_mm": 13119.96,
+   "longest_stroke_mm": 213.03,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.2113,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.841915,
+   "sim_steps": 31768.0,
+   "resets": 1.0,
+   "n_contacts": 390.0,
+   "samples": 158840.0,
+   "contact_samples": 57084.0,
+   "max_press_m": 0.013071,
+   "max_tilt_deg_in_contact": 0.154686,
+   "max_speed_in_contact_mps": 0.055473,
+   "handle_contact_samples": 0.0,
+   "n_dips": 28.0,
+   "dry_strokes": 0.0,
+   "n_frames": 601.0,
+   "replay_wall_s": 228.0,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 31768,
+   "video_rendered": 1,
+   "agent_sessions": 0,
+   "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/robopaint-acrylic-bluehorses-i00-privileged--ivlymju/replay.mp4",
+  "duration_s": 60.1,
+  "fps": 10.0,
+  "frames": 601,
+  "sha256": "d8f076bfb23890af916b8acc2cef663ddcb3e9e4c2d50305591a75571f791ec1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–0.3 s机械臂从颜料井一侧移向主纸，视频0.4 s起右下俯视画布出现浅紫色笔痕，随后视频1.1 s右侧形成长笔痕；笔尖在侧视中下压触纸。"
+     },
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "推断：本任务画笔初始为干刷，有色痕迹说明画笔至迟在视频0.4 s已加载颜料；首次浸蘸被腕部部分遮挡，故以首个清楚有色笔痕作为约0.4 s的保守到达时刻。评分器终局字段n_dips=28、n_dry_strokes=0亦支持实际蘸色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装画笔的笔毛浸入颜料井并加载颜料；视频0.4 s起的有色笔迹及评分器n_dips=28支持此接触。候选：浸蘸；现有抓握、托/舀、压/擦均不能准确表示笔毛浸入液态颜料。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–30.0 s机械臂依次画出浅色、黄色、蓝紫、红绿及深紫色带；视频32.0 s整幅主要色区已形成，随后视频34.0–58.0 s继续补画。视频59.0–60.0 s末秒逐帧检查仍可见中央深紫弯曲轮廓较厚，内部浅蓝细带和右侧浅色长带的边缘形状与成功参考视频59.9 s不同。"
+     },
+     {
+      "t": 60.0,
+      "log_step": 181,
+      "text_zh": "观察：评分器终局de_mean=3.1617>2、de_p90=8.0296>6、ssim_L=0.878441<0.92、edge_corr=0.731027<0.8，image_success=0；paint_iou=0.964981、n_strokes=390、path_mm=13119.96、scribble_share=0满足对应阈值。log step 181读取交付文件的31768行动及元数据，与评分器上述数值一致；log step 174–175表明最终恢复并交付的是1.10倍残差笔宽版本，而非后续测试版本。"
+     },
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "推断：视频前段仍缺大块颜色，后段虽已画出马匹和背景，但局部色带边界偏差经补画仍存在，结合终局四项图像指标不合格，未找到临摹完成的区间；不以总体相似外观替代严格验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频0.4–60.0 s机械臂使末端固定画笔的笔尖下压主画纸并沿纸面划动，间歇抬起换位；侧视可见触纸，俯视可见相应有色笔痕及后续覆盖。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 3.1617
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 8.0296
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.878441
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.731027
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.964981
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 390.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 13119.96
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.841915
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.67
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.814116
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.010014
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.939498
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 54.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频54.0 s机械臂仍在主纸上补画，蓝紫马形和背景已形成，但中央深紫轮廓及邻接细色带形状与成功参考视频59.9 s有差异；本次视频59.0–60.0 s这些局部差异仍在。评分器终局四项图像指标未达阈值，过程指标合格。推断：未修复的失败步骤是整幅蓝马图临摹；视频54.0 s仅作为后段残留缺陷的导航锚点。"
+  },
+  "unmet": {
+   "bluehorses_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "其他",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：本次视频54.0 s及59.0–60.0 s的右下画布视图中，中央深紫弯曲轮廓比成功参考视频59.9 s更厚，内侧浅蓝细带的宽度和深色短条端部形状不同，右侧浅色长带边缘也有局部差异。",
+    "note_zh": "候选：局部色带形状偏差。描述的是绘画成品中已留下的色区宽度及边缘差异，现有接触失败或刚体位姿类词项不能准确概括；不以图像分数未达标本身作为现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 181读取最终生成器，方法为平滑目标色区中心线，底色笔宽乘1.25；log step 151、155–156记录调整残差笔宽至1.10倍后的生成与评分，仍有de_mean=3.1617和edge_corr=0.731027；log step 174–175将这一版本恢复为最终交付。推断：该绘画脚本生成的笔触路径与接触宽度组合未能精确复现细色带和边缘，造成视频54.0–60.0 s仍见的形状偏差；只归到控制层，不据此断言逆解失败或反馈失稳。",
+    "note_zh": "绘画笔触的几何与宽度实现不足；没有证据证明某一个倍率本身错误，故不细分为参数调试。"
+   }
+  ],
+  "gap_zh": "未提供逐帧状态日志或逐笔评分，首次蘸色的井内接触被腕部部分遮挡，其到达时间由视频0.4 s首个有色笔痕保守定位。压缩视频可比较局部色带形状，但不能精确复算图像阈值或确定首次不可修复的偏差时刻；视频54.0 s仅为后段导航锚点。最终生成器完整代码及逐点目标/实际笔尖误差未在日志中完整呈现，无法进一步区分笔触几何近似、刷宽模型与实际轨迹跟踪的贡献。"
+ },
+ "summary_zh": "观察：机械臂至迟在视频0.4 s已加载颜料，随后持续绘画并补画，最终完成1/2个节点；蓝马图的主体色区已形成，但局部色带宽度和边缘形状仍有偏差，评分器四项图像指标未达阈值，笔数、路径及涂填比例合格。推断：断点为蓝马图临摹完成，最终脚本的笔触路径和接触宽度组合未能精确复现目标；无逐帧状态及完整笔尖误差记录，根因只概括标为控制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点（brush_loaded 约视频0.5 s已有笔痕，bluehorses_copied 未达成）、断点、其他现象和控制根因均有评分器终局数值与视频帧支持；log step 151/155-156/174-175/181 与引用一致，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": "2026-10-30T22:45:47Z",
+  "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/robopaint-acrylic-bluehorses-i00-privileged--ivlymju/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-privileged--ivlymju/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7b475a074f56fd817a1720af05808ba67c2af362ac6e0b71b38998fba9473cf8",
+   "video_sha256": "d8f076bfb23890af916b8acc2cef663ddcb3e9e4c2d50305591a75571f791ec1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--srtgome.json

@@ -0,0 +1,345 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-privileged--srtgome",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.885415,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.885415,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 2.2917,
+   "de_p90": 5.5854,
+   "de_bad_frac": 0.037706,
+   "de_mean_sheet": 2.2718,
+   "ssim_L": 0.919936,
+   "paint_iou": 0.977615,
+   "paint_area_mm2": 49120.7,
+   "target_paint_area_mm2": 49474.1,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 1.1485,
+   "ssim_L_fine": 0.873781,
+   "edge_corr": 0.852133,
+   "region_cov_min": 0.406494,
+   "region_cov_mean": 0.966086,
+   "n_regions": 71.0,
+   "n_strokes": 387.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 2.2917,
+   "de_p90_unregistered": 5.5854,
+   "ssim_L_unregistered": 0.919936,
+   "edge_corr_unregistered": 0.852133,
+   "paint_iou_unregistered": 0.977615,
+   "path_mm": 15250.01,
+   "longest_stroke_mm": 422.48,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.2516,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.885415,
+   "sim_steps": 21222.0,
+   "resets": 1.0,
+   "n_contacts": 387.0,
+   "samples": 106110.0,
+   "contact_samples": 52546.0,
+   "max_press_m": 0.013161,
+   "max_tilt_deg_in_contact": 0.177415,
+   "max_speed_in_contact_mps": 0.058724,
+   "handle_contact_samples": 0.0,
+   "n_dips": 20.0,
+   "dry_strokes": 0.0,
+   "n_frames": 591.0,
+   "replay_wall_s": 151.2,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 21222,
+   "video_rendered": 1,
+   "agent_sessions": 10,
+   "agent_resets": 2,
+   "agent_sim_steps": 49044,
+   "agent_records": 0,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-bluehorses-i00-privileged--srtgome/replay.mp4",
+  "duration_s": 59.1,
+  "fps": 10.0,
+  "frames": 591,
+  "sha256": "824e4b3b5775406073746af654b4f2bc8c97c96d546f7a42fa428ee07d27e81c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–0.2 s主纸为空白，机械臂末端和腕部遮住部分局部视野；视频0.3 s主纸上方首次可见黄色笔痕，视频0.4–1.7 s黄色笔痕继续扩展。"
+     },
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "推断：从干刷初态到视频0.3 s已留下有色笔痕，画笔最迟在视频0.3 s前已蘸上颜料，以该可见时刻作为达成锚点；实际首次浸蘸在视频0.0–0.3 s间，受遮挡不能精确定位。评分器记录n_dips=20、n_dry_strokes=0，支持确有加载颜料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端固定安装画笔的笔毛浸入颜料井，随后在主纸留下黄色及其他颜色笔痕；初次井内接触被腕部遮挡，由视频0.3 s的有色笔痕、干刷初态及评分器n_dips=20共同判断。候选：浸蘸；现有方式没有笔毛浸入颜料的准确词项，不属于夹握、托舀或对固体表面的压擦。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：完整录像按约2 s间隔检查，机械臂先绘制主纸上部黄、红、绿色区，再绘蓝紫马形与深色轮廓，之后补绘细节；视频14.0 s图像尚缺大块蓝紫区域，后期仍持续触纸补绘。"
+     },
+     {
+      "t": 50.5,
+      "log_step": null,
+      "text_zh": "观察：视频50.0–57.0 s每0.5 s检查及视频57.5–59.0 s逐帧检查，主纸已有蓝紫马形、深色弧线和右侧浅色长带，但中央蓝紫弧带及下方颜色交界仍有零碎白缝和不齐的边缘。与成功参考录像视频59.9 s比较，本次视频59.0 s中央蓝紫弧带内白色碎口更多；参考录像仅用于辨认结果外观。"
+     },
+     {
+      "t": 59.0,
+      "log_step": null,
+      "text_zh": "观察：本次评分器终局image_success=0，de_mean=2.2917高于2.0，ssim_L=0.919936低于0.92；de_p90=5.5854、edge_corr=0.852133、paint_iou=0.977615、n_strokes=387及strict_ok=1。推断：完成了大部分画面，但整幅严格验收未通过；结合此前仍在逐层补全的画面，未建立过满足完整临摹条件的可见区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂末端固定画笔的笔毛压触主纸并沿笔画移动，黄色笔痕从视频0.3 s开始出现，后续形成红绿背景、蓝紫马形和深色轮廓，至视频58.9–59.0 s仍在主纸上工作；评分器记录387次主纸有色接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 2.2917
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 5.5854
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.919936
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.852133
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.977615
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 387.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 15250.01
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.885415
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.1485
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.873781
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.406494
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.966086
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 50.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频50.5 s机械臂仍在主纸补绘，中央蓝紫色带及下方交界留有零碎白缝和边缘缺口，视频59.0 s仍可见部分细碎缺口。评分器终局de_mean=2.2917、ssim_L=0.919936，整幅临摹未达验收。推断：失败发生在持续绘画的精细覆盖与边界复现阶段；视频50.5 s仅为后期偏差可见的导航锚点，不能定位某一笔为首次致败笔画。"
+  },
+  "unmet": {
+   "bluehorses_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "色带内碎白缝与边缘缺口",
+    "t": 50.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频50.5 s及视频57.5–59.0 s，主纸中央蓝紫弧带内部可见细碎白缝，蓝紫与深紫色区交界有小块不连续的白色缺口；对照成功参考录像视频59.9 s，本次中央弧带内的白色碎口更多。",
+    "note_zh": "候选：色带内碎白缝与边缘缺口。现有现象未包含绘画材料覆盖和笔触边缘缺损；画笔确已触纸，不能据结果缺口断言接触从未建立、滑脱或某个末端位姿错误，因此使用其他。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/有本次及成功参考录像、run.json和评分器终局指标，无逐帧状态日志或原始主纸图像。log step 19–21的会话测试显示合成笔触与机器人笔触IoU约0.907且存在亚毫米横向偏差；log step 109的局部绘画模拟测试报告成功，但该测试不等同于本次交付回放。log step 122、130、134–137记录生成脚本及跟踪、边界裁剪和停顿的修改，末次发言仅称等待评估，没有给出该次完整回放的逐笔误差。推断：这些证据不足以把最终缺口唯一归因为笔画分解、笔宽模型、轨迹跟踪或特定参数，故根因层留空。首次蘸色时刻只确定在视频0.0–0.3 s间；压缩录像不能复算数值阈值或精确定位每一笔造成的误差，整幅终局判定采用本次评分器字段。"
+ },
+ "summary_zh": "观察：机械臂最迟在视频0.3 s前已加载颜料，随后在主纸绘出上部彩色背景、蓝紫马形、深紫轮廓和右侧浅色长带，最终完成1/2个节点。观察：视频50.5–59.0 s仍见色带内碎白缝和边缘缺口，评分器平均色差2.2917及明度SSIM 0.919936未达标，而387笔及过程规则均合格，断点为蓝马图临摹完成的操作中。推断：缺少逐笔目标与实际笔尖记录，不能进一步区分笔触覆盖设计和执行误差，根因留空。",
+ "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brush_loaded（0.3 s已有黄色笔痕）与bluehorses_copied未达成的判断同帧和评分器字段一致；断点、其他现象与空根因层（含gap_zh）有证据支撑，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": "2026-10-30T22:42:51Z",
+  "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/robopaint-acrylic-bluehorses-i00-privileged--srtgome/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-privileged--srtgome/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f9127ffe2c6b0432b800ca3d9e86c1d1bfbd5332598b8bb4554989e753ddee01",
+   "video_sha256": "824e4b3b5775406073746af654b4f2bc8c97c96d546f7a42fa428ee07d27e81c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--wnvtjtj.json

@@ -0,0 +1,352 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-privileged--wnvtjtj",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.80491,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.80491,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 3.9018,
+   "de_p90": 11.1079,
+   "de_bad_frac": 0.113215,
+   "de_mean_sheet": 3.8722,
+   "ssim_L": 0.844331,
+   "paint_iou": 0.979232,
+   "paint_area_mm2": 50258.4,
+   "target_paint_area_mm2": 49474.1,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 2.7642,
+   "ssim_L_fine": 0.788779,
+   "edge_corr": 0.721354,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.894231,
+   "n_regions": 71.0,
+   "n_strokes": 325.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.9018,
+   "de_p90_unregistered": 11.1079,
+   "ssim_L_unregistered": 0.844331,
+   "edge_corr_unregistered": 0.721354,
+   "paint_iou_unregistered": 0.979232,
+   "path_mm": 14310.01,
+   "longest_stroke_mm": 196.16,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.1262,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.80491,
+   "sim_steps": 18148.0,
+   "resets": 1.0,
+   "n_contacts": 325.0,
+   "samples": 90740.0,
+   "contact_samples": 70072.0,
+   "max_press_m": 0.012997,
+   "max_tilt_deg_in_contact": 0.423171,
+   "max_speed_in_contact_mps": 0.105943,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 587.0,
+   "replay_wall_s": 136.5,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 18148,
+   "video_rendered": 1,
+   "agent_sessions": 7,
+   "agent_resets": 7,
+   "agent_sim_steps": 125446,
+   "agent_records": 5,
+   "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/robopaint-acrylic-bluehorses-i00-privileged--wnvtjtj/replay.mp4",
+  "duration_s": 58.7,
+  "fps": 10.0,
+  "frames": 587,
+  "sha256": "10312862b855b5993386e5d444b905479740e7e121eea43e384531868cc1bd56"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.1 s 主纸尚为空白，机械臂末端位于颜料井一侧；视频 0.2 s 主纸右上缘首次出现浅紫有色笔迹，视频 0.3–1.0 s 左上缘又出现同色笔迹。"
+     },
+     {
+      "t": 0.2,
+      "log_step": 59,
+      "text_zh": "推断：结合任务规定的干刷初态及视频 0.2 s 的有色落笔，画笔此前已蘸上颜料，首次达成以视频约 0.2 s 为锚点，误差约 0.2 s；井内瞬间被机械臂遮挡。log step 59 复验最终交付文件的指标与本次 reward 一致，本次评分器还记录 n_dips=10、n_dry_strokes=0，佐证蘸色确实发生。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装的圆头画笔以笔毛浸蘸颜料井；视频 0.2 s 起出现有色笔迹，评分器记录10次蘸色。候选：浸蘸；现有方式没有笔毛浸入颜料这一项，既非夹握，也非从下方托舀或压擦固体。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.2–38.5 s 机械臂逐步铺出浅紫、蓝紫及深紫马形色块；视频 38.5 s 上方背景仍大片空白。随后机械臂继续添加绿、浅色、红、黄、粉和近黑笔触，并非未开始临摹。"
+     },
+     {
+      "t": 58.6,
+      "log_step": 59,
+      "text_zh": "观察：视频 55.0–58.6 s（含最后一秒的密集抽帧检查）整纸已有马形和背景，但右侧马体内的浅紫弯曲色带较窄、部分细节成为连片深蓝；左下部小深色线条也不完整。成功参考视频 59.9 s 同一俯视视角可见更清楚的浅紫内弯带和小线条，仅用于形状对照。本次评分器与 log step 59 最终交付文件复验均报告 de_mean=3.9018>2、de_p90=11.1079>6、ssim_L=0.844331<0.92、edge_corr=0.721354<0.8，image_success=0；覆盖率 paint_iou=0.979232、325笔及过程指标达标。"
+     },
+     {
+      "t": 58.6,
+      "log_step": 58,
+      "text_zh": "推断：早期画面缺少完整马形或背景，末段虽已覆盖整纸，局部色带仍有偏差且严格图像指标未通过，因此没有观察到整幅临摹节点成立的区间。log step 58 重建并保存的是间距10的最终轨迹，log step 59 独立回放复验；会话中其他重置试验不作为本视频的节点进展。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.2 s 起，机械臂以固定安装画笔的笔尖压触主画纸并扫过，留下逐步扩展的有色笔触；视频 34.0–38.5 s 及 55.0–58.6 s 可见继续落笔、扫画和抬笔。接触链按笔毛对纸面记录一次。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 3.9018
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 11.1079
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.844331
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.721354
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.979232
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 325.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 14310.01
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.80491
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 2.7642
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.788779
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.894231
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 38.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 38.0–38.5 s 蓝紫色主体已经铺开，右侧马体内的浅紫弯曲细带较成功参考视频 59.9 s 的形状窄弱；此后机械臂继续绘制背景和其他细节，到视频 58.6 s 该局部形状偏差仍在。推断：这是整幅临摹过程中未修复的色带复现偏差，以视频 38.5 s 为导航锚点，不能由压缩视频确定首个错误笔触的精确时刻；最终 image_success=0，失败节点为整幅临摹。"
+  },
+  "unmet": {
+   "bluehorses_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部色带缺失及边界变形",
+    "t": 38.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 38.5 s 及 55.0–58.6 s 俯视画面中，右侧马体内部的浅紫内弯带细弱，周围较多区域连成深蓝色块；视频 58.6 s 左下部的小深色线条不完整。对照成功参考视频 59.9 s，同处浅紫弯带更宽且小线条清楚；这些局部色带和轮廓差异持续到本视频结束。",
+    "note_zh": "候选：局部色带缺失及边界变形。描述可见成画的局部形状缺陷；现有接触、运动、全身等现象没有直接对应的绘画质量项，录像也不足以将其直接归为末端位姿跟踪失准。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频 / 评分器字段",
+    "evidence_zh": "推断：log step 51 的执行器把离线色区扫描线转成固定速度的逐点位置与压深指令，以压深近似控制笔宽；log steps 53、55、56 的实际执行中，改变扫描间距使 edge_corr 从0.695854改善至0.71008、0.721354，说明笔触几何与重叠控制直接影响轮廓复现。log step 58 恢复 log step 56 的配置，log step 59 对交付文件复验仍未达图像阈值，且视频 38.5–58.6 s 留有��部色带形状偏差。由此将根因保守归为画笔笔触形状复现精度不足的控制问题，尚不能指定为逆解、反馈控制或某一错误参数。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志或原始画布；压缩视频不能精确复算图像指标或定位首个错误笔触，严格终局取自本次评分器及 log step 59 的交付文件复验。首次蘸色在颜料井内的瞬间有遮挡，由视频 0.2 s 首次有色笔迹和干刷初态推断；缺少指令与实测笔尖轨迹、真实笔宽的逐点对照，不能进一步区分路径拟合、笔宽模型和跟踪误差。"
+ },
+ "summary_zh": "机械臂在视频约 0.2 s 前完成首次蘸色，并持续绘制出蓝紫马形、深紫轮廓及彩色背景，节点最终为1/2。整幅临摹步骤中局部色带缺失、边界变形持续至视频 58.6 s，色差、明度结构及边缘指标未达标；覆盖率、笔数和过程规则通过，根因保守归为笔触形状复现精度不足的控制问题。没有逐帧状态或原始画布，不能确定首个错误笔触，也不能细分控制子因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值与评分器数值一致（临摹整体指标未达标，de_mean/ssim/edge 未过）；蘸色节点的推断有 0.2 s 有色笔迹和 n_dips=10 佐证；断点与根因（控制，保守）有评分器和日志支撑，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": "2026-10-30T22:43:02Z",
+  "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/robopaint-acrylic-bluehorses-i00-privileged--wnvtjtj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-privileged--wnvtjtj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "51d88557516c67f6f7e442970f2329b7bc296a3f3184347e66d16a727b2613b7",
+   "video_sha256": "10312862b855b5993386e5d444b905479740e7e121eea43e384531868cc1bd56",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--wueiefw.json

@@ -0,0 +1,359 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-privileged--wueiefw",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.76585,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.76585,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 4.683,
+   "de_p90": 13.3347,
+   "de_bad_frac": 0.132987,
+   "de_mean_sheet": 4.6431,
+   "ssim_L": 0.787458,
+   "paint_iou": 0.934248,
+   "paint_area_mm2": 46896.8,
+   "target_paint_area_mm2": 49432.5,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 3.4365,
+   "ssim_L_fine": 0.729835,
+   "edge_corr": 0.63368,
+   "region_cov_min": 0.03782,
+   "region_cov_mean": 0.875812,
+   "n_regions": 71.0,
+   "n_strokes": 377.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 4.7105,
+   "de_p90_unregistered": 13.4569,
+   "ssim_L_unregistered": 0.785132,
+   "edge_corr_unregistered": 0.626506,
+   "paint_iou_unregistered": 0.933992,
+   "path_mm": 23331.63,
+   "longest_stroke_mm": 171.5,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.6948,
+   "scribble_share": 0.013228,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.76585,
+   "sim_steps": 28957.0,
+   "resets": 1.0,
+   "n_contacts": 377.0,
+   "samples": 144785.0,
+   "contact_samples": 95824.0,
+   "max_press_m": 0.013086,
+   "max_tilt_deg_in_contact": 0.395489,
+   "max_speed_in_contact_mps": 0.066016,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 592.0,
+   "replay_wall_s": 131.5,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 28957,
+   "video_rendered": 1,
+   "agent_sessions": 28,
+   "agent_resets": 6,
+   "agent_sim_steps": 286131,
+   "agent_records": 10,
+   "agent_replays": 6,
+   "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/robopaint-acrylic-bluehorses-i00-privileged--wueiefw/replay.mp4",
+  "duration_s": 59.2,
+  "fps": 10.0,
+  "frames": 592,
+  "sha256": "c9df9d423458155551d3fde5d5ed67d446092fdbe0aed38893b84ba4227eea6f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.1,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–0.2 s右上场景视角中，机械臂将安装画笔移至颜料井处下探后移向主纸；视频0.3 s右下画布视角已出现淡紫色笔痕。"
+     },
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "推断：由干刷初态、视频0.1 s的井处动作及视频0.3 s首次可见有色痕迹，首次加载发生在视频约0.1 s（精度约0.2 s）；评分器终局n_dips=10、n_dry_strokes=0也支持已蘸色。换色不撤销该事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约0.1 s机械臂末端安装画笔在颜料井处下探，随后在主纸留下颜料。候选：浸蘸；笔毛进入液态颜料加载颜色，现有抓握、压/擦、托/舀均不能准确表示这种接触。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.3 s主纸开始出现淡紫色笔触；视频约6–18 s依次增加黄色、红粉色和绿色背景，视频约20–56 s增加深紫、蓝紫和浅蓝色带及深色轮廓，机械臂确实进行了整幅绘画。"
+     },
+     {
+      "t": 59.1,
+      "log_step": null,
+      "text_zh": "观察：视频58.1–59.1 s末段及视频59.1 s终帧右下画布视角中，主要色带已经形成，但中央弯曲深紫轮廓旁及其右侧蓝色区域仍夹有断续白色缝隙，左侧蓝紫色带边界也较参差；对照成功参考录像视频59.9 s，同类区域色块更��续、轮廓宽度与边界不同。参考录像仅用于比较外观。"
+     },
+     {
+      "t": 59.1,
+      "log_step": null,
+      "text_zh": "观察：本次评分器终局de_mean=4.683>2、de_p90=13.3347>6、ssim_L=0.787458<0.92、edge_corr=0.63368<0.8、paint_iou=0.934248<0.95，五项图像判据均失败；n_strokes=377≤390、path_mm=23331.63≤35900、scribble_share=0.013228≤0.1且strict_ok=1，过程规则通过。"
+     },
+     {
+      "t": 59.1,
+      "log_step": 333,
+      "text_zh": "推断：全片由空白主纸逐层画成上述仍有缺漏与轮廓偏差的图案，未观察到符合整幅临摹判据的阶段，故区间为空、终态为假；log step 333核对交付文件有28957行关节动作，与评分器n_actions=28957一致。会话中的其他测试图像不作为本视频的进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频0.3 s起机械臂用末端固定画笔反复压触主纸并沿纸面扫动，留下有色笔触；视频约20–56 s可见蓝紫色痕迹随笔移动逐步增加。这里记录笔毛与主纸的接触，无可操作夹爪，不另加握笔接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 4.683
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 13.3347
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.787458
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.63368
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.934248
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 377.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 23331.63
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.013228
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.76585
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 3.4365
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.729835
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.03782
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.875812
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 58.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约58.5 s机械臂仍在主纸上完成末段轮廓笔触，视频59.1 s图案仍存在中央蓝紫色区域白色断缝和轮廓边界偏差，最终图像五项阈值均未通过。断点为持续尝试却未完成的整幅临摹步骤；视频58.5 s是末段缺陷的导航锚点，并非某个已知不可逆损坏的精确起点。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "图案缺漏与轮廓失真",
+    "t": 59.1,
+    "log_step": null,
+    "evidence_zh": "观察：视频59.1 s右下画布中，中央深紫弯曲色带旁及右侧蓝色块内有多处细长白色断缝，左侧蓝紫色带接缝参差；与成功参考录像视频59.9 s相比，这些区域覆盖不连续、轮廓局部宽度和边界不同。这是绘画结果的具体缺陷，评分器同时报告图像验收失败。",
+    "note_zh": "候选：图案缺漏与轮廓失真。现有接触类描述抓取、维持或释放失败，运动类位姿不准描述物体或工具位姿偏差；本片明确可见的是累计画面覆盖和轮廓缺陷，无法把它归结为某次单独位姿失准，故用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 59.1,
+    "log_step": 323,
+    "source_zh": "日志 / 视频 / 评分器字段",
+    "evidence_zh": "推断：agent的绘画脚本未能把目标色块精确转化为笔毛实际留下的覆盖和边界。log step 323可见其按采样路径的中位半径构造几何footprint并从待画掩膜删除，再由radius_to_press表把各点半径转成下压深度执行；该做法用几何估计安排覆盖，未按每笔实际画布修正余量。同类候选的离线试绘在log step 322已有de_mean=3.34、ssim_L=0.8653等不达标结果（会话证据，不作视频进度）；本次视频59.1 s仍留下缺漏和边界偏差且评分器五项图像指标不达标，支持绘画控制精度不足。现有证据不足以进一步区分接触覆盖模型误差与运动跟踪误差。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或本次回放的逐笔实际笔尖误差、压力与覆盖增量，无法精确分离笔触几何近似、下压宽度和跟踪滞后的贡献；因此根因仅标控制，不指定参数调试、轨迹或反馈控制子类。压缩录像不能复算逐帧图像阈值，临摹终态依据评分器，未达过程依据全片可见的逐层缺失；首次蘸色时刻仅能定位到视频约0.1 s。",
+  "unmet": {
+   "bluehorses_copied": false
+  }
+ },
+ "summary_zh": "机械臂在视频约0.1 s蘸上颜料，随后持续绘画，最终完成两节点中的1个。蓝马主要色带已形成，但视频59.1 s仍有白色断缝和轮廓边界偏差，五项图像指标均未达标，377笔、路径总长和涂填比例则通过过程验收。生成脚本与结果支持绘画控制精度不足；缺少逐笔状态与覆盖数据，无法进一步定位控制子因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点（brush_loaded 视频约0.1 s达成，bluehorses_copied 终态假）、断点（bluehorses_copied，操作中）、现象（其他·图案缺漏与轮廓失真）和根因（控制，未细分）均与视频和评分器字段一致；未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:44:11Z",
+  "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/robopaint-acrylic-bluehorses-i00-privileged--wueiefw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-privileged--wueiefw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c1a420ade581bf457c1307a4e5e80cc80d7fc671223beab7d96aa274a502a2c2",
+   "video_sha256": "c9df9d423458155551d3fde5d5ed67d446092fdbe0aed38893b84ba4227eea6f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--9zy4jf8.json

@@ -0,0 +1,365 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-standard--9zy4jf8",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.833195,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.833195,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 3.3361,
+   "de_p90": 8.0549,
+   "de_bad_frac": 0.07321,
+   "de_mean_sheet": 3.311,
+   "ssim_L": 0.867459,
+   "paint_iou": 0.963865,
+   "paint_area_mm2": 48752.6,
+   "target_paint_area_mm2": 49432.5,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 2.0972,
+   "ssim_L_fine": 0.805078,
+   "edge_corr": 0.759198,
+   "region_cov_min": 0.396245,
+   "region_cov_mean": 0.931295,
+   "n_regions": 71.0,
+   "n_strokes": 300.0,
+   "n_practice_strokes": 14.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.3448,
+   "de_p90_unregistered": 8.1016,
+   "ssim_L_unregistered": 0.865529,
+   "edge_corr_unregistered": 0.759425,
+   "paint_iou_unregistered": 0.963589,
+   "path_mm": 7619.18,
+   "longest_stroke_mm": 295.0,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.0981,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.833195,
+   "sim_steps": 14121,
+   "resets": 1.0,
+   "n_contacts": 314.0,
+   "samples": 70605.0,
+   "contact_samples": 38401.0,
+   "max_press_m": 0.014079,
+   "max_tilt_deg_in_contact": 0.476587,
+   "max_speed_in_contact_mps": 0.090635,
+   "handle_contact_samples": 0.0,
+   "n_dips": 18.0,
+   "dry_strokes": 0.0,
+   "n_frames": 590.0,
+   "replay_wall_s": 113.55,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 14121,
+   "physics_steps": 70605,
+   "steps": 11424,
+   "calls": 107,
+   "elapsed_s": 2368.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.895,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.269,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-bluehorses-i00-standard--9zy4jf8/replay.mp4",
+  "duration_s": 59.0,
+  "fps": 10.0,
+  "frames": 590,
+  "sha256": "8257dd9c20acbc61757e2925a64038bea8a3f66ddf0b29562d9539174ff36218"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": 63,
+      "text_zh": "观察：视频 0.4–0.5 s 场景及侧视中，机械臂末端画笔在颜料盘处下探，随后笔尖呈红色；视频 0.7–0.8 s 画笔在练习纸留下红色线条。log step 63 的首次实体测试指令包含进入 paint05 颜料井后再画练习线，与画面次序一致；首次加载时刻约为视频 0.5 s，精度约 0.1 s。"
+     },
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "推断：画笔离开颜料盘后确实留下有色笔迹，支持已完成浸蘸加载，而非只在井上方悬停；后续换色不撤销该事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.4–0.5 s 机械臂末端安装画笔的笔尖下探颜料井，之后呈红色并留下红色练习线。候选：浸蘸；这是笔毛进入颜料并加载颜色，现有抓握、托/舀、压/擦等词项均不能准确表达该接触。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–5.4 s 主画纸仍为空白，视频 5.6 s 开始出现浅紫色笔迹；视频 6–18 s 机械臂绘制上方黄、绿、红、粉色背景，视频 18–54 s 逐步补入蓝紫色马身和深色轮廓，尚未呈现整幅验收结果。"
+     },
+     {
+      "t": 55.0,
+      "log_step": null,
+      "text_zh": "观察：视频 55.0 s 主要色区已形成，但中央深紫分叉与蓝紫马身交界及下缘仍有锯齿状浅色缺口；逐帧检查视频 58.0–58.9 s，这些局部缺口仍保留。与成功参考视频 59.9 s 的相同俯视画面比较，本次交界缺口更明显、部分色块边缘不吻合；参考仅用于判断外观，不作为本次达成证据。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的终局评分字段为 image_success=0、de_mean=3.3361（要求≤2.0）、de_p90=8.0549（≤6.0）、ssim_L=0.867459（≥0.92）、edge_corr=0.759198（≥0.8）；paint_iou=0.963865、n_strokes=300、path_mm=7619.18、scribble_share=0 均在各自阈值内，live_matches_replay=1。"
+     },
+     {
+      "t": 58.9,
+      "log_step": 412,
+      "text_zh": "推断：结合全过程由空白逐层成画、末尾仍有局部边缘偏差以及终局四项图像指标未达标，临摹完成节点未达到；log step 412 显示执行的是已有305条计划笔触缓存，其计划笔数不能代替评分器确认的300次主纸有色连续接触。未将离线渲染或 agent 工作时间换算为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 5.6–58.8 s 机械臂末端固定画笔反复下压接触主画纸并沿线扫过，留下多种颜色的笔迹；例如视频 6.0 s 的浅紫笔触及视频 40–45 s 的深紫笔触。标注笔毛与画纸的压擦，不另虚构夹爪抓笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 3.3361
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 8.0549
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.867459
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.759198
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.963865
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 300.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 7619.18
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.833195
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 2.0972
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.805078
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.396245
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.931295
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 55.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 55.0 s 机械臂仍在补绘，中央深紫分叉周围和画面下缘的笔触边界有明显浅色缺口；视频 58.0–58.9 s 这些偏差未被后续笔触消除。终局评分器给出 de_mean=3.3361、de_p90=8.0549、ssim_L=0.867459、edge_corr=0.759198，均未达各自阈值，image_success=0。断在整幅临摹步骤；视频 55.0 s 是接近成图时的可见偏差导航锚点，不是某个数值阈值首次失效的精确时刻。"
+  },
+  "unmet": {
+   "bluehorses_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触边界缺口",
+    "t": 55.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 55.0 s 及视频 58.0–58.9 s 的主纸俯视图中，中央深紫分叉与蓝紫马身交界、画面下缘保留不规则浅色楔形缺口，色块边缘参差；对比成功参考视频 59.9 s，本次这些交界缺口更大，局部轮廓不同。机械臂已实际着色，但末尾补画后仍未消除这些缺口。",
+    "note_zh": "候选：笔触边界缺口。现有接触、运动类条目未直接涵盖绘画成品中局部色区覆盖及边缘形状的偏差；证据不足以把这些缺口归为末端位姿误差或接触力异常，故用其他记录可见的具体图像缺陷。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "log_step": 449,
+    "evidence_zh": "推断：log step 447 中 agent 对实际相机画布裁剪后的自检仍得到 mean_de=6.8232、ssim=0.8613、edge_corr=0.7515，已不满足其脚本在 log step 406 写出的阈值；但 log step 449 宣布任务“has been completed”，使用 log step 376 离线渲染的 mean_de=2.5019、ssim=0.9403 等预测值作完成汇总（平均色差本身也超过2.0），之后 log step 451 结束而未再修补。inputs/run.json 记载 agent 总工作2343 s、预算3600 s，仍有预算；这些记录支持其将执行结束及预测质量当作完成依据，使实际缺口未获修复。相机自检不是原生评分，本条仅用它与完成声明的矛盾支持停止决策归因。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或本次原始评分画布，无法精确复算各图像指标的逐帧值；已依据视频外观与原生终局评分判断未达成。视频可见局部缺口，但不足以区分笔宽/下压标定、笔触提取或叠色模型分别造成多少偏差，故不补填控制子类；误以为完成的归因仅针对未继续修复的停止决策。日志中的离线渲染、自检和计划305笔均未作为本次视频的节点进度。"
+ },
+ "summary_zh": "机械臂约在视频 0.5 s 完成首次蘸色，随后实际在主纸画出蓝紫马身、深色轮廓和上方背景，最终完成1/2个节点。整幅临摹仍有局部笔触边界缺口，终局色差、明度结构与边缘四项指标未达标；agent 在实际画布自检未达标后仍宣布完成并停止，缺口未获继续修复。没有逐帧状态或原始评分画布，无法精确定位数值验收时刻及细分绘画控制误差。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "brush_loaded 约 0.5 s 达成、bluehorses_copied 未达成（评分器 image_success=0，四项图像指标未达标）、断点与误以为完成的根因（log 447 自检未达标后 449 宣布完成，预算 3600 s 仅用 2343 s）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": "2026-10-30T23:04:15Z",
+  "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/robopaint-acrylic-bluehorses-i00-standard--9zy4jf8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-standard--9zy4jf8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ae31ccb2ea125a278437d37106a82964670c0f9b4101c31b80a5ca88006c2af",
+   "video_sha256": "8257dd9c20acbc61757e2925a64038bea8a3f66ddf0b29562d9539174ff36218",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--afdt4hq.json

@@ -0,0 +1,344 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-standard--afdt4hq",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.0,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 52.9936,
+   "de_p90": 72.85,
+   "de_bad_frac": 0.982454,
+   "de_mean_sheet": 52.4242,
+   "ssim_L": 0.475257,
+   "paint_iou": 0.0,
+   "paint_area_mm2": 0.0,
+   "target_paint_area_mm2": 49474.1,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 51.9745,
+   "ssim_L_fine": 0.443397,
+   "edge_corr": 0.0,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.027886,
+   "n_regions": 71.0,
+   "n_strokes": 0.0,
+   "n_practice_strokes": 63.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 52.9936,
+   "de_p90_unregistered": 72.85,
+   "ssim_L_unregistered": 0.475257,
+   "edge_corr_unregistered": 0.0,
+   "paint_iou_unregistered": 0.0,
+   "path_mm": 0.0,
+   "longest_stroke_mm": 0.0,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 0.0,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.0,
+   "sim_steps": 5034,
+   "resets": 1.0,
+   "n_contacts": 63.0,
+   "samples": 25170.0,
+   "contact_samples": 9987.0,
+   "max_press_m": 0.013862,
+   "max_tilt_deg_in_contact": 0.211329,
+   "max_speed_in_contact_mps": 0.193933,
+   "handle_contact_samples": 0.0,
+   "n_dips": 18.0,
+   "dry_strokes": 0.0,
+   "n_frames": 561.0,
+   "replay_wall_s": 92.99,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 5034,
+   "physics_steps": 25170,
+   "steps": 3556,
+   "calls": 113,
+   "elapsed_s": 7248.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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/robopaint-acrylic-bluehorses-i00-standard--afdt4hq/replay.mp4",
+  "duration_s": 56.1,
+  "fps": 10.0,
+  "frames": 561,
+  "sha256": "db4a952b79e769b3f547e4aadd14a4d32ce908e7fbca592572ed269abe82d492"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.7,
+      "log_step": 42,
+      "text_zh": "观察：视频1.6–1.9 s，机械臂末端画笔移至颜料井并下探，随后转向练习纸；log step 42 的脚本执行蘸色并在练习纸试画。视频约2.6–8.0 s 的练习纸逐渐出现细笔痕，后续出现清楚的深色笔触，佐证画笔已加载颜料。首次加载时刻约为视频1.7 s，误差约0.2 s。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频8.0 s 侧视画面可见练习纸上已有多条笔痕；评分器终局字段n_dips=18、n_practice_strokes=63、n_dry_strokes=0，与已蘸色相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约1.7 s，机械臂固定安装画笔的笔毛在颜料井中下探，随后在练习纸留下有色笔痕；候选接触方式为“浸蘸”，现有方式没有笔毛浸入颜料的准确词项，不属于抓握、托舀或压擦固体表面。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s 主画纸为空白；全片粗检及视频0.0–8.0 s、55.1–56.0 s 的密集检查中，机械臂仅在旁边练习纸绘制校准线，主画纸没有出现蓝紫色马形、深色轮廓或背景色带。"
+     },
+     {
+      "t": 56.0,
+      "log_step": 102,
+      "text_zh": "观察：视频56.0 s 主画纸完整露出且仍为空白，练习纸有密集深色和彩色��笔线；log step 102 的实际服务调用仅绘制练习纸长参考线，其终局control_steps=5034、calls=113与评分器n_actions=5034、calls=113一致。评分器记录主纸n_strokes=0、paint_area_mm2=0、paint_iou=0、image_success=0、live_matches_replay=1。"
+     },
+     {
+      "t": 56.0,
+      "log_step": null,
+      "text_zh": "推断：本次主纸临摹从未达到验收条件。成功参考录像视频59.9 s 的相同主纸俯视视角清楚显示蓝紫色马匹、深紫轮廓和上部多色色带，本次视频56.0 s 则无这些可见特征；参考录像仅用于辨认可见判据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 52.9936
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 72.85
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.475257
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 51.9745
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.443397
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.027886
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": null,
+   "log_step": 201,
+   "where": "首步前",
+   "evidence_zh": "观察：本次录像中的机械臂只蘸色和在练习纸试笔，视频55.1–56.0 s 主画纸仍空白；评分器n_strokes=0、paint_area_mm2=0。log step 102 之后的日志主要为离线图像分区、笔触规划、渲染评估与调试，log step 200–201 仍在运行并等待离线细化程序，没有主纸绘制调用；无法定位一个主纸绘制失败动作，因其从未启动。"
+  },
+  "unmet": {
+   "bluehorses_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 201,
+    "evidence_zh": "观察：全片粗检及视频55.1–56.0 s 的终段密集帧显示，机器人已在练习纸留下大量校准笔触，主画纸始终空白；评分器n_practice_strokes=63而主纸n_strokes=0、path_mm=0。log step 102 仅执行练习纸参考线，之后到log step 201 未执行主纸临摹。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：无逐帧状态日志，首次蘸色依视频定位为约1.7 s；主纸空白及未启动有画面和评分器计数共同支持。log step 118、168、188 记录多种离线笔触方案的自评，log step 198 有离线数组内存分配错误，log step 200 修复后重跑，log step 201 结束于等待，且没有解释未启动绘制的最终报告。推断：这些记录不足以把未执行主纸绘制唯一归因于错误的跨阶段策略、规划器实现或执行衔接，因此根因层留空；不把预算结束或离线程序报错直接当作物理失败根因。"
+ },
+ "summary_zh": "本次完成笔刷蘸色，终态为1/2节点；机器人在练习纸留下63笔校准笔触，主画纸直到视频56.0 s 仍为空白，蓝马临摹未启动。断点为蓝马图临摹完成（首步前），现象为没尝试；日志后段持续进行离线笔触规划与调试，但不足以确定未转入主纸绘制的具体根因。无逐帧状态日志，首次蘸色时间约有0.2 s误差。",
+ "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、评分器字段一致：蘸色约1.7 s 成立，主画纸至视频56 s 仍空白（n_strokes=0），蓝马未达成；断点首步前/没尝试合理，根因层留空并写明缺口，符合D23(a)与FAIL-22，未见需要修改之处。",
+    "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": "2026-10-30T22:59:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-standard--afdt4hq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-standard--afdt4hq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9d393b8a98046944e22689e0aace24188c837c328d66a805528180538c013d36",
+   "video_sha256": "db4a952b79e769b3f547e4aadd14a4d32ce908e7fbca592572ed269abe82d492",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--fesddfh.json

@@ -0,0 +1,358 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-standard--fesddfh",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.774745,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.774745,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 4.1078,
+   "de_p90": 8.8783,
+   "de_bad_frac": 0.083241,
+   "de_mean_sheet": 4.073,
+   "ssim_L": 0.846692,
+   "paint_iou": 0.968593,
+   "paint_area_mm2": 49072.8,
+   "target_paint_area_mm2": 49474.1,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 2.5293,
+   "ssim_L_fine": 0.7728,
+   "edge_corr": 0.726158,
+   "region_cov_min": 0.008584,
+   "region_cov_mean": 0.924267,
+   "n_regions": 71.0,
+   "n_strokes": 400.0,
+   "n_practice_strokes": 11.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 4.1078,
+   "de_p90_unregistered": 8.8783,
+   "ssim_L_unregistered": 0.846692,
+   "edge_corr_unregistered": 0.726158,
+   "paint_iou_unregistered": 0.968593,
+   "path_mm": 12362.36,
+   "longest_stroke_mm": 285.22,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.0285,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.774745,
+   "sim_steps": 13233,
+   "resets": 0.0,
+   "n_contacts": 411.0,
+   "samples": 66165.0,
+   "contact_samples": 28797.0,
+   "max_press_m": 0.014716,
+   "max_tilt_deg_in_contact": 0.411841,
+   "max_speed_in_contact_mps": 0.2186,
+   "handle_contact_samples": 32.0,
+   "n_dips": 32.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 13233,
+   "physics_steps": 66165,
+   "steps": 12923,
+   "calls": 109,
+   "elapsed_s": 3590.1,
+   "video_rendered": 1,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "instance_mismatch": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.754,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.377,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-bluehorses-i00-standard--fesddfh/replay.mp4",
+  "duration_s": 57.7,
+  "fps": 10.0,
+  "frames": 577,
+  "sha256": "d2735a53a3df0093529b2e6708f10f07dad02403d8f602f2f2591e23613a0af3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": 17,
+      "text_zh": "推断：视频 0.4–0.5 s 场景视角中机械臂末端下探颜料井区域，视频 0.7–0.8 s 随后在练习纸留下黑色线条，故首次加载颜料约在视频 0.5 s（井内笔尖被腕部遮挡，约有0.3秒不确定性）；log step 17 的脚本先将画笔送入 paint10 再画练习线，与此顺序一致。"
+     },
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 3.6 s 主画纸出现蓝紫色有色笔迹；评分器终局字段 n_dips=32、n_dry_strokes=0，支持画笔已加载颜料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：浸蘸；机械臂末端固定安装画笔，笔毛进入颜料井取色，随后在练习纸和主纸留下颜料。现有接触方式没有浸蘸，既非托舀也非擦拭固体表面；首次井内接触由下探动作及后续有色笔迹推断。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 3.6 s 机械臂已在主纸画出蓝紫色曲线；视频 6.0–38.0 s 逐步添加蓝紫马匹、红黄绿背景与深色轮廓，画笔在纸面扫过并留下色带，说明确实尝试整幅临摹。"
+     },
+     {
+      "t": 57.6,
+      "log_step": null,
+      "text_zh": "观察：视频 56.8–57.6 s 主纸右下俯视画面仍可见马匹中央和下缘的零散白缝、破碎的色块边界；对照成功示例视频 59.9 s，相应区域的色带更连续。本次各阶段从空白逐步成图，未观察到满足整幅完成判据的阶段。"
+     },
+     {
+      "t": 57.6,
+      "log_step": null,
+      "text_zh": "观察：本次评分器终局 de_mean=4.1078>2、de_p90=8.8783>6、ssim_L=0.846692<0.92、edge_corr=0.726158<0.8，n_strokes=400>390；paint_iou=0.968593、path_mm=12362.36、scribble_share=0 则符合各自阈值，image_success=0、live_success=0。终局整幅临摹未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 3.6–57.6 s 机械臂用固定安装画笔的笔毛压触并扫过主画纸，留下多色笔触；同一过程中多次抬笔换色。这里记录画笔与纸的接触，不另虚构夹爪握笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 4.1078
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 8.8783
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.846692
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.726158
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.968593
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 400.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 12362.36
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.774745
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 2.5293
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.7728
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.008584
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.924267
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 40.0,
+   "log_step": 89,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 38.0–40.0 s 已有整幅马匹及背景，但马匹和色带间仍残留细白缝，随后机械臂继续补画，至视频 57.6 s 仍未消除；log step 89 的 agent 自行图像检查也报告实际画布有漏涂和错色。评分器终局判定图像不合格且主纸400笔超过390笔。此为持续临摹缺陷的导航锚点，并非将 log step 89 的 agent 时间换算为视频时间。"
+  },
+  "unmet": {
+   "bluehorses_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触间漏白与色块边缘破碎",
+    "t": 57.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 56.8–57.6 s 的主纸俯视画面中，马匹中央交界及下部蓝紫色带之间残留小块白点、白缝，色块边缘不连续；成功示例视频 59.9 s 的对应区域更连贯。补画后这些缺陷仍存在。",
+    "note_zh": "现有现象词项没有描述绘画成品漏涂及色块边缘缺陷的条目；不能仅从成品反推画笔失去接触或位姿失准，因此以其他记录可见缺陷。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 78 中 agent 的离线笔触覆盖模型预测332笔可得 de_mean=1.565、ssim_L=0.9796；实际执行后的自检（log step 89、95）却检出大量漏涂和错色。log step 96 在原覆盖模型下预测仅3272个漏涂像素，而 agent 从实际画布估计62808个，说明所生成画笔运动和接触的实际着色覆盖没有实现预期；视频 38.0–57.6 s 的残留白缝和破碎边缘与此一致。归入控制，但证据不足以区分笔宽接触模型、轨迹跟踪或具体参数问题。上述自检数值是 agent 的诊断输出，非评分器原生指标。",
+    "source_zh": "日志",
+    "note_zh": "仅归控制大类，不把离线预测达标当作实际达标，也不将终局失败归因于运行时限。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或原始画布序列，压缩视频不能精确复算逐帧图像阈值；首次蘸色的井内笔尖有遮挡，达成时刻由下探及随后有色痕迹估计。日志的覆盖模型与实际画布存在差距，但无法进一步确定具体控制��类；agent 自述总计390笔（log step 133），评分器实际计400笔，额外连续触纸段的具体发生时刻无法可靠定位。"
+ },
+ "summary_zh": "机械臂完成蘸颜料，并持续在主纸绘制蓝紫马匹及多色背景，最终完成1/2个节点。整幅临摹仍有笔触间白缝和破碎色块边缘，评分器的色差、明度结构和边缘指标未达标，且实际400笔超过390笔；日志支持预期笔触覆盖与实际着色不一致的控制问题。无逐帧状态及原始画布，具体控制子类和额外笔触时刻不能确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两个节点的值（brush_loaded 达成、bluehorses_copied 未达成）与视频及评分器终局数值一致；断点、现象（其他·漏白/边缘破碎）和根因（控制，已声明证据不足以细分）均有证据支持，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": "2026-10-30T23:12:39Z",
+  "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_rerun1/runs/robopaint-acrylic-bluehorses-i00-standard--fesddfh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/robopaint-acrylic-bluehorses-i00-standard--fesddfh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d42a8b5c1c50da9f36fbcf2c15e475782400b611d3fc7d2a033a0d8547ac688e",
+   "video_sha256": "d2735a53a3df0093529b2e6708f10f07dad02403d8f602f2f2591e23613a0af3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--gmav5nr.json

@@ -0,0 +1,377 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-standard--gmav5nr",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 47.0681,
+   "de_p90": 66.8145,
+   "de_bad_frac": 0.959221,
+   "de_mean_sheet": 46.9605,
+   "ssim_L": 0.451953,
+   "paint_iou": 0.278213,
+   "paint_area_mm2": 14986.9,
+   "target_paint_area_mm2": 49474.1,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 45.5038,
+   "ssim_L_fine": 0.419299,
+   "edge_corr": -0.00709,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.042217,
+   "n_regions": 71.0,
+   "n_strokes": 33.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 1.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 47.0681,
+   "de_p90_unregistered": 66.8145,
+   "ssim_L_unregistered": 0.451953,
+   "edge_corr_unregistered": -0.00709,
+   "paint_iou_unregistered": 0.278213,
+   "path_mm": 2716.65,
+   "longest_stroke_mm": 205.74,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.0993,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.0,
+   "sim_steps": 7893,
+   "resets": 0.0,
+   "n_contacts": 33.0,
+   "samples": 39465.0,
+   "contact_samples": 1954.0,
+   "max_press_m": 0.015219,
+   "max_tilt_deg_in_contact": 30.345796,
+   "max_speed_in_contact_mps": 0.425757,
+   "handle_contact_samples": 457.0,
+   "n_dips": 24.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 7893,
+   "physics_steps": 39465,
+   "steps": 7846,
+   "calls": 58,
+   "elapsed_s": 3532.4,
+   "video_rendered": 1,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "instance_mismatch": 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/robopaint-acrylic-bluehorses-i00-standard--gmav5nr/replay.mp4",
+  "duration_s": 56.5,
+  "fps": 10.0,
+  "frames": 565,
+  "sha256": "93d1983f93f5050a4de5351917fea5c595f88061d34dd73c20c8751ffafaf504"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "推断：视频 0.2–0.4 s 场景视角中，机械臂将安装画笔移至颜料盘处下探后移开；视频 0.8 s 主纸出现蓝紫色笔迹，佐证干刷已完成首次加载。将蘸色事件锚定在视频约 0.3 s，压缩画面下时刻约有 0.3 s 误差。"
+     },
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.7 s 主纸尚几乎空白，视频 0.8–1.2 s 画笔已在主纸留下蓝紫色长条；评分器终局字段 n_dips=24、n_dry_strokes=0，支持实际加载过颜料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：浸蘸。机械臂末端安装画笔的笔毛下探颜料井后在纸上留下有色痕迹；终局记录24次蘸色。笔毛浸入液态颜料不属于抓握、托/舀或压擦固体，故用其他。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主画纸为空白，尚未呈现目标的蓝马形体。"
+     },
+     {
+      "t": 21,
+      "log_step": null,
+      "text_zh": "观察：视频 0.8–21.0 s 机械臂以画笔在主纸上留下数条相邻的蓝紫长条，随后左侧边缘出现少量其他颜色；视频 24.0、33.0、45.0 s 主纸仍大面积空白，未形成马匹或完整背景。"
+     },
+     {
+      "t": 56.4,
+      "log_step": null,
+      "text_zh": "观察：视频 55.5–56.4 s 逐帧检查显示，终态仍以纸张左侧几条蓝紫长带和少量红粉、黄色痕迹为主，右侧大面积空白，缺少蓝马形体和深紫轮廓；作为判据外观对照，成功示例视频 59.9 s 呈现覆盖整纸的马匹与多色背景。"
+     },
+     {
+      "t": 56.4,
+      "log_step": null,
+      "text_zh": "观察：本次评分器终局 de_mean=47.0681、de_p90=66.8145、ssim_L=0.451953、edge_corr=-0.00709、paint_iou=0.278213，均未满足DAG图像阈值；n_strokes=33、path_mm=2716.65、scribble_share=0 则在各自上限内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂末端安装的圆头画笔以笔毛压触并扫过主画纸，留下蓝紫色长条及少量其他颜色痕迹；视频 0.7–1.2 s 可见笔尖触纸与笔迹出现，后续多次抬笔再落笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 47.0681
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 66.8145
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.451953
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": -0.00709
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.278213
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 33.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 2716.65
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 45.5038
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.419299
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.042217
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 0.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 0.8 s 机械臂首次在主纸留下蓝紫长条，此后视频 3.0–21.0 s 累积的是相邻长条；截至视频 56.4 s 仍未画出蓝马形体，整幅临摹步骤始终未完成。此锚点是临摹步骤开始（首笔落纸）的位置；终态只画出少量笔触，尚未形成蓝马图。"
+  },
+  "unmet": {
+   "bluehorses_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "大面积缺绘",
+    "t": 21,
+    "log_step": null,
+    "evidence_zh": "观察：视频 21.0、33.0、45.0 及 55.5–56.4 s，主纸有色内容集中在左侧数条长带，大片纸面仍空白，目标的马匹、深紫轮廓和上部多色背景没有形成。",
+    "note_zh": "候选：大面积缺绘。描述实际画面的缺失区域；现有接触、运动、全身、约束和汇报条目没有准确涵盖已经触纸绘画但整幅图案大量缺失的结果，不以评分数值不达标替代可见现象。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因层留空：inputs/run.json 的 log step 47 确有将 depth_for 返回的毫米量级数值直接从米制 Z_SHEET 中相减的单位错误，但缺少实际提交目标、执行端限幅、逆解和跟踪记录，单位错误是否实际造成笔触缺陷未知。视频 0.8–21.0 s 与 55.5–56.4 s 可见已画长条，未见足以把缺绘归因于异常下压的直接证据。log step 51 输出 selected 380 strokes，log steps 49–54 记录分块超长、NameError 和修补语法错误，log step 55（agent 时钟 3395.9 s）才记录该脚本成功提交，log step 56 又记录后续提交；run.wall_s=3519、time_limit_s=3600，评分器终局 n_strokes=33，说明接近会话预算时序列仍未完成。完整执行结束及停止触发记录缺失，无法确定缺绘的具体能力根因，不将预算用完或 agent 在 log step 56 的自述作为根因。首次蘸色部分被机械臂遮挡，视频约 0.3 s 为结合下探和随后有色笔迹确定的近似锚点；未把 agent 时钟转换为视频时钟。"
+ },
+ "summary_zh": "本次完成笔刷蘸色，随后在主纸留下33笔，但终态主要为左侧长色带，蓝马图临摹始终未完成，节点���终为1/2。断点在临摹操作中，终局五项图像指标均未达标；视频支持大面积缺绘，不能证明已画长条属于错误笔触。日志虽有下压单位错误及多次脚本修补记录，但缺少实际目标、执行端响应与完整停止记录，无法确定其对终态的因果作用，根因层留空。",
+ "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 brush_loaded / bluehorses_copied 的值、时间与接触基本正确。问题在根因：把毫米深度当米用的单位错误确实存在于脚本，但没有证据说明它造成了本次结果；视频里笔触正常落纸、颜色正确，终态只是画了33笔、尚未画完，而该笔触序列在预算接近用完时才开始执行。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、接触与断点均与视频和评分器字段一致；根因层留空并有 gap_zh，符合证据（单位错误无执行端证据，预算不作根因）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:08:27Z",
+  "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/robopaint-acrylic-bluehorses-i00-standard--gmav5nr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-standard--gmav5nr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-standard--gmav5nr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-standard--gmav5nr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f5094aadd4d5ec0d74d06d2230f6157159afbdd4f8b57cad23c9318bd9acfb24",
+   "video_sha256": "93d1983f93f5050a4de5351917fea5c595f88061d34dd73c20c8751ffafaf504",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--merkfwt.json

@@ -0,0 +1,325 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-standard--merkfwt",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 1,
+  "reward": 0.90316,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 1.9368,
+   "de_p90": 4.2758,
+   "de_bad_frac": 0.022497,
+   "de_mean_sheet": 1.9187,
+   "ssim_L": 0.934039,
+   "paint_iou": 0.976096,
+   "paint_area_mm2": 48690.8,
+   "target_paint_area_mm2": 49474.1,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 1.0908,
+   "ssim_L_fine": 0.888985,
+   "edge_corr": 0.89431,
+   "region_cov_min": 0.637662,
+   "region_cov_mean": 0.980205,
+   "n_regions": 71.0,
+   "n_strokes": 390.0,
+   "n_practice_strokes": 16.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 1.9368,
+   "de_p90_unregistered": 4.2758,
+   "ssim_L_unregistered": 0.934039,
+   "edge_corr_unregistered": 0.89431,
+   "paint_iou_unregistered": 0.976096,
+   "success": 1,
+   "final_reward": 0.90316,
+   "path_mm": 16041.84,
+   "longest_stroke_mm": 248.83,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.698,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 1.0,
+   "image_final_reward": 0.90316,
+   "sim_steps": 49060,
+   "resets": 1.0,
+   "n_contacts": 406.0,
+   "samples": 245300.0,
+   "contact_samples": 123700.0,
+   "max_press_m": 0.012856,
+   "max_tilt_deg_in_contact": 0.095994,
+   "max_speed_in_contact_mps": 0.027735,
+   "handle_contact_samples": 0.0,
+   "n_dips": 40.0,
+   "dry_strokes": 0.0,
+   "n_frames": 600.0,
+   "replay_wall_s": 144.5,
+   "replay_success": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 49060,
+   "physics_steps": 245300,
+   "steps": 49060,
+   "calls": 948,
+   "elapsed_s": 2837.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "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/robopaint-acrylic-bluehorses-i00-standard--merkfwt/replay.mp4",
+  "duration_s": 60.0,
+  "fps": 10.0,
+  "frames": 600,
+  "sha256": "a9055300a4b1fde4282e57b38e974cecb12eeeac25459b7b98daafed77c553d8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.1–0.3 s，机械臂末端画笔从颜料井一侧移向练习纸，视频0.3 s侧视中笔毛已呈蓝紫色；视频0.6–1.3 s，练习纸逐渐留下多条蓝紫色笔触，主画纸仍空白。"
+     },
+     {
+      "t": 0.3,
+      "log_step": 11,
+      "text_zh": "推断：视频0.3 s可确认笔刷已经加载颜料，起点精度约0.2 s；结合log step 11的练习程序先下探颜料井再画练习线，以及评分器reward.n_dips=40、n_dry_strokes=0，实际发生了笔毛浸蘸。该事件后续换色不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：浸蘸。机械臂末端固定画笔的笔毛进入颜料井蘸取颜料，随后在练习纸留下蓝紫笔触；现有方式无浸蘸，且这不是从下方托舀物体或压擦固体表面。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": 24,
+      "text_zh": "观察：视频2.4 s主画纸首次可见赭黄色痕迹；视频3–20 s依次增加浅色长带及红、粉、绿色背景，视频21–49 s逐渐形成蓝紫色马匹形体与深色轮廓。侧视可见机械臂使画笔下压触纸、扫过后抬起，主画纸俯视画面同步增加色痕。log step 24的绘画脚本逐笔触纸并在各色组之间蘸色，与录像中的分层绘画相符。"
+     },
+     {
+      "t": 59.9,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频53.0–59.9 s，机器人继续补画后抬笔；视频59.9 s画笔离开纸面，主画纸有蓝紫马匹、深紫轮廓、右侧浅色长带及上部绿红粉黄色背景，终局画面保留这些形体。"
+     },
+     {
+      "t": 59.9,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json的终局reward记录success=1、image_success=1、strict_ok=1、replay_success=1、deterministic=1、live_matches_replay=1；de_mean=1.9368、de_p90=4.2758、ssim_L=0.934039、edge_corr=0.89431、paint_iou=0.976096、n_strokes=390、path_mm=16041.84、scribble_share=0，均满足本DAG相应阈值。"
+     },
+     {
+      "t": 59.9,
+      "log_step": 90,
+      "text_zh": "推断：评分器终局成功且回放与现场一致，结合视频59.9 s完整画面，可确认临摹节点终态为真。区间起点59.9 s采用已检查的终态确认锚点；没有逐帧原始画布或指标，不能精确确定各阈值首次同时满足的更早时刻，也不能据此断言此前一直不达标。log step 90仅提供agent自己的相机估计及服务最终control_steps=49060，未把agent工作时间或控制步数换算为该压缩视频的时钟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频2.4–59.8 s，单臂末端固定画笔的笔毛反复下压接触主画纸并沿笔画扫动，留下不同颜色的痕迹，笔画间抬笔；只记录画笔对纸的接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 1.9368
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 4.2758
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.934039
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.89431
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.976096
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 390.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 16041.84
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.90316
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.0908
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.888985
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.637662
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.980205
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机械臂蘸色后先在练习纸校准笔宽，再在主画纸逐层绘制背景、蓝紫马匹及深色轮廓并补画，两节点终态均完成。评分器确认图像与过程验收通过，主纸390笔、有色路径16041.84毫米、涂填比例0，回放与现场结果一致，无失败断点。缺少逐帧状态和原始画布评分，无法精确定位整幅图首次跨过全部数值阈值的时刻，临摹区间保守采用视频59.9 s终态确认锚点；本次oracle与待标运行相同，不作独立参考。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，两节点终态为真与评分器一致；brush_loaded 起点0.3 s帧中笔毛已蓝紫；临摹区间起点取59.9 s终态锚点已在证据中说明保守原因，无失败断点，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:05:26Z",
+  "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/robopaint-acrylic-bluehorses-i00-standard--merkfwt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-standard--merkfwt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d1e68099de9cdbb8d05124035b38292072723b765969823589bb2705956e652a",
+   "video_sha256": "a9055300a4b1fde4282e57b38e974cecb12eeeac25459b7b98daafed77c553d8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--uwvjddj.json

@@ -0,0 +1,371 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-standard--uwvjddj",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.85169,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.85169,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 2.9662,
+   "de_p90": 6.3898,
+   "de_bad_frac": 0.040852,
+   "de_mean_sheet": 2.947,
+   "ssim_L": 0.902052,
+   "paint_iou": 0.969529,
+   "paint_area_mm2": 50131.2,
+   "target_paint_area_mm2": 49390.4,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 1.7792,
+   "ssim_L_fine": 0.845649,
+   "edge_corr": 0.853071,
+   "region_cov_min": 0.253314,
+   "region_cov_mean": 0.962683,
+   "n_regions": 71.0,
+   "n_strokes": 390.0,
+   "n_practice_strokes": 21.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.2219,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.3138,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.089,
+   "de_p90_unregistered": 6.8146,
+   "ssim_L_unregistered": 0.896473,
+   "edge_corr_unregistered": 0.835468,
+   "paint_iou_unregistered": 0.969214,
+   "path_mm": 8690.59,
+   "longest_stroke_mm": 172.66,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.0722,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.85169,
+   "sim_steps": 20525,
+   "resets": 1.0,
+   "n_contacts": 411.0,
+   "samples": 102625.0,
+   "contact_samples": 39295.0,
+   "max_press_m": 0.014006,
+   "max_tilt_deg_in_contact": 0.166671,
+   "max_speed_in_contact_mps": 0.123751,
+   "handle_contact_samples": 0.0,
+   "n_dips": 79.0,
+   "dry_strokes": 0.0,
+   "n_frames": 588.0,
+   "replay_wall_s": 122.29,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 20525,
+   "physics_steps": 102625,
+   "steps": 20525,
+   "calls": 138,
+   "elapsed_s": 1029.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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/robopaint-acrylic-bluehorses-i00-standard--uwvjddj/replay.mp4",
+  "duration_s": 58.8,
+  "fps": 10.0,
+  "frames": 588,
+  "sha256": "0024b485a03f0fe5c037f7f692f65e44872397dd0c3d03e88e26ea5a6f2ba19a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": 11,
+      "text_zh": "观察：视频0.1–0.2 s机械臂的安装画笔移到颜料盘处下探，视频0.4–1.2 s侧视中画笔在练习纸留下蓝紫色平行线，主画纸此时仍空白；log step 11的执行脚本先浸蘸paint07再画练习线。首次加载锚点约为视频0.2 s，精度约0.2 s。"
+     },
+     {
+      "t": 6.3,
+      "log_step": null,
+      "text_zh": "观察：视频6.3–6.8 s主画纸俯视中出现深紫褐色弯曲笔触，之后机械臂多次换色并留下不同颜色；换色不撤销首次蘸色事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：浸蘸。视频0.1–0.2 s机械臂末端固定安装画笔在颜料盘下探，随后笔毛在练习纸留下有色线条；作用端为笔毛，对象为井中颜料。浸入液态颜料不属于抓握、托/舀或压擦固体，故用其他。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.3,
+      "log_step": 36,
+      "text_zh": "观察：视频0.0–6.2 s主画纸为空白；视频6.3–6.8 s机械臂开始在主画纸画深色曲线，视频8–20 s逐渐添加蓝紫主体、绿色与红粉背景，但仍有大片缺色。"
+     },
+     {
+      "t": 53.0,
+      "log_step": 44,
+      "text_zh": "观察：视频22–52 s机械臂反复以笔毛触纸扫画，主纸已形成蓝紫主体、深色轮廓、右侧浅色��带和上部背景；视频53.0–58.5 s继续局部修补，视频58.6–58.7 s画笔移开，画面保持。"
+     },
+     {
+      "t": 58.7,
+      "log_step": null,
+      "text_zh": "观察：视频58.7 s中央浅紫弧形色带边界呈多段折线，左中部主要为宽浅紫色块；成功参考视频59.9 s相同区域可见较完整的细小绿色块和深色分叉线，中央浅紫弧带也更连贯。参考仅用于辨认可见差异，不作为本次达成证据。"
+     },
+     {
+      "t": 58.7,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json终局评分器给出de_mean=2.9662（要求≤2.0）、de_p90=6.3898（要求≤6.0）、ssim_L=0.902052（要求≥0.92），image_success=0；edge_corr=0.853071、paint_iou=0.969529、n_strokes=390、path_mm=8690.59、scribble_share=0均在各自阈值内，live_matches_replay=1、deterministic=1。"
+     },
+     {
+      "t": 58.7,
+      "log_step": 44,
+      "text_zh": "推断：结合视频中从空白到逐步填画的过程、终局仍在的局部形状差异与上述三项未达阈值，整幅严格临摹未达成；没有可确认的达成区间。log step 44的agent自算修补后色差约2.91仅作辅助，终值以评分器为准。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频6.3–58.5 s机械臂以固定安装的圆头画笔笔毛下压主画纸并扫出曲线和短线，颜料随接触留在纸面；末段继续局部补画。作用端为笔毛，对象为主画纸，未另计工具安装链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 2.9662
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 6.3898
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.902052
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.853071
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.969529
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 390.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 8690.59
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.85169
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.7792
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.845649
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.253314
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.962683
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 53.0,
+   "log_step": 44,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约53.0 s主画已具整体构图，机械臂随后继续局部补画，至视频58.7 s仍保留中央弧带与左中部细线形状的差异；log step 44记录本次修补执行。终局评分器de_mean=2.9662、de_p90=6.3898、ssim_L=0.902052仍不满足该节点，失败发生在整幅临摹步骤；视频53.0 s是修补阶段的导航锚点，并非某一错误笔触的精确起点。"
+  },
+  "unmet": {
+   "bluehorses_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部笔触形状偏差",
+    "t": 58.7,
+    "log_step": null,
+    "evidence_zh": "观察：视频58.6–58.7 s画笔已移开，中央浅紫弧带由数段折线状短笔触拼成，左中部细节被宽浅紫色块替代；对照成功参考视频59.9 s，可见其左中部绿色块旁有深色分叉线，中央浅紫弧带也更连贯。本次局部色块和细线的形状差异在修补结束后仍存在。",
+    "note_zh": "候选：局部笔触形状偏差。这里描述纸面可见的色块轮廓和细线缺失，现有接触、运动、全身等现象没有准确涵盖绘画结果的形状误差；未见足以认定笔尖位姿失准或异常接触力的证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 20,
+    "t": null,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent所选笔触组合及修补策略对目标细节的表达不足。log step 20的规划脚���用固定颜色的扫掠圆盘近似笔触，按单笔像素色差收益贪心选路径和宽度，未把明度结构验收纳入目标；log step 35–36记录其采用350笔方案并保留40笔修补，log step 38对理想计划图自算的模糊后平均色差已约2.52，高于2.0。log step 44沿用同一规划器做35笔修补后自算约2.91，视频58.7 s仍有局部形状差异，评分器也确认三项图像指标未达标。因此规划层面的图像近似和笔触安排已有独立不足证据；这些自算值不冒充评分器。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志或原始画布序列，压缩视频无法精确复算每一时刻的色差与SSIM，无法定位某一笔使阈值失效的时刻。规划不足有脚本和计划图估计支持，但无法逐笔定量区分计划近似误差与实际笔宽、轨迹跟踪误差，故不追加控制子类根因。"
+ },
+ "summary_zh": "机械臂在视频约0.2 s完成首次蘸色，随后在主画纸完成蓝紫主体、背景与修补，最终节点为1/2。断点为蓝马图临摹：局部细线与色块轮廓仍有偏差，平均色差、九十分位色差和明度SSIM未过阈值；日志支持所用贪心笔触规划及修补策略的图像近似不足。缺少逐帧原始画布与状态，无法精确定位误差起点或分离控制误差。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（brush_loaded 约0.2 s达成、bluehorses_copied未达成）、接触、断点和根因均有视频、评分器数值及log step 20/36/38/44支持，未发现改变读者认知的错误。",
+    "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": "2026-10-30T22:45:48Z",
+  "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/robopaint-acrylic-bluehorses-i00-standard--uwvjddj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-standard--uwvjddj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "178585c3b7cdd66c6b343d81add3ac8f216f3844bf8e31e1da5decc5bfb0e860",
+   "video_sha256": "0024b485a03f0fe5c037f7f692f65e44872397dd0c3d03e88e26ea5a6f2ba19a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--ypyvml7.json

@@ -0,0 +1,356 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bluehorses-i00-standard--ypyvml7",
+ "taskKey": "robopaint/acrylic_bluehorses",
+ "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec",
+ "outcome": {
+  "success": 0,
+  "reward": 0.422809,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 8.7251,
+   "de_p90": 23.1249,
+   "de_bad_frac": 0.272322,
+   "de_mean_sheet": 8.6854,
+   "ssim_L": 0.615047,
+   "paint_iou": 0.927246,
+   "paint_area_mm2": 47909.1,
+   "target_paint_area_mm2": 49217.7,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 6.2704,
+   "ssim_L_fine": 0.527143,
+   "edge_corr": 0.390864,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.736412,
+   "n_regions": 71.0,
+   "n_strokes": 520.0,
+   "n_practice_strokes": 18.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.4437,
+   "register_dy_mm": 0.8874,
+   "register_shift_mm": 0.9922,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 8.9229,
+   "de_p90_unregistered": 23.9214,
+   "ssim_L_unregistered": 0.59793,
+   "edge_corr_unregistered": 0.367732,
+   "paint_iou_unregistered": 0.925368,
+   "success": 0,
+   "final_reward": 0.422809,
+   "path_mm": 7172.24,
+   "longest_stroke_mm": 197.04,
+   "max_path_mm": 35900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.7786,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.422809,
+   "sim_steps": 27057,
+   "resets": 1.0,
+   "n_contacts": 538.0,
+   "samples": 135285.0,
+   "contact_samples": 12909.0,
+   "max_press_m": 0.01502,
+   "max_tilt_deg_in_contact": 0.595946,
+   "max_speed_in_contact_mps": 0.277359,
+   "handle_contact_samples": 87.0,
+   "n_dips": 367.0,
+   "dry_strokes": 0.0,
+   "n_frames": 590.0,
+   "replay_wall_s": 124.05,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 27057,
+   "physics_steps": 135285,
+   "steps": 22030,
+   "calls": 400,
+   "elapsed_s": 3036.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "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/robopaint-acrylic-bluehorses-i00-standard--ypyvml7/replay.mp4",
+  "duration_s": 59.0,
+  "fps": 10.0,
+  "frames": 590,
+  "sha256": "649a4129ce8c20024814fd6da31bca880dca51425d25341142cc3e14fabd1867"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": 38,
+      "text_zh": "观察：视频 0.1–0.2 s 机器人画笔从颜料盘一侧移向练习纸，视频 0.3–0.6 s 侧视画面可见笔尖触纸并留下浅紫色线条，随后出现更宽的有色试笔；log step 38 的脚本先蘸 paint03 再在练习纸试画。"
+     },
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "推断：首个有色试笔证明干刷已经加载颜料，将首次可见有色线条的视频 0.3 s 作为达成锚点，实际浸蘸发生得稍早，误差约 0.2 s；后续换色不撤销此事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机器人末端安装画笔的笔毛浸蘸颜料井中的颜料；视频 0.1–0.6 s 的盘侧移动和随后的浅紫色试笔相互佐证。候选：浸蘸；现有抓握、托/舀及压/擦均不准确描述笔毛进入液态颜料加载颜色。"
+     }
+    ]
+   },
+   "bluehorses_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–2 s 主纸仍为空白，机器人在邻侧练习纸试笔；视频 4–26 s 主纸逐渐出现分散的蓝紫色、深色及绿红黄色笔触，大片纸面尚未覆盖。"
+     },
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 26–32 s 机器人继续用安装画笔压触和扫过主纸，形成主要蓝紫色形体、深紫轮廓及上方背景，但各色带间仍有许多白色窄缝和碎缺口。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "观察：视频 40–58.9 s 虽继续补画，马匹色带内及其边缘的碎白缝仍可见；视频 58.0–58.9 s 密集检查后，机器人抬笔离开，末帧保留这些缺口。成功参考视频 59.9 s 的相应色带更连续、轮廓��平滑；该参考只用于辨认可见差异。"
+     },
+     {
+      "t": 58.9,
+      "log_step": 123,
+      "text_zh": "观察：本次评分器字段 de_mean=8.7251>2、de_p90=23.1249>6、ssim_L=0.615047<0.92、edge_corr=0.390864<0.8、paint_iou=0.927246<0.95，且 n_strokes=520>390、stroke_count_ok=0；deterministic=1、live_matches_replay=1。agent 在 log step 123 也承认笔数超过上限，但其自计682条计划笔触与评分器520笔口径不同，验收采用评分器值。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "推断：早期图像尚未成形，后期直到末帧仍存在可见的色带覆盖缺口，并有上述终局验收指标佐证，未观察到整幅临摹满足条件的区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4–58.7 s 机器人用末端安装的圆头画笔反复下探主画纸、压触并沿纸面扫过，留下多色笔触；期间抬笔换色再落笔。只标画笔笔毛与纸面的作用，不重复标固定工具的安装连接。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 8.7251
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 23.1249
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.615047
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.390864
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.927246
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better",
+   "value": 520.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 35900.0,
+   "direction": "lower_better",
+   "value": 7172.24
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.422809
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "CIELAB DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 6.2704
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.527143
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.736412
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bluehorses_copied",
+   "t": 32.0,
+   "log_step": 102,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 30–32 s 主体图案已形成，但蓝紫色带与深紫轮廓之间仍有大量碎白缝；机器人随后持续补画，视频 58.9 s 仍未消除。log step 102 的 agent 自算首轮结果也报告缺失覆盖，log steps 106、109 随后追加补画；本次评分器终局同时显示图像指标不合格及520笔超过390笔。视频锚点取完整图案开始显露覆盖缺陷处，未将 agent 时间换算为视频时间。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触覆盖缺口",
+    "t": 32.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 30–32 s 已成形图案的蓝紫色区域被许多细白缝和碎白点切开，深色曲线的边缘也不连续；视频 58.0–58.9 s 机器人完成补画并离纸后，这些缺口仍保留，成功参考视频 59.9 s 的对应区域则更连续。",
+    "note_zh": "候选：笔触覆盖缺口；这是实际绘画结果中的未覆盖纸面，并非没有接触纸面、失去抓持或可见的碰撞阻挡，也没有证据把所有缺口归为末端位姿误差；现有现象词项缺少对绘画覆盖缺陷的直接描述。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 106,
+    "evidence_zh": "推断：agent 的笔触分解及后续补画方案没有在390笔上限内解决覆盖问题。log step 67 的提取结果在375条计划笔触时仍有3.3%目标像素未解释，log step 91 将390条候选过滤成388条，log step 99 确认该计划执行完毕；在 log step 102 自算发现覆盖缺口后，agent 在 log steps 106、109 又分别安排107、187条补画，未在修补计划中保留总笔数上限。视频 30–58.9 s 显示继续补画仍留碎白缝，评分器最终 n_strokes=520>390；log step 123 明确认可超笔数已经排除成功。这支持笔触与修补预算规划不合格，而非由停止行为反推原因。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志或原始终局画布，不能从压缩视频精确复算图像阈值，也不能确定碎白缝来自笔宽模型、压入深度还是轨迹跟踪误差，故不另加控制子类。首次蘸色被机械臂局部遮挡，以视频 0.3 s 首次有色试笔佐证，时刻约有0.2 s误差；无法逐笔对应计划与实际触纸计数，终局采用评分器520笔而非agent自计682条计划。",
+  "unmet": {
+   "bluehorses_copied": false
+  }
+ },
+ "summary_zh": "机器人完成蘸色并实际绘制了主要蓝紫色形体与上方背景，最终达到1/2节点，整幅临摹未达标。视频 30–58.9 s 可见补画后仍有碎白缝，评分器图像指标均未达要求且主纸520笔超过390笔；日志支持笔触分解与补画预算规划不合格。无逐帧状态日志，碎白缝的具体控制来源不能确定，计划笔触数与实际评分笔数按各自口径区分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 brush_loaded 达成、bluehorses_copied 未达成与评分器全部不达标一致；断点、现象（其他·笔触覆盖缺口）、根因（规划）有视频与评分器字段支持，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": "2026-10-30T22:52:52Z",
+  "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/robopaint-acrylic-bluehorses-i00-standard--ypyvml7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bluehorses-i00-standard--ypyvml7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6228fe7ca0878b1259e4d7f6a10f082ea5d74d8d123dc8a51dfd90c8eddeb083",
+   "video_sha256": "649a4129ce8c20024814fd6da31bca880dca51425d25341142cc3e14fabd1867",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--78dx6fm.json

@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-privileged--78dx6fm",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.88078,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.88078,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 2.3844,
+   "de_p90": 6.2625,
+   "de_bad_frac": 0.033571,
+   "de_mean_sheet": 2.3696,
+   "ssim_L": 0.909943,
+   "paint_iou": 0.976821,
+   "paint_area_mm2": 49926.8,
+   "target_paint_area_mm2": 49806.7,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 1.1603,
+   "ssim_L_fine": 0.84091,
+   "edge_corr": 0.82539,
+   "region_cov_min": 0.0528,
+   "region_cov_mean": 0.973949,
+   "n_regions": 119.0,
+   "n_strokes": 376.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 2.3844,
+   "de_p90_unregistered": 6.2625,
+   "ssim_L_unregistered": 0.909943,
+   "edge_corr_unregistered": 0.82539,
+   "paint_iou_unregistered": 0.976821,
+   "path_mm": 7643.1,
+   "longest_stroke_mm": 82.83,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.8452,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.88078,
+   "sim_steps": 34638.0,
+   "resets": 1.0,
+   "n_contacts": 376.0,
+   "samples": 173190.0,
+   "contact_samples": 50622.0,
+   "max_press_m": 0.013098,
+   "max_tilt_deg_in_contact": 0.121697,
+   "max_speed_in_contact_mps": 0.026719,
+   "handle_contact_samples": 0.0,
+   "n_dips": 376.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 223.0,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 34638,
+   "video_rendered": 1,
+   "agent_sessions": 14,
+   "agent_resets": 12,
+   "agent_sim_steps": 301371,
+   "agent_records": 6,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.062,
+   "peak_memory_gb": 1.198,
+   "peak_processes": 15,
+   "peak_disk_gb": 0.254,
+   "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/robopaint-acrylic-greatwave-i00-privileged--78dx6fm/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "b2dc18f0055bdc383458ae88e403d72809a1ecff96a6b9ba6733d12fde1eb89b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.1 s 主纸尚空白，视频 0.2 s 右下画纸视图首次出现深蓝短笔触，视频 0.3 s 该笔触已拉长；机械臂笔刷随后持续留下多色笔迹。首次载色时刻以首次可见色迹约视频 0.2 s 为锚，误差约 0.1 s。"
+     },
+     {
+      "t": null,
+      "log_step": 59,
+      "text_zh": "推断：首次真实深蓝笔迹证明机械臂的干刷已蘸色；输入 reward 的 n_dips=376、n_dry_strokes=0 支持实际载色。log step 59 选择的 r4 交付轨迹，其色差、笔数及笔路指标与输入 reward 一致；早期调试轨迹不作为本节点进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选接触“浸蘸”：机械臂末端安装的圆头刷毛接触颜料井内颜料；视频 0.2 s 起真实彩色笔迹与评分器 n_dips=376 支持此接触。首次入井细节被机械臂及录像采样遮蔽。浸蘸不是抓握、压擦或托舀，故用其他。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–57.0 s 每隔视频 3.0 s 检查整段，机械臂从零散蓝色、灰绿色与褐色笔触逐渐组成中央卷浪、浅色背景及底部水波与舟形；视频 12.0 s 仍有明显未连接的浅色区，后续继续覆盖和补细节。"
+     },
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频 45.0–59.5 s 每隔视频 0.5 s 及视频 58.8–59.8 s 逐帧检查，右下画纸视图中的卷浪、背景和舟形均已形成，但浪头顶缘浅色细线及底部多色细条仍呈粗块和局部不连续；对比成功参考视频 59.8 s，相应浅色边线和细条的形状、覆盖仍有差异。末段机械臂仍在主纸上落笔补画。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 59,
+      "text_zh": "观察：视频 59.8 s 的主纸保留上述局部差异；评分器 reward 报 de_mean=2.3844>2、de_p90=6.2625>6、ssim_L=0.909943<0.92，故最终未达到联合验收。edge_corr=0.82539、paint_iou=0.976821、n_strokes=376、path_mm=7643.1、scribble_share=0 均满足各自阈值。log step 59 保存 r4；log step 63 的两次新进程重放返回相同色差、reward 和状态哈希。"
+     },
+     {
+      "t": 57.0,
+      "log_step": null,
+      "text_zh": "推断：较早画面明显未完成，末段局部差异持续存在且最终多项相似度未达标，未见先完成整图后又被覆盖破坏的过程，故本节点记为全程未达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.2–59.8 s，单臂末端安装的圆头笔刷反复下降接触主纸、沿纸面划过并留下颜料，再抬起换位；只计刷毛与主纸的工具接触链。固定底座未移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 2.3844
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.2625
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.909943
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.82539
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.976821
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 376.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 7643.1
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.88078
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 58.8,
+   "log_step": 59,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.8–59.8 s 机械臂仍在临摹步骤中补画，主纸已有完整大构图，但浪头边线及底部细条的局部形状和覆盖仍有偏差；评分器最终平均色差、90 分位色差与亮度结构相似度均未达 DAG 阈值。log step 59 保存的 r4 与评分器最终指标一致，log step 63 两次重放一致。此处视频 58.8 s 是末段缺陷仍未修复的导航锚，无证据定位为某一笔突然破坏了已完成作品。"
+  },
+  "unmet": {
+   "greatwave_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部笔触轮廓与覆盖偏差",
+    "t": 58.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.8–59.8 s 的右下画纸图中，中央深蓝浪头顶缘为较宽色块，浅色边线局部缺失；底部浅绿、蓝色细条有块状拼接与断续。成功参考视频 59.8 s 对应浪头浅线和底部细条的形状、连贯性不同；本次末段补画后这些局部差异仍在。",
+    "note_zh": "候选“局部笔触轮廓与覆盖偏差”描述可见画面缺陷；现有接触失败或末端位姿不准不能准确表达已留下的多笔色块和细线误差，且没有证据将它们归于某次接触丢失或碰撞，因此用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": null,
+    "log_step": 28,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 16、20 的 Planner/Planner2 按模糊后的色差收益给单笔候选排序，log step 28 的生成循环每次选当下收益最大的笔触，执行后只更新画布再选下一笔，固定最多376笔；该选择目标未联合结构相似度，也未对余下笔数和多笔覆盖顺序作全局优化。log step 42、50、53、59 显示最终 r4 沿用此循环，增加候选和宽度并减速；log step 58–59 达到376笔后色差和结构指标仍不达标，视频 58.8–59.8 s 仍有局部轮廓/覆盖差异。据此归为笔触分配与覆盖顺序的规划不足，而不是把 agent 停止或笔数上限本身当成根因。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态或逐笔验收指标，不能精确定位整图差异首次变得不可修复的单笔，也不能量化规划笔迹与实际刷尖跟踪误差各自的贡献；首次蘸色时刻以视频 0.2 s 的真实色迹间接确定。规划根因为脚本选择逻辑与最终结果的推断，agent 在 log step 64 关于“更少贪心的规划可能有效”的说法未被本次运行的替代实验验证。"
+ },
+ "summary_zh": "机械臂约在视频 0.2 s 首次留下真实色迹，完成蘸色前置，并以376笔画出巨浪主体、背景和舟形，最终节点为1/2。断在临摹巨浪图：视频 58.8–59.8 s 仍有浪头边线和底部细条的局部轮廓/覆盖差异，最终色差与结构相似度未达标；脚本逐笔最大化局部色差收益的规划被推断未能充分安排覆盖顺序与笔数。无逐帧状态及逐笔指标，不能确定单笔失误或分离跟踪误差的贡献。",
+ "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、末态（评分器 de_mean/de_p90/ssim 未达标，greatwave_copied 全程未达）、contact_actual、断点（视频 58.8 s 为导航锚）与日志步号（按 id）均与视频、评分字段和 run.json 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": "2026-10-30T23:02:07Z",
+  "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/robopaint-acrylic-greatwave-i00-privileged--78dx6fm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-privileged--78dx6fm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "20c19a6f0937e514b17965292e40605e7eead39b4e60da23a441e5702952651f",
+   "video_sha256": "b2dc18f0055bdc383458ae88e403d72809a1ecff96a6b9ba6733d12fde1eb89b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--anuh85z.json

@@ -0,0 +1,347 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-privileged--anuh85z",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.60842,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.60842,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 7.8316,
+   "de_p90": 22.5031,
+   "de_bad_frac": 0.263229,
+   "de_mean_sheet": 7.8182,
+   "ssim_L": 0.582896,
+   "paint_iou": 0.901947,
+   "paint_area_mm2": 47210.2,
+   "target_paint_area_mm2": 49767.4,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 5.5381,
+   "ssim_L_fine": 0.503613,
+   "edge_corr": 0.283428,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.751745,
+   "n_regions": 119.0,
+   "n_strokes": 371.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": -0.4437,
+   "register_shift_mm": 0.4437,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 7.869,
+   "de_p90_unregistered": 22.5343,
+   "ssim_L_unregistered": 0.581736,
+   "edge_corr_unregistered": 0.275461,
+   "paint_iou_unregistered": 0.901284,
+   "path_mm": 7686.49,
+   "longest_stroke_mm": 96.37,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.1583,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.60842,
+   "sim_steps": 13854.0,
+   "resets": 1.0,
+   "n_contacts": 371.0,
+   "samples": 69270.0,
+   "contact_samples": 41016.0,
+   "max_press_m": 0.013117,
+   "max_tilt_deg_in_contact": 0.348939,
+   "max_speed_in_contact_mps": 0.085504,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 579.0,
+   "replay_wall_s": 148.1,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 13854,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 4,
+   "agent_sim_steps": 54596,
+   "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/robopaint-acrylic-greatwave-i00-privileged--anuh85z/replay.mp4",
+  "duration_s": 57.9,
+  "fps": 10.0,
+  "frames": 579,
+  "sha256": "677f17e9636c258e5ba16a081519def85f23fa972919dadf765ffa9538698932"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸为空白，机械臂随即从颜料盘附近移向纸面；视频 0.2 s 右下主纸图首次出现米灰色小笔迹，视频 0.3–0.4 s 该笔迹随刷尖扫动延长，证明笔刷已载色。首次蘸色时刻以首次可见色迹定位，约有 0.2 s 不确定性。"
+     },
+     {
+      "t": 57.8,
+      "log_step": 71,
+      "text_zh": "观察：视频 56.8–57.8 s 机械臂仍在主纸上留下浅色笔触；log step 71 对 log step 70 所交付轨迹的新进程回放报告 loaded=true、n_dips=10、dry_strokes=0，与持续载色作画相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：单臂末端安装的圆头笔刷刷毛浸蘸颜料井内颜料；视频开头的盘边移动、随后真实彩色笔迹及交付轨迹回放的10次蘸色共同支持。候选“浸蘸”；现有接触值不能准确表示刷毛吸附颜料，故用其他。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 右下主纸图为空白；全段粗看可见机械臂先画米灰底色，再逐渐添加浅绿灰浪带、褐色及深蓝笔迹，最后补浅色笔触，始终没有完成后又破坏整图的阶段。"
+     },
+     {
+      "t": 54,
+      "log_step": null,
+      "text_zh": "观察：视频 50.0–57.8 s 右下主纸图已有中央深蓝卷浪和底部水波，但上部及右侧米灰背景夹有多条白色空隙，中央和底部浪带由粗短���块拼接，细线与连接轮廓缺漏；最后一秒逐帧检查仍未修复。成功参考视频 59.8 s 的对应背景和浪带更连续，该参考仅用于辨认完成形态。"
+     },
+     {
+      "t": 57.8,
+      "log_step": 71,
+      "text_zh": "观察：评分器最终字段及 log step 71 的交付文件回放均报告 de_mean=7.8316>2、de_p90=22.5031>6、ssim_L=0.582896<0.92、edge_corr=0.283428<0.8、paint_iou=0.901947<0.95；n_strokes=371≤376，strict_ok=1，deterministic=1。结合视频中的持续缺漏，临摹节点未达到整体验收，而非仅由 success=0 反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂以固定安装的圆头笔刷刷尖压住主纸并沿纸面扫动，多次抬笔、换位置和换色；纸面随这些动作出现并延长彩色笔迹。接触链记刷毛与主纸，不另记笔柄夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 7.8316
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 22.5031
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.582896
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.283428
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.901947
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 371.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 7686.49
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.60842
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 54.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54.0 s 机械臂正在主纸上补画，右下画纸图的上部背景仍有白色断隙，浪带边缘仍呈粗短、断续色块；这些缺陷在视频 57.8 s 仍可见。该时刻是后期未修复缺陷的导航锚点，不代表某一笔突然造成全部误差；评分器最终五项图像指标均未达标，而笔数与过程规则通过。"
+  },
+  "unmet": {
+   "greatwave_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触缺漏与轮廓失真",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0–57.8 s 的主纸图中，上部及右侧背景有白色条状空隙，浅绿灰浪带和底部水波的连接处断开或变成粗块；与成功参考视频 59.8 s 对应区域相比，缺少连续、细窄的轮廓。",
+    "note_zh": "候选“笔触缺漏与轮廓失真”：这是可见的绘画结果缺陷，现有接触、运动、全身、约束、汇报和没尝试条目均不能准确描述；不把图像评分不达标本身作为现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 64,
+    "evidence_zh": "观察：log step 64 中 agent 的脚本按“正确颜色面积减错误颜色面积”排序并贪心选至372笔；log step 65 的离线预测为 de_mean=7.185、ssim=0.8016、edge_corr=0.5648、iou=0.9104，已未达到目标图像阈值。log step 66 启动该方案的 run2 仿真，log step 68 报告 ssim_L=0.583208、edge_corr=0.369535、paint_iou=0.870199，比离线预测进一步下降。log step 69 将笔宽统一扩大1.22倍并按面积保留368笔；log step 70 交付此修改版，log step 71 回放得到 ssim_L=0.582896、edge_corr=0.283428、paint_iou=0.901947。推断：笔画分解和筛选已损失细节，预测与仿真之间的进一步差距支持开环笔画模型对刷毛实际落色宽度、轮廓估计不准的规划归因；视频 54.0–57.8 s 的缺漏和粗化与此相符。离线预测与最终交付并非完全相同的方案，不能把两者差值全部归于执行落差；也不能据此排除逆解或跟踪因素。log step 71 的最大接触倾角0.348939°、最大接触速度0.085504 m/s 仅描述这些接触量，不证明笔画宽度、轮廓或跟踪均准确。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或整图指标序列，无法定位每处轮廓误差首次出现的具体笔画，也无法独立分离笔画提取近似、开环落色模型失准与可能的执行误差的贡献；log step 69 还修改了笔宽与笔画集合，离线预测和最终交付的指标差不是仅改变执行因素的对照。规划根因是结合已记录方案、离线��测、run2 仿真及最终画面的推断，不能据接触倾角和速度读数排除逆解或跟踪问题。首次载色以视频 0.2 s 首次可见色迹保守定位。"
+ },
+ "summary_zh": "机械臂完成首次蘸色并持续绘画，终态完成1/2个节点；主纸出现巨浪的大体配色和构图，但背景空隙与浪带轮廓缺漏在视频 57.8 s 仍未修复，临摹节点未完成。评分器确认笔数、笔路及填色规则通过，失败集中在五项图像相似度；日志中的笔画方案在离线预测中已有明显误差，run2 仿真又进一步下降，支持细节简化与开环落色模型失准的规划归因。没有逐帧状态或图像指标序列，且最终方案经过笔宽与笔画集合修改，无法分离各项误差贡献或排除逆解、跟踪因素；断点用视频 54.0 s 的后期操作作导航。",
+ "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、现象与评分器数据基本成立：视频 0.2 s 首次出现色迹、57.8 s 仍有缺漏，临摹未达标。唯一需改：根因证据把离线预测当作“尚未涉及执行即远离目标”，但同一日志显示预测到真实回放 ssim/edge/iou 大幅下降，规划因果需说明该差距，否则证据过度。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点（brush_loaded 达成、greatwave_copied 未达成）、断点、现象与规划根因均有视频和评分器数据支持；第1轮意见已落实，根因证据已区分离线预测、run2 仿真与最终交付并标为推断。",
+    "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": "2026-10-30T23:07:58Z",
+  "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/robopaint-acrylic-greatwave-i00-privileged--anuh85z/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-privileged--anuh85z/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-privileged--anuh85z/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-privileged--anuh85z/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5d343b5ec98598a16d0b8f479ab8e3066116f928d7d1c2ae04ddb2a9c69a23ed",
+   "video_sha256": "677f17e9636c258e5ba16a081519def85f23fa972919dadf765ffa9538698932",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--e4ppqjc.json

@@ -0,0 +1,330 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-privileged--e4ppqjc",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.87501,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.87501,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 2.4998,
+   "de_p90": 5.9076,
+   "de_bad_frac": 0.050152,
+   "de_mean_sheet": 2.4839,
+   "ssim_L": 0.888339,
+   "paint_iou": 0.969943,
+   "paint_area_mm2": 48984.5,
+   "target_paint_area_mm2": 49806.7,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 1.5156,
+   "ssim_L_fine": 0.837407,
+   "edge_corr": 0.80308,
+   "region_cov_min": 0.439838,
+   "region_cov_mean": 0.956074,
+   "n_regions": 119.0,
+   "n_strokes": 367.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 2.4998,
+   "de_p90_unregistered": 5.9076,
+   "ssim_L_unregistered": 0.888339,
+   "edge_corr_unregistered": 0.80308,
+   "paint_iou_unregistered": 0.969943,
+   "path_mm": 8281.63,
+   "longest_stroke_mm": 161.32,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.8048,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.87501,
+   "sim_steps": 21186.0,
+   "resets": 1.0,
+   "n_contacts": 367.0,
+   "samples": 105930.0,
+   "contact_samples": 65622.0,
+   "max_press_m": 0.014095,
+   "max_tilt_deg_in_contact": 0.205594,
+   "max_speed_in_contact_mps": 0.033776,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 590.0,
+   "replay_wall_s": 195.3,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 21186,
+   "video_rendered": 1,
+   "agent_sessions": 27,
+   "agent_resets": 44,
+   "agent_sim_steps": 406311,
+   "agent_records": 14,
+   "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/robopaint-acrylic-greatwave-i00-privileged--e4ppqjc/replay.mp4",
+  "duration_s": 59.0,
+  "fps": 10.0,
+  "frames": 590,
+  "sha256": "aa69aeda87fb8705ec8f4d49e4502ca7c798e821140890b3df2961fdbac46be3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–0.1 s主纸为空白，视频0.2 s右下画纸视图首次出现绿色色点，视频0.3–0.5 s扩展为真实绿色笔触，机械臂末端笔刷在纸面作画。"
+     },
+     {
+      "t": 0.2,
+      "log_step": 227,
+      "text_zh": "推断：干刷初态下出现绿色笔触证明机械臂已完成首次载色，以视频0.2 s作为可确认的达成锚点；实际浸蘸发生在此前的短暂运动中，被机械臂遮挡。交付文件回放工具在log step 227报告loaded=true、n_dips=10、dry_strokes=0，评分器同样报告10次蘸色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂安装的圆头笔刷以刷毛接触颜料井中的颜料并载色，由视频0.2 s起真实绿色笔迹及评分器n_dips=10共同确认。候选接触“浸蘸”：刷毛浸入液体，无夹持、推扫或从下方舀起动作，现有接触值无准确对应；井内接触瞬间被遮挡。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.2–38.0 s机械臂依次增加绿灰、米黄与深蓝笔触；视频20.0 s仍有大块空白，视频38.0 s中央深蓝卷浪与下部水波已可辨，背景尚未填完整。"
+     },
+     {
+      "t": 53.5,
+      "log_step": null,
+      "text_zh": "观察：视频51.0–58.9 s右下画纸图显示巨浪主体和褐色舟形笔触，但上部背景、深蓝浪头内部及下部浪带仍有零碎白洞与断缝；视频58.0–58.9 s逐帧检查后这些缺口仍存在。对照成功示例视频58.5 s，相应色块覆盖更连贯，本次露白更多、边界更碎。"
+     },
+     {
+      "t": 58.9,
+      "log_step": 227,
+      "text_zh": "观察：评分器对交付轨迹给出de_mean=2.4998（要求≤2）、ssim_L=0.888339（要求≥0.92）、image_success=0；其余受评指标de_p90=5.9076、edge_corr=0.80308、paint_iou=0.969943、n_strokes=367、path_mm=8281.63、scribble_share=0均满足对应阈值。log step 225保存21186行轨迹，log step 227回放同一文件得到一致指标；该回放结果与视频末态相符。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "推断：前段画面尚不完整，末段完成主体后仍有覆盖缺口且最终图像验收失败，因此本节点未达成；不将会话中增加到570笔的另一次试画结果计入本视频进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频0.2–58.9 s机械臂末端安装的圆头笔刷反复下压主画纸、沿纸面滑动留下彩色笔触并抬起转移。记录刷毛与纸面的工具接触链；无额外夹爪抓握步骤。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 2.4998
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 5.9076
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.888339
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.80308
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.969943
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 367.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 8281.63
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.87501
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 53.5,
+   "log_step": 227,
+   "where": "操作中",
+   "evidence_zh": "观察：视频53.5 s机械臂仍在临摹巨浪，整幅构图已成形，但背景和浪带内残留白色缺口；视频58.9 s仍未补齐。评分器最终de_mean=2.4998、ssim_L=0.888339未满足整图验收，log step 227对交付文件的回放也报告同样失败；断点为临摹整幅巨浪图。"
+  },
+  "unmet": {
+   "greatwave_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触覆盖缺口",
+    "t": 53.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频53.5 s和58.9 s右下画纸图可见上部米灰背景的细碎白缝、深蓝浪头中的小白洞及下部浪带间的断口；与成功示例视频58.5 s相比，这些区域的覆盖更破碎。视频58.0–58.9 s机械臂继续补画局部，但上述缺口仍保留。",
+    "note_zh": "候选现象“笔触覆盖缺口”：描述已实际作画后留下的漏涂和碎裂色块；现有接触、位姿、全身等现象不能准确表达绘画覆盖缺陷，也没有足够证据将其定为单次笔尖位姿偏移。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 230,
+    "evidence_zh": "推断：agent的笔画覆盖规划未能在376笔限制内兼顾细部覆盖。log step 206的生成代码按颜色分层、用区域骨架候选笔画做贪心覆盖；log step 219的同配置规划报告344条候选执行笔画仍有66996像素未覆盖，log step 222实际执行后评分器计367笔且平均色差和结构相似度失败。log step 225保存的正是这组动作，log step 230的生成脚本明确以单笔新增覆盖不足400像素作为停止筛选条件。结合视频53.5–58.9 s未补齐的碎小缺口，支持归因于笔画分配与覆盖策略不足；会话中另一个570笔方案（log step 208）图像指标改善但超过笔数上限，不能作为本次已达成的结果。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或逐帧图像评分，不能精确分离每处缺口对色差与结构相似度的贡献，也不能确定图像验收距阈值最近的瞬间；节点区间依据视频构图演变及交付文件最终评分判断。首次浸蘸被机械臂遮挡，仅能由视频0.2 s出现真实彩色笔迹确认已载色；该时间是确认锚点。覆盖规划的因果归属为日志与末态缺陷共同支持的推断，不据agent关于笔数冲突的自述推断任务无解。"
+ },
+ "summary_zh": "机械臂于视频0.2 s已可确认笔刷载色，随后画出可辨认的深蓝卷浪、绿灰浪带、米黄背景及褐色舟形，最终完成1/2个节点。临摹整图未达成：视频末段仍有碎小覆盖缺口，评分器平均色差2.4998与结构相似度0.888339未达标；交付回放一致，日志支持笔画分配与覆盖规划不足。没有逐帧评分，无法精确核算缺陷形成与各项指标的时序，首次浸蘸时刻也仅能由笔迹间接确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、接触、断点与评分器字段一致；视频58.5 s画面确有零碎白缝，交付回放评分未达标，推理/规划归因有日志支持。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": "2026-10-30T22:56:21Z",
+  "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/robopaint-acrylic-greatwave-i00-privileged--e4ppqjc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-privileged--e4ppqjc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "309b6b51d2fd1830eb39f4a64820e41a570d28a98be0d4b3d690f6ad16c57941",
+   "video_sha256": "aa69aeda87fb8705ec8f4d49e4502ca7c798e821140890b3df2961fdbac46be3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--jkg8lu5.json

@@ -0,0 +1,332 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-privileged--jkg8lu5",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.852115,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.852115,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 2.9577,
+   "de_p90": 7.6582,
+   "de_bad_frac": 0.06492,
+   "de_mean_sheet": 2.9382,
+   "ssim_L": 0.86935,
+   "paint_iou": 0.969134,
+   "paint_area_mm2": 48792.0,
+   "target_paint_area_mm2": 49767.9,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 1.6884,
+   "ssim_L_fine": 0.799976,
+   "edge_corr": 0.761554,
+   "region_cov_min": 0.295918,
+   "region_cov_mean": 0.943345,
+   "n_regions": 119.0,
+   "n_strokes": 368.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.2219,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 2.9718,
+   "de_p90_unregistered": 7.7301,
+   "ssim_L_unregistered": 0.869016,
+   "edge_corr_unregistered": 0.760605,
+   "paint_iou_unregistered": 0.969054,
+   "path_mm": 10364.57,
+   "longest_stroke_mm": 164.18,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.6871,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.852115,
+   "sim_steps": 20837.0,
+   "resets": 1.0,
+   "n_contacts": 368.0,
+   "samples": 104185.0,
+   "contact_samples": 62880.0,
+   "max_press_m": 0.012919,
+   "max_tilt_deg_in_contact": 0.28818,
+   "max_speed_in_contact_mps": 0.047922,
+   "handle_contact_samples": 0.0,
+   "n_dips": 11.0,
+   "dry_strokes": 0.0,
+   "n_frames": 597.0,
+   "replay_wall_s": 198.6,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 20837,
+   "video_rendered": 1,
+   "agent_sessions": 17,
+   "agent_resets": 19,
+   "agent_sim_steps": 185893,
+   "agent_records": 3,
+   "agent_replays": 6,
+   "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/robopaint-acrylic-greatwave-i00-privileged--jkg8lu5/replay.mp4",
+  "duration_s": 59.7,
+  "fps": 10.0,
+  "frames": 597,
+  "sha256": "a985a7f2aa741da5300013f2471a55600980cd3cd5958adbb7d2de840c3fd91e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.2 s 的右下画纸仍为空白，视频约 0.3 s 开始在纸张上缘出现米灰色笔迹，视频 0.5–1.5 s 笔迹随机械臂笔刷移动而延长；首次载色最迟在视频约 0.3 s 已完成，时间误差约半秒。"
+     },
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "推断：初次蘸井瞬间被机械臂遮住，但随后真实彩色笔迹证明刷毛已从干刷变为载色；评分记录 n_dips=11、n_dry_strokes=0 支持确有蘸色，后续换色不另计此事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装的圆头笔刷刷毛接触颜料井内颜料并载色，由首次色迹及评分记录 n_dips=11 佐证；候选接触“浸蘸”，现有接触值不能准确表示刷毛浸入液态颜料，不属于抓握或托/舀。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–46 s 的抽帧显示机械臂持续分色作画，从米灰背景逐渐增加浅绿灰浪带、褐色舟形和底部水波；视频 30.0 s 仍缺少中央深蓝卷浪，尚非完整目标构图。"
+     },
+     {
+      "t": 53.0,
+      "log_step": null,
+      "text_zh": "观察：视频 52.0–55.0 s 中央深蓝浪体已形成，但右侧米灰背景保留横向白缝，深蓝浪冠和浪身内仍有细白缺口；视频 58.6–59.6 s 逐帧检查到这些缺陷仍在，色带边缘也有断裂和尖碎形���。成功参考视频 59.8 s 的对应背景和浪体更连续，仅用于理解达标外观。"
+     },
+     {
+      "t": 59.6,
+      "log_step": 502,
+      "text_zh": "观察：评分记录及 log step 502 对交付文件的回放均给出 de_mean=2.9577（要求≤2）、de_p90=7.6582（≤6）、ssim_L=0.86935（≥0.92）、edge_corr=0.761554（≥0.8），四项均未达标；paint_iou=0.969134、368笔、笔路10364.57毫米及scribble_share=0均合格，image_success=0。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "推断：前段构图不完整，后段至视频 59.6 s 仍有可见漏涂和轮廓偏差，结合最终相似度验收失败，判此节点从未满足完整验收条件；不是根据零成功值单独推断未作画。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂末端圆头笔刷反复落到主画纸上并沿纸面移动，留下米灰、浅绿灰、褐色及深蓝色笔触，随后抬笔换位置；视频 0.3–59.6 s 可见连续增添色迹，只记录笔刷刷毛与画纸的工具接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 2.9577
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 7.6582
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.86935
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.761554
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.969134
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 368.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 10364.57
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.852115
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 53.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 53.0 s 机器人仍在临摹巨浪，主要颜色和卷浪已出现，但背景横向白缝及深蓝浪体内的细白缺口已经可见，后续作画至视频 59.6 s 仍未消除；最终评分有四项图像相似度不合格。此处取视频 53.0 s 为后期缺陷的导航锚点，不能确定整图首次偏离验收阈值的精确时刻。"
+  },
+  "unmet": {
+   "greatwave_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触间隙与轮廓偏差",
+    "t": 53.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 53.0 s 与视频 58.6–59.6 s 的右下画纸图中，右侧背景有多条横向露纸白缝，深蓝浪冠内部和色带交界有细白断口，浪带边缘呈碎尖形；成功参考视频 59.8 s 的对应区域更连续。",
+    "note_zh": "候选现象“笔触间隙与轮廓偏差”：已有接触、运动、全身等条目不能准确概括绘画成品的局部漏涂和轮廓失真；没有证据将其直接等同于单次末端位姿不准。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 492,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 在 log step 492 用分色区域、水平扫笔和区域中心线生成有限笔触，并在直接笔刷渲染测试中已得到 de_mean=2.9142、de_p90=7.4110、ssim_L=0.8769、edge_corr=0.7659，未达到四项门槛；log step 493 将同类笔触生成与按压力换算下压深度的脚本用于交付，log step 498、502 的交付文件回放仍得到近似的相似度不足。结合视频 53.0–59.6 s 的间隙与碎边，支持笔触路径和宽度的合成控制未能准确重现目标，而非仅由回放或保存造成；没有足够证据细分为反馈控制或某一个坏参数。",
+    "note_zh": "采用上位“控制”：已有证据指向笔触合成误差，但不能量化路径简化、刷宽近似和机械臂跟踪各自的贡献。"
+   }
+  ],
+  "gap_zh": "没有逐帧刷尖位姿、压力和整图相似度状态日志，不能精确确定阈值变化或区分路径简化、刷宽近似与跟踪误差的贡献；初次蘸井被机械臂遮挡，载色时刻以视频约 0.3 s 首次真实色迹作保守锚点。log step 493 的脚本中段在提供的运行记录内已截断，根因只采用可读代码、log step 492 的测试和交付回放结果支持的上位控制类别。"
+ },
+ "summary_zh": "机器人在视频约 0.3 s 已载色，随后画出巨浪主体及多色浪带，最终完成1/2个节点；整图临摹未达验收。视频后期至视频 59.6 s 仍有背景白缝、浪体内部缺口及破碎轮廓，四项图像相似度不合格，而笔数、笔路和填色规则合格；日志中的笔触合成测试已呈同类相似度不足，根因保守标为控制。缺少逐帧位姿、压力及相似度日志，无法进一步确定各误差来源的贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 brush_loaded 真、greatwave_copied 假与评分四项指标不达标一致；断点、现象与根因（保守取上位“控制”）有日志 step 492/493/498/502 和视频 59 s 帧支持，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:03:02Z",
+  "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/robopaint-acrylic-greatwave-i00-privileged--jkg8lu5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-privileged--jkg8lu5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "09f93dcdef433c7833b4017a8c59f477ef070061404d8cb52b1a0f8dff741b10",
+   "video_sha256": "a985a7f2aa741da5300013f2471a55600980cd3cd5958adbb7d2de840c3fd91e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--mb5mych.json

@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-privileged--mb5mych",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.79828,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 4.0344,
+   "de_p90": 11.187,
+   "de_bad_frac": 0.115694,
+   "de_mean_sheet": 4.0245,
+   "ssim_L": 0.786825,
+   "paint_iou": 0.958815,
+   "paint_area_mm2": 49806.6,
+   "target_paint_area_mm2": 49806.7,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 2.5809,
+   "ssim_L_fine": 0.71192,
+   "edge_corr": 0.626888,
+   "region_cov_min": 0.121581,
+   "region_cov_mean": 0.894735,
+   "n_regions": 119.0,
+   "n_strokes": 355.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 4.0344,
+   "de_p90_unregistered": 11.187,
+   "ssim_L_unregistered": 0.786825,
+   "edge_corr_unregistered": 0.626888,
+   "paint_iou_unregistered": 0.958815,
+   "success": 0,
+   "final_reward": 0.79828,
+   "path_mm": 9570.1,
+   "longest_stroke_mm": 120.55,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.9182,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.79828,
+   "sim_steps": 18861.0,
+   "resets": 1.0,
+   "n_contacts": 355.0,
+   "samples": 94305.0,
+   "contact_samples": 32188.0,
+   "max_press_m": 0.013182,
+   "max_tilt_deg_in_contact": 0.250633,
+   "max_speed_in_contact_mps": 0.065669,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 591.0,
+   "replay_wall_s": 143.7,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 18861,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 14,
+   "agent_resets": 9,
+   "agent_sim_steps": 259080,
+   "agent_records": 0,
+   "agent_replays": 9,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-greatwave-i00-privileged--mb5mych/replay.mp4",
+  "duration_s": 59.1,
+  "fps": 10.0,
+  "frames": 591,
+  "sha256": "bc9b95bf2ff8e7129f24fe5ca397700f9df9b7c1d48207d8edfdcaacf5f9f8d8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸为空白；视频 0.3 s 右下画纸视图首次可辨浅色颜料痕迹，视频 0.5–1.0 s 随机械臂刷尖移动扩大为彩色笔触。"
+     },
+     {
+      "t": 0.3,
+      "log_step": 93,
+      "text_zh": "推断：初始干刷随后能在主纸留下真实色迹，证明机械臂已完成首次蘸色；以视频 0.3 s 的首次可见色迹作为完成锚点，实际浸蘸略早且被机械臂遮挡。交付文件的评分器回放在 log step 93 报告 loaded=true、n_dips=10，与持续换色作画一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装的圆头笔刷先接触颜料井内颜料再在主纸留下颜色，依据视频 0.3–1.0 s 的色迹及 log step 93 的 n_dips=10。候选接触“浸蘸”；现有接触值不能准确表示刷毛浸入颜料载色，非抓握或托舀。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–57.0 s 的全程抽帧显示机械臂依次画出浅色背景、绿灰浪带和深蓝水波；视频 30.0 s 尚有大片空白与未连成的浪形，后续持续添画。"
+     },
+     {
+      "t": 59.0,
+      "log_step": 93,
+      "text_zh": "观察：视频 58.1–59.0 s 逐帧可见巨浪主体、背景及底部舟形色带，但左中部浪带和底部相邻色带仍有不规则留白、色块边界和宽度偏差；与成功参考视频 59.8 s 的相应部位对照可见轮廓差异。交付文件回放的 log step 93 与 reward 一致：de_mean=4.0344>2、de_p90=11.187>6、ssim_L=0.786825<0.92、edge_corr=0.626888<0.8，image_success=0。"
+     },
+     {
+      "t": 59.0,
+      "log_step": 90,
+      "text_zh": "推断：全过程从空白逐步形成构图，终态仍未通过四项图像验收，未见曾达到整体临摹标准的阶段；因此该节���无成立区间。log step 90 保存的18861行动轨迹、log step 91 的逐元素一致检查及 log step 92 的新进程确定性检查，将最终交付与上述回放结果对应，未把会话中的其他试画计入进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.5–2.4 s 及视频 30.0–57.0 s，机械臂用安装在腕端的圆头笔刷压住并扫过主画纸，右下视图随之新增彩色笔触；log step 93 的交付回放记录355次载色接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 4.0344
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 11.187
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.786825
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.626888
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.958815
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 355.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 9570.1
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.79828
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 58.5,
+   "log_step": 93,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.1–59.0 s，机械臂仍在完成画纸末段笔触，最终巨浪构图可辨，但浪带及舟形笔触的局部色块轮廓、留白和细带宽度仍与成功参考视频 59.8 s 不同。log step 93 对最终交付文件的回放和 reward 均给出 image_success=0；笔数355、paint_iou=0.958815、path_mm=9570.1、scribble_share=0 均满足对应限制，失败落在临摹的颜色、结构和边缘精度。视频 58.5 s 只作末段缺陷的导航锚点，不表示此时才首次产生偏差。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "其他",
+    "t": 58.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.5–59.0 s 的右下画纸中，左中部卷浪下方的深蓝、绿灰色块之间留有不规则浅色缺口，底部蓝色与褐色色带的边界和宽度不齐；对照成功参考视频 59.8 s，同一部位的色带连接与轮廓不同。",
+    "note_zh": "候选现象“色带轮廓失真与细节缺失”。这是实际画面中的材料成形缺陷，现有接触、运动等条目不能准确表达，不能仅把相似度未达标作为现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 66,
+    "t": null,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的笔路及压深生成方案未能重现局部细色带。log step 51 中 agent 已自述先前试画“笔触太粗并合并色带”；log step 66 最终方案从687条候选中按新增涂色面积贡献选355条，执行后产生与交付完全相同的图像误差；log step 69 改宽度标定和起落压深后结构与覆盖指标仍未达标，log step 70 决定保留原方案。log step 90–93 证实交付重复生成及回放一致，而视频 58.5–59.0 s 仍显示局部轮廓差异，支持绘画控制方案精度不足；不据此断言某一个压深参数错误或发生IK故障。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或中途图像评分，无法精确定位某一笔首次造成的轮廓偏差；首次浸蘸被机械臂遮挡，按随后真实色迹将蘸色节点定位到视频约 0.3 s。日志可确认笔路生成、宽度与压深调整尚未解决图像误差，但不能独立分离笔路删选、笔宽设计和实际跟踪各自的贡献，根因仅标到控制。",
+  "unmet": {
+   "greatwave_copied": false
+  }
+ },
+ "summary_zh": "机械臂在视频约 0.3 s 已载色，随后完成355笔、形成可辨的巨浪构图，最终达到1/2节点；整图临摹始终未达标。断点为临摹巨浪图：视频末段仍有色带轮廓及细节偏差，评分器的平均色差、90分位色差、结构相似度及边缘相关均失败，而覆盖率、笔数和笔路限制通过；日志支持绘画笔路与压深方案精度不足。缺少逐帧状态和中途评分，无法把缺陷进一步归到单笔或单个控制参数。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "蘸色节点约视频0.3 s可见首个色迹，巨浪临摹节点未达成，final与评分器四项失败一致；断点、现象（可见色带缺口）和根因（控制，停在大类）均有证据，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": "2026-10-30T23:00:42Z",
+  "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/robopaint-acrylic-greatwave-i00-privileged--mb5mych/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-privileged--mb5mych/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7fd52d551cae1174fee18a30ec23aebc3a4d01e45dd72318773dac1fd861801e",
+   "video_sha256": "bc9b95bf2ff8e7129f24fe5ca397700f9df9b7c1d48207d8edfdcaacf5f9f8d8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--8kzkuxv.json

@@ -0,0 +1,350 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-standard--8kzkuxv",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.869389,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.869389,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 2.381,
+   "de_p90": 5.9918,
+   "de_bad_frac": 0.034618,
+   "de_mean_sheet": 2.3715,
+   "ssim_L": 0.899494,
+   "paint_iou": 0.976132,
+   "paint_area_mm2": 50561.3,
+   "target_paint_area_mm2": 49763.9,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 1.1967,
+   "ssim_L_fine": 0.837864,
+   "edge_corr": 0.848963,
+   "region_cov_min": 0.090585,
+   "region_cov_mean": 0.971144,
+   "n_regions": 119.0,
+   "n_strokes": 381.0,
+   "n_practice_strokes": 20.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 2.443,
+   "de_p90_unregistered": 6.1751,
+   "ssim_L_unregistered": 0.895486,
+   "edge_corr_unregistered": 0.840965,
+   "paint_iou_unregistered": 0.975557,
+   "path_mm": 8215.7,
+   "longest_stroke_mm": 165.12,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2694,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.869389,
+   "sim_steps": 30465,
+   "resets": 1.0,
+   "n_contacts": 401.0,
+   "samples": 152325.0,
+   "contact_samples": 37721.0,
+   "max_press_m": 0.014332,
+   "max_tilt_deg_in_contact": 0.153886,
+   "max_speed_in_contact_mps": 0.16506,
+   "handle_contact_samples": 0.0,
+   "n_dips": 384.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 251.6,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 30465,
+   "physics_steps": 152325,
+   "steps": 29945,
+   "calls": 221,
+   "elapsed_s": 2162.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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/robopaint-acrylic-greatwave-i00-standard--8kzkuxv/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "8de37e55aa516200ae2e4a5a6464cf7ce90d24841968457ff942c490a6362de8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": 13,
+      "text_zh": "观察：视频0.2–0.3 s机械臂把安装的圆头笔刷移到主纸旁颜料盘并下探；视频0.4–0.8 s笔刷转到练习纸，侧视中出现深蓝色笔迹。log step 13脚本先向paint10井下降蘸色，再在练习纸试画。"
+     },
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "推断：由干刷初态、视频0.3 s的蘸井动作及随后真实深蓝色迹，首次载色约在视频0.3 s完成，时间误差约0.1 s；该事件此后锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频0.3 s单臂末端安装的笔刷刷尖向颜料井内下探，随后在练习纸留下深蓝色迹。候选接触“浸蘸”：刷毛接触并载入颜料，不是夹爪抓握、托舀或纸面压擦，现有how值无准确对应。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频0–4 s主纸仍空白，机械臂先在旁边练习纸试笔；视频6–30 s主纸逐渐出现深蓝卷浪、浅绿灰浪带和米黄底色，视频32–58 s继续补画小块和细部。机械臂以竖直笔刷接触纸面移动并留下彩色笔迹。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "观察：视频58.8–59.8 s主纸已呈现巨浪的大构图，深蓝卷浪、浅色浪带及底部水波均可见；与成功参考视频58.5 s相比，整体构图、卷浪形状和色带相近，两者均有块状笔触，未找到可明确对应本次失败的可见缺陷。末帧机械臂抬离纸面。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 47,
+      "text_zh": "观察：inputs/run.json的最终评分为de_mean=2.381（要求≤2）、ssim_L=0.899494（要求≥0.92）、n_strokes=381（上限376），三项不合格；de_p90=5.9918、edge_corr=0.848963、paint_iou=0.976132及笔路、填色指标达标，success=0、live_matches_replay=1。log step 47的脚本自计done=372，不能替代评分器按实际接触记录的381笔。"
+     },
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "推断：所检视频从空白、局部构图到末尾补画，未显示可确认的完整达标状态；最终评分的平均色差、结构相似度和笔数三项联合验收失败，故本节点无已达到区间、终值为假。没有逐帧评分，不能从肉眼精确反算相似度首次接近阈值的时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频6–58.8 s单臂末端安装的圆头笔刷反复下压主画纸并沿纸面扫行，留下深蓝、绿灰、米黄及褐色笔触；换色时再去颜料盘。工具与纸面直接作用，不重复记笔柄安装链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 2.381
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 5.9918
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.899494
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.848963
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.976132
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 381.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 8215.7
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.869389
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 58.8,
+   "log_step": 47,
+   "where": "操作中",
+   "evidence_zh": "观察：视频58.8–59.8 s主纸已呈现巨浪大构图，机械臂完成末批补画后抬笔。最终评分de_mean=2.381、ssim_L=0.899494、n_strokes=381，未同时满足临摹验收。视频58.8 s仅锚定末尾作画结果，并非笔数首次超限或可见缺陷首次出现的时刻；与成功参考视频58.5 s对照，未能确认独立的可见失败现象。"
+  },
+  "unmet": {
+   "greatwave_copied": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 24,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent的笔画规划未能同时满足颜色、结构相似度及限笔验收。log step 24和44的规划器把目标降采样为256×256标签图，每步按局部逐像素色差收益减笔路代价贪心选色、笔宽和路径，并未优化结构相似度；log step 28只按计划列表长度累计done。log step 29已给出完整计划的自估平均色差约3.23，agent仍执行这一策略并逐批局部修补；log step 49自估最终平均色差约2.74，log step 52明确承认预计不成功。观察：inputs/run.json的reward.n_strokes=381，比reward.max_strokes=376超出5笔，reward.stroke_count_ok=0，reward.n_practice_strokes=20另计；log step 47的脚本自计done=372，log step 52的agent自述“372笔、低于376上限”并称剩余4笔。脚本自计比评分器少9笔，agent据自计数误判笔数合规，差异的具体来源不明。推断：上述计划代码、自估误差与最终颜色及结构评分支持规划归因，笔数记账方式又未反映评分器实际计数；不以停止本身或肉眼未确认的轮廓缺陷作为原因。"
+   }
+  ],
+  "gap_zh": "本次视频58.8–59.8 s与成功参考视频58.5 s的大构图、卷浪形状及色带相近，两者均有块状笔触，未找到可明确对应失败的可见缺陷；失败由评分器de_mean、ssim_L和n_strokes数值确认，按DECISIONS.md N10及CASES.md FAIL-15将现象层留空，不把未达标指标改名为现象。无状态日志或逐帧评分，视频为压缩展示，不能精确定位第377笔、核对每笔接触的分合，亦不能确定评分器381笔与脚本自计372笔相差9笔的具体来源；不据此臆测跳笔、碰撞或反馈失稳。逐帧相似度不可得，未观察到的短暂达标不能单独验证；已用全程构图、末秒密集帧及最终评分判断节点。规划根因是代码与结果结合的推断，尚无替换规划器的对照实验。"
+ },
+ "summary_zh": "机械臂约在视频0.3 s完成首次蘸色，随后试笔并临摹出巨浪的大构图，最终完成1/2节点；“临摹巨浪图”未达成。评分器平均色差2.381、结构相似度0.899494及381笔均未过验收；与成功参考对照未确认独立可见缺陷，现象层留空。日志支持贪心局部覆盖的笔画规划未兼顾结构与限笔目标，agent自计372笔并误判仍有4笔余量。缺少逐帧评分和接触记录，无法确定笔数首次超限时刻及自计数与评分器相差9笔的具体来源。",
+ "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（brush_loaded 约0.3 s、greatwave_copied 为假、1/2）、接触、断点与规划根因基本成立；但现象“局部色块与轮廓失真”在视频中并无可与成功参考明确区分的可见缺陷，实质是把 de_mean/ssim_L 未达标换了说法（N10），应置空并写 gap_zh。另有一处遗漏：评分器 n_strokes=381 超过上限376，而 agent 自称372笔、留4笔余量，这个笔数误判未进入证据。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点进度（brush_loaded 约0.3 s、greatwave_copied 为假、1/2）、接触、断点、空现象层加 gap_zh、规划根因及评分器381笔对照均有评分器字段与帧支持；第1轮两点已正确采纳，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:08:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--8kzkuxv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--8kzkuxv/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--8kzkuxv/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--8kzkuxv/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bc900ae9f6fbe6c1c4fafc43426c815868299306dd45c9ed588bfc63068efd4f",
+   "video_sha256": "8de37e55aa516200ae2e4a5a6464cf7ce90d24841968457ff942c490a6362de8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--bynssrs.json

@@ -0,0 +1,326 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-standard--bynssrs",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.799987,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.799987,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 3.9577,
+   "de_p90": 10.1109,
+   "de_bad_frac": 0.101961,
+   "de_mean_sheet": 3.9355,
+   "ssim_L": 0.804835,
+   "paint_iou": 0.95354,
+   "paint_area_mm2": 48396.7,
+   "target_paint_area_mm2": 49806.7,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 2.5265,
+   "ssim_L_fine": 0.717885,
+   "edge_corr": 0.679994,
+   "region_cov_min": 0.156708,
+   "region_cov_mean": 0.904526,
+   "n_regions": 119.0,
+   "n_strokes": 377.0,
+   "n_practice_strokes": 8.0,
+   "n_dry_strokes": 6.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.9577,
+   "de_p90_unregistered": 10.1109,
+   "ssim_L_unregistered": 0.804835,
+   "edge_corr_unregistered": 0.679994,
+   "paint_iou_unregistered": 0.95354,
+   "path_mm": 11431.76,
+   "longest_stroke_mm": 296.89,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.846,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.799987,
+   "sim_steps": 13878,
+   "resets": 1.0,
+   "n_contacts": 391.0,
+   "samples": 69390.0,
+   "contact_samples": 24561.0,
+   "max_press_m": 0.014338,
+   "max_tilt_deg_in_contact": 0.342091,
+   "max_speed_in_contact_mps": 0.15553,
+   "handle_contact_samples": 0.0,
+   "n_dips": 44.0,
+   "dry_strokes": 6.0,
+   "n_frames": 580.0,
+   "replay_wall_s": 102.65,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 13878,
+   "physics_steps": 69390,
+   "steps": 13434,
+   "calls": 92,
+   "elapsed_s": 3455.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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/robopaint-acrylic-greatwave-i00-standard--bynssrs/replay.mp4",
+  "duration_s": 58.0,
+  "fps": 10.0,
+  "frames": 580,
+  "sha256": "bc7ad7f0f1818b7c1322771b43ddb5952eef3e6dda8a00d63273497126295b91"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.3,
+      "log_step": 19,
+      "text_zh": "观察：视频 1.1 s 机械臂将安装笔刷移到画纸右侧的颜料盘，视频 1.3 s 刷尖已呈深色，视频 1.4–2.0 s 在练习纸上留下逐渐加宽的深蓝笔迹；此前视频 0.4–0.9 s 的练习动作未留下色迹。log step 19 是再次浸入 paint10 颜料井的指令，log step 21 随后画练习线；首次载色取视频约 1.2 s，误差约 0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约 1.1–1.3 s，单臂末端安装的笔刷在颜料盘处浸蘸，随后刷尖变深蓝并画出实色练习线；作用端是刷毛，对象是颜料井中的颜料。候选“浸蘸”，现有怎么碰值不能准确表达刷毛浸入颜料并载色。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": 82,
+      "text_zh": "观察：视频 3.3 s 主纸仍为空白，视频 3.5–3.9 s 开始出现米黄色色块；视频 6–38 s 机械臂交替蘸色、压刷和抬笔，在主纸逐层增加浅绿灰浪带、背景及下部色带，视频 42–48 s 补出中央深蓝卷浪。log step 82、87 执行主绘画轨迹，log step 122 执行最后补笔；日志中的离线候选画布不作为本节点达成依据。"
+     },
+     {
+      "t": 54.0,
+      "log_step": 125,
+      "text_zh": "观察：视频 54.0 s 及视频 57.0–57.9 s，右下无遮挡画纸图可见巨浪、底部深蓝水波与褐色舟形色带，但中央深蓝浪内和上部浅绿色浪带存在细碎浅色缝隙，色带边缘断续且局部重叠；主纸俯视画面在视频 57.8–57.9 s 也显示这些缺陷。成功参考视频 59.8 s 的对应浪带更连续，卷浪深蓝区和浅绿区的轮廓更整齐。"
+     },
+     {
+      "t": 57.9,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段为 de_mean=3.9577>2、de_p90=10.1109>6、ssim_L=0.804835<0.92、edge_corr=0.679994<0.8、n_strokes=377>376；paint_iou=0.95354 达到覆盖阈值，path_mm=11431.76 与 scribble_share=0 均满足各自阈值。评分器还报告 image_success=0、live_matches_replay=1、deterministic=1；结合视频末帧可判整体临摹节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 3.5–57.5 s，固定底座单臂以末端安装的载色笔刷反复压住主画纸并沿纸面移动，留下不同宽度、颜色的笔触，期间抬刷并到颜料盘换色；实际作画接触是刷毛与主纸的压擦。视频开头另在练习纸上试画。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 3.9577
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 10.1109
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.804835
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.679994
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.95354
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 377.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 11431.76
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.799987
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 54.0,
+   "log_step": 122,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54.0 s 机械臂仍在补画主纸，右下画纸图中的中央深蓝浪、上部浅绿浪带及下方水波已有细碎留隙与断续轮廓；这些缺陷在视频 57.9 s 机器人退开后仍可见。log step 122 是最后一批补笔，log step 125 已检查最终画布；评分器最终四项图像质量指标及主纸笔数验收未通过，临摹步骤未修复。视频 54.0 s 仅作为末段缺陷的定位锚点。"
+  },
+  "unmet": {
+   "greatwave_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "画面留隙与轮廓破碎",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0 s、视频 57.0–57.9 s 的右下画纸图中，中央深蓝卷浪内部、上部浅绿浪带和下部水波边缘有细碎浅色裂隙与不连续的小块，部分浅绿与深蓝色带交界被重叠笔触打碎；成功参考视频 59.8 s 的同类色带更连续。机器人最后补画后这些缺口与破碎边缘仍保留。",
+    "note_zh": "候选“画面留隙与轮廓破碎”：这是作画材料结果的可见形状缺陷，现有现象没有直接对应的笔触成形质量条目；画面不足以将其具体归为末端位姿误差或接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志 / 评分器字段",
+    "evidence_zh": "推断：agent 的补笔决策采用了偏乐观的画布颜色估计，未充分识别实际笔触与预定图层的差异。log step 98 自测的实际颜色分类与模拟笔触图在已涂区域仅约 84.2% 一致；但 log step 116 的补笔规划代码用 np.where(isp, np.where(sim_lbl > 0, sim_lbl, nearest_c), 0) 构造 cur_lbl，即已检测到颜料且计划图覆盖的位置直接采用计划颜色，覆盖实际颜色分类结果。log step 125 沿用此逻辑估计最终 ssim=0.9215、edge_corr=0.8673、mean_de=2.103，而评分器实际为 0.804835、0.679994、3.9577；该错误状态估计使补笔仍针对理想化图层选择修补位置与颜色，未消除视频 57.9 s 可见的破碎色带。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中提供本次完整视频、日志和成功参考视频，没有逐帧状态日志；run.json 的 task_text 为空，任务验收依 DAG 及评分字段核对。精确图像指标只有终态值，无法确定每项阈值首次未达标的逐帧时刻；也无法将笔触轮廓误差进一步分解为刷宽模型、深度跟���或颜料成形误差，因此不另加控制子类根因。主纸比 agent 预计多计一笔的具体接触分裂位置没有逐笔记录。log step 128 的过滤提示发生在 log step 125 最终画布检查、log step 126 保存脚本和 log step 127 状态检查之后；本标签描述视频已经完成的绘画结果，不将该提示当作物理失败原因。"
+ },
+ "summary_zh": "机器人约在视频 1.2 s 首次载色，随后画出巨浪主体并完成补笔，最终完成 1/2 个节点。临摹节点未达到验收：视频末段仍见细碎留隙和破碎色带，评分器色差、结构、边缘相似度均未过线且主纸笔数为 377（上限 376）；日志支持补笔时以计划颜色覆盖实际颜色估计造成画布状态误判。无逐帧状态和逐笔计数，无法精确定位每项指标首次失败或额外一笔的来源；日志末尾过滤提示发生于已完成的绘画与最终检查之后。",
+ "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、终态与断点均与视频和评分器字段一致：brush_loaded 约视频 1.2 s 达成，greatwave_copied 终态为假（de_mean 3.96、ssim 0.80、edge_corr 0.68、笔数 377 均未过线），断点放在该节点合理。感知根因由 log step 116/125 的代码和估计值 ssim 0.9215 与评分器 0.8048 的差距支持，且已标为推断；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": "2026-10-30T23:03:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--bynssrs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--bynssrs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "48ea0f266d7a22c2f3637fd91d63b0216afdf1c2d9b4d00fcd05f0cf930fd1f6",
+   "video_sha256": "bc7ad7f0f1818b7c1322771b43ddb5952eef3e6dda8a00d63273497126295b91",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--djraajo.json

@@ -0,0 +1,325 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-standard--djraajo",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.287665,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.287665,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 14.2467,
+   "de_p90": 38.399,
+   "de_bad_frac": 0.439986,
+   "de_mean_sheet": 14.1428,
+   "ssim_L": 0.382973,
+   "paint_iou": 0.661841,
+   "paint_area_mm2": 32951.3,
+   "target_paint_area_mm2": 49721.1,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 13.7981,
+   "ssim_L_fine": 0.318011,
+   "edge_corr": 0.247979,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.578748,
+   "n_regions": 119.0,
+   "n_strokes": 372.0,
+   "n_practice_strokes": 22.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.4437,
+   "register_shift_mm": 0.4437,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 14.3146,
+   "de_p90_unregistered": 38.5193,
+   "ssim_L_unregistered": 0.377744,
+   "edge_corr_unregistered": 0.251423,
+   "paint_iou_unregistered": 0.660628,
+   "path_mm": 6753.51,
+   "longest_stroke_mm": 108.13,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.0977,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.287665,
+   "sim_steps": 18746,
+   "resets": 0.0,
+   "n_contacts": 394.0,
+   "samples": 93730.0,
+   "contact_samples": 21440.0,
+   "max_press_m": 0.012003,
+   "max_tilt_deg_in_contact": 0.272559,
+   "max_speed_in_contact_mps": 0.131525,
+   "handle_contact_samples": 0.0,
+   "n_dips": 25.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 18746,
+   "physics_steps": 93730,
+   "steps": 18730,
+   "calls": 126,
+   "elapsed_s": 2473.9,
+   "video_rendered": 1,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "instance_mismatch": 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/robopaint-acrylic-greatwave-i00-standard--djraajo/replay.mp4",
+  "duration_s": 58.7,
+  "fps": 10.0,
+  "frames": 587,
+  "sha256": "7976b8550b6d500b5f1c5fe65a6c20c05c1362923e7bc94627f4b83f02cd9bf0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.1,
+      "log_step": 25,
+      "text_zh": "推断：视频 0.0–0.3 s 的场景视角中，机械臂将安装笔刷移至画纸旁的颜料井上并下探，随后移向练习纸；结合后续有色试笔及主纸笔触，首次载色约在视频 0.1 s（误差约 0.2 s）。log step 25 的实际执行序列为先浸蘸再在练习纸试笔，评分器记录 n_dips=25、n_dry_strokes=0，支持已成功载色。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "观察：视频 58.6 s 的无遮挡画纸图中已有米黄、灰绿、褐和深蓝的真实颜料笔触；首次载色事件保持已达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端安装的圆头笔刷刷尖伸入颜料井接触颜料，随后在练习纸及主纸留下色迹；候选接触“浸蘸”，现有抓握、推/扫、压/擦、托/舀均不能准确表达刷毛浸入颜料载色。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 57.5,
+      "log_step": 52,
+      "text_zh": "观察：视频从初始空白纸，经米黄底色、灰绿色笔触逐渐增加，到视频 57.5 s 的深蓝卷浪与底部水波；机械臂反复下压笔刷、平移并抬笔，确实在主纸作画。但右下画纸图的中央卷浪、左侧浪带及底部水波均被大量白缝分割，色块和长色带呈分散短条，整体未达到连续完整的目标构图。"
+     },
+     {
+      "t": 58.6,
+      "log_step": 63,
+      "text_zh": "观察：视频 58.6 s 的无遮挡终帧仍有贯穿各色笔触间的大量纸白，中央深蓝浪形和浅绿浪带碎裂；成功参考 inputs/oracle/replay.mp4 的视频 59.8 s 在同一画纸视角显示更连续、饱满的卷浪及水波，仅用于比较达成外观。评分器 image_success=0、de_mean=14.2467、de_p90=38.399、ssim_L=0.382973、edge_corr=0.247979、paint_iou=0.661841，五项图像阈值均未通过；n_strokes=372、strict_ok=1，失败并非笔数或笔路规则未通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂通过固定安装的圆头丙烯笔刷，将载色刷毛压在主画纸并沿短直线扫过，留下不同宽度的各色笔触，随后抬笔转移；视频 57.5 s 仍在补画深蓝笔触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 14.2467
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 38.399
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.382973
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.247979
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.661841
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 372.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 6753.51
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.287665
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 57.5,
+   "log_step": 57,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 57.5 s 机械臂仍在主纸完成深蓝笔触，卷浪与底部水波已有轮廓，但各色笔触之间布满白缝；视频 57.5–58.6 s 的逐帧终段中没有将这些空缺补齐。log step 57 记录该执行器完成 372 笔；评分器最终 image_success=0，图像验收未通过，笔数与笔路规则通过。此为整图连续质量任务，以最终深蓝作画阶段作为失败导航锚点，不另拆颜色步骤。"
+  },
+  "unmet": {
+   "greatwave_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触间漏涂",
+    "t": 57.5,
+    "log_step": null,
+    "note_zh": "候选“笔触间漏涂”：有实际刷纸和颜料沉积，但最终图的色带被大量未涂白缝割裂；现有接触失败、位姿不准等条目不能准确描述这种已执行笔触的图像覆盖缺陷。",
+    "evidence_zh": "观察：视频 57.5 s 的右下画纸图及视频 58.6 s 的无遮挡终帧中，中央深蓝卷浪由分离色斑构成，浅绿浪带和下方深蓝水波之间夹有大量裸纸白缝；对照成功参考视频 59.8 s，同一区域应形成较连续的色块和带状笔触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 52,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的离线笔画规划未在笔数上限内解决整幅覆盖，却直接用于这次不可重置的实时作画。log step 45 将弯曲方案改为直线，log step 51 的最终规划输出已明确报告各色未覆盖比例为 0.071–0.247 且总笔数达 372；log step 52 仍锁定此方案并按颜色逐笔执行。视频 57.5–58.6 s 实际留下相同类型的笔触间白缝，log step 63 的 agent 自述也承认贪心覆盖留下裸纸且达不到严格阈值，因此证据支持笔画分配与覆盖策略不当；没有将停止或预算本身当作根因。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，首次浸蘸的精确深度及刷毛载色瞬间受画面尺度限制，视频 0.1 s 是结合初始蘸色动作、后续真实色迹和评分器计数的近似定位。图像验收精确值取自最终评分器，不能还原每一笔的实时相似度；规划本身的漏涂有执行前日志支持，但实际笔宽或跟踪误差是否进一步扩大了白缝无法单独确定，故不追加控制根因。"
+ },
+ "summary_zh": "观察：机械臂完成首次蘸色并在主纸画出卷浪、水波的大致构图，最终节点为 1/2；临摹巨浪图始终未达标，372 笔及笔路规则通过而五项图像指标均未通过。推断：失败位于临摹作画，视频 57.5–58.6 s 可见大量笔触间漏涂，执行前就有明显未覆盖区域的贪心直线笔画规划仍被锁定执行。无逐帧状态日志，首次载色时刻近似，无法进一步分离实际笔宽或跟踪误差的贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 brush_loaded 达成、greatwave_copied 未达成，与视频终帧（大量白缝）及评分器五项图像指标未过一致；断点、现象与推理/规划根因有日志（planner 输出未覆盖比例 0.08–0.27、372 笔）支持，未发现改变读者认知的错误。",
+    "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": "2026-10-30T23:02:07Z",
+  "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/robopaint-acrylic-greatwave-i00-standard--djraajo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--djraajo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0e403c2136a0dfd6fa871a54bcf12269c8b25e28b17f2077e2f004cb21e9625e",
+   "video_sha256": "7976b8550b6d500b5f1c5fe65a6c20c05c1362923e7bc94627f4b83f02cd9bf0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--ensztby.json

@@ -0,0 +1,327 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-standard--ensztby",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.45936,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.45936,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 10.8128,
+   "de_p90": 29.5792,
+   "de_bad_frac": 0.378396,
+   "de_mean_sheet": 10.7385,
+   "ssim_L": 0.517737,
+   "paint_iou": 0.782276,
+   "paint_area_mm2": 39209.9,
+   "target_paint_area_mm2": 49763.9,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 10.2367,
+   "ssim_L_fine": 0.433565,
+   "edge_corr": 0.46615,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.638056,
+   "n_regions": 119.0,
+   "n_strokes": 356.0,
+   "n_practice_strokes": 3.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 10.827,
+   "de_p90_unregistered": 29.6121,
+   "ssim_L_unregistered": 0.514081,
+   "edge_corr_unregistered": 0.472203,
+   "paint_iou_unregistered": 0.782168,
+   "path_mm": 6628.37,
+   "longest_stroke_mm": 158.06,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.1901,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.45936,
+   "sim_steps": 25769,
+   "resets": 0.0,
+   "n_contacts": 359.0,
+   "samples": 128845.0,
+   "contact_samples": 26025.0,
+   "max_press_m": 0.014999,
+   "max_tilt_deg_in_contact": 0.586591,
+   "max_speed_in_contact_mps": 0.256676,
+   "handle_contact_samples": 845.0,
+   "n_dips": 270.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 25769,
+   "physics_steps": 128845,
+   "steps": 7983,
+   "calls": 62,
+   "elapsed_s": 1262.3,
+   "video_rendered": 1,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "instance_mismatch": 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/robopaint-acrylic-greatwave-i00-standard--ensztby/replay.mp4",
+  "duration_s": 60.1,
+  "fps": 10.0,
+  "frames": 601,
+  "sha256": "176bd99f8a9f70e176966624c1c85a1c4a6b3b9338824d8996c605753eab5a06"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": 20,
+      "text_zh": "推断：视频 0.0 s 主纸和练习纸尚无彩色笔触，视频 0.2 s 左下侧视图的练习纸上已出现浅绿灰色短笔触，视频 0.8 s 右下主纸图也开始出现米黄色笔触，证明机械臂安装笔刷已从干刷变为载色；首次载色以最早可见色迹的视频 0.2 s 为近似锚点，实际蘸色发生在此前约 0.2 s 内。log step 20 的机械臂脚本先把刷尖降入颜料井再去练习纸，与可见顺序一致。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次评分记录 reward 报告 n_dips=270、n_practice_strokes=3、n_dry_strokes=0，支持已实际蘸色并作画；这组总量不用于换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选接触“浸蘸”：机械臂末端安装的圆头笔刷刷毛浸入颜料井并载色。首次浸入被机械臂遮挡，由随后练习纸真实色迹及本次评分 n_dips=270 推断实际发生；现有方式没有准确对应的浸蘸项，不是抓握或托/舀。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.8 s 右下主纸图出现第一段米黄色笔触；此后机械臂反复落笔，浅色浪带和背景逐渐增多，视频 48–58 s 补入中央和底部深蓝笔触，确实尝试了整幅临摹。此前主纸为空白，中段尚缺��蓝主体，没有看到整图达到节点判据的区间。"
+     },
+     {
+      "t": 58.2,
+      "log_step": null,
+      "text_zh": "观察：视频 58.2 s 右下画纸图已有中央卷浪、浅绿灰浪带及底部深蓝和褐色笔触，但中央卷浪内部、浪带交界及底部水波之间仍有大量纸色条缝和碎块空隙；视频 59.0–60.0 s 逐帧检查显示这些缺口仍在。成功参照视频 59.8 s 对应色块更连续，仅用其理解目标外观，不把参照的动作计为本次进度。"
+     },
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：本次评分字段 image_success=0；de_mean=10.8128>2、de_p90=29.5792>6、ssim_L=0.517737<0.92、edge_corr=0.46615<0.8、paint_iou=0.782276<0.95，五项图像验收均未达标。n_strokes=356≤376、path_mm=6628.37≤37900、scribble_share=0≤0.1，strict_ok=1；失败来自图像结果，不能把 agent 自述执行完376条路径等同于临摹完成。"
+     },
+     {
+      "t": null,
+      "log_step": 99,
+      "text_zh": "观察：log step 99 的 agent 最终自述已完成376条主纸笔画且没有取得评分，log step 96–97 的服务状态为 control_steps=25769、resumes=0；这些是同一实时单局的执行结束记录，与视频末段仍有缺口的画面不冲突，但不能据“执行完”给临摹节点记真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂以末端安装的圆头笔刷载色刷毛压住并扫过主纸，留下米黄色、绿灰、褐色和深蓝笔触；视频 0.8 s 起主纸色迹随落笔增多，侧视图可见刷尖降至纸面。只记刷毛与纸的工具接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 10.8128
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 29.5792
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.517737
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.46615
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.782276
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 356.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 6628.37
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.45936
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 58.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.2 s 机械臂仍在完成临摹笔触，深蓝卷浪和底部水波已成形，而中央及底部色块之间仍保留大量纸色缝隙；这些缺口到视频 60.0 s 仍未补合，整幅临摹始终未达到验收。此处用末段缺陷清晰可见的视频 58.2 s 作导航锚点，并无可定位的单次突发失误；本次评分 image_success=0 且五项图像指标均失败。"
+  },
+  "unmet": {
+   "greatwave_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触间漏白",
+    "t": 58.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.2 s 的右下画纸图中，中央深蓝卷浪内部及其周围绿灰浪带之间可见纸色断缝，底部深蓝水波之间也有宽的空白条缝；视频 59.0–60.0 s 每0.1 s检查，仍保留这些缝隙。对照成功参照视频 59.8 s 相同构图中色块更连续，本次结果的填色明显碎裂。",
+    "note_zh": "候选现象“笔触间漏白”：描述实际图面的覆盖缺口；现有接触、运动等条目没有准确对应的绘画结果现象，无法仅凭缺口判为接触力异常或位姿不准，故用其他。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：本目录没有状态日志；视频可判断作画和终态缺口，但不能逐笔量出刷尖实际压力、笔宽及轨迹跟踪误差。log step 60 的 agent 自制预览估计 paint IoU=0.971665，评分器实际 paint_iou=0.782276；前者只是脚本的形状近似，不能证明物理执行可达到该覆盖。现有证据不能区分路径近似、笔宽建模与实际接触控制各自的影响，因此根因留空；首次蘸色被遮挡，以视频 0.2 s 首个可见练习色迹估计其时刻。"
+ },
+ "summary_zh": "机械臂完成首次蘸色，并持续用载色笔刷临摹，最终达到1/2个节点；主纸已有卷浪和水波构图，但视频 58.2–60.0 s 仍有大量笔触间漏白，临摹��点从未达成。评分的五项图像相似度均未达标，而笔数、笔路和填色规则通过，断点为“临摹巨浪图”的操作中。没有状态日志，首次载色时间由色迹近似定位，根因无法在路径近似与接触控制之间可靠区分，故留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "brush_loaded 在视频 0.2 s 的近似锚点、greatwave_copied 未达成（image_success=0，五项图像指标均未过线）、断点与单一“笔触间漏白”现象均有视频和评分字段支持；根因留空并附 gap_zh，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": "2026-10-30T22:58:36Z",
+  "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/robopaint-acrylic-greatwave-i00-standard--ensztby/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--ensztby/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "973f682ef90dccbb0f5ba08b8abb7bb8ba8b30a46b24d8aad0f1aa479a8d7b87",
+   "video_sha256": "176bd99f8a9f70e176966624c1c85a1c4a6b3b9338824d8996c605753eab5a06",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--uom9blw.json

@@ -0,0 +1,319 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-standard--uom9blw",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.076512,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 18.4657,
+   "de_p90": 39.6878,
+   "de_bad_frac": 0.700563,
+   "de_mean_sheet": 18.4032,
+   "ssim_L": 0.356969,
+   "paint_iou": 0.794352,
+   "paint_area_mm2": 39872.5,
+   "target_paint_area_mm2": 48555.6,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 15.0207,
+   "ssim_L_fine": 0.274398,
+   "edge_corr": 0.175831,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.303589,
+   "n_regions": 119.0,
+   "n_strokes": 377.0,
+   "n_practice_strokes": 15.0,
+   "n_dry_strokes": 2.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 3.106,
+   "register_dy_mm": 3.106,
+   "register_shift_mm": 4.3926,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 18.7447,
+   "de_p90_unregistered": 39.7364,
+   "ssim_L_unregistered": 0.425661,
+   "edge_corr_unregistered": 0.34088,
+   "paint_iou_unregistered": 0.806259,
+   "success": 0,
+   "final_reward": 0.076512,
+   "path_mm": 15230.56,
+   "longest_stroke_mm": 233.12,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2312,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.076512,
+   "sim_steps": 13470,
+   "resets": 1.0,
+   "n_contacts": 394.0,
+   "samples": 67350.0,
+   "contact_samples": 36363.0,
+   "max_press_m": 0.012883,
+   "max_tilt_deg_in_contact": 0.436547,
+   "max_speed_in_contact_mps": 0.26852,
+   "handle_contact_samples": 0.0,
+   "n_dips": 12.0,
+   "dry_strokes": 2.0,
+   "n_frames": 587.0,
+   "replay_wall_s": 134.98,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 13470,
+   "physics_steps": 67350,
+   "steps": 11395,
+   "calls": 152,
+   "elapsed_s": 6245.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "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/robopaint-acrylic-greatwave-i00-standard--uom9blw/replay.mp4",
+  "duration_s": 58.7,
+  "fps": 10.0,
+  "frames": 587,
+  "sha256": "3d55b3b17e0dd3a53ca34d8c8724171fa4e5a058bb422d3f73cea1557c126c07"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.7,
+      "log_step": 29,
+      "text_zh": "推断：视频 0.6–0.8 s 的场景视角显示机械臂将安装笔刷移到纸旁颜料盘后再移开，视频 1.3–2.0 s 练习纸上随后出现米黄色真实笔迹，支持首次载色约在视频 0.7 s（约 ±0.3 s）；log step 29 记录该次米黄色颜料井浸蘸命令。刷尖细节较小，载色由后续笔迹佐证，未将 agent 时间换算为视频时间。"
+     },
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0–4.0 s 练习纸新增深色短线，视频 4.0–6.0 s 主纸开始留下浅色笔触；视频 58.6 s 主纸上已有多色画迹，首次载色事件保持已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：视频 0.6–0.8 s 机械臂的固定圆头笔刷到颜料盘处蘸色，随后视频 1.3–2.0 s 练习纸新增有色笔迹，支持刷毛接触颜料；log step 29 为对应蘸井动作。候选接触“浸蘸”：刷毛载色，不属于抓握、推扫、压擦或托舀。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 右下画纸视图为空白；视频 4.0–28.0 s 主纸逐渐出现浅色弧线和零散色带，视频 34.0–56.0 s 再加入深蓝笔触，但没有出现完整、连续且与目标吻合的浪形色块。"
+     },
+     {
+      "t": 58.6,
+      "log_step": 197,
+      "text_zh": "观察：视频 57.5–58.6 s 逐帧可见中央卷浪和底部水波的大致走向，但深蓝、浅绿灰和米黄色笔触之间仍有大量长条漏白，中央浪头及底部色块破碎。成功参考录像视频 59.8 s 的相同画纸视图具有更连贯的卷浪和宽色带；参考只用于理解达成外观，不作为本次动作证据。log step 197 的执行器输出为计划 376/376 笔执行完毕。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器终值为 de_mean=18.4657、de_p90=39.6878、ssim_L=0.356969、edge_corr=0.175831、paint_iou=0.794352，均未满足 DAG 门槛；n_strokes=377 超过 376，image_success=0，live_matches_replay=1。该结果与视频末段的漏白、破碎色带一致，临摹节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4.0–58.2 s 机械臂以末端安装的圆头笔刷反复下压主纸并沿纸面移动，留下米黄、绿灰和深蓝等弧形或斜向笔迹，抬笔后换位置继续；记录刷毛与主纸的压擦接触，不另计笔柄握持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 18.4657
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 39.6878
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.356969
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.175831
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.794352
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 377.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 15230.56
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.076512
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 57.8,
+   "log_step": 197,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 57.5–58.2 s 机械臂仍在主纸上完成末段笔触，右下画纸视图中的卷浪与水波色带仍被大片长条漏白割裂，视频 58.6 s 结束时也未修复。log step 197 记录计划笔画执行完成；评分器记录相似度未过且主纸 377 笔超过 376 笔上限。断点为正在进行的整图临摹步骤，视频 57.8 s 仅作末段缺陷导航锚点。"
+  },
+  "unmet": {
+   "greatwave_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "漏涂",
+    "t": 57.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 56.0 s 及视频 57.5–58.6 s 的右下画纸视图显示，中央浪头周围、左侧浪身和底部斜向水波均有大量未覆盖的纸白长缝，预期连续的蓝绿和米黄色区域变成分离细条；后续末段笔触没有填满这些缝隙。",
+    "note_zh": "候选现象“漏涂”：描述最终画面可见的未覆盖区域及色块碎裂。现有接触类和运动类条目不能直接表达这种图案覆盖缺陷；没有证据把所有漏白归为末端位姿误差，故使用其他，不以相似度分数代替现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": null,
+    "log_step": 182,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 175 的裁剪代码按笔画新增同色像素贡献只保留 376 笔；log step 182 把 535 笔的宽刷方案裁为 376 笔，其自编离线渲染已输出 de_mean=4.602、de_p90=12.035、ssim=0.5511、edge=0.5234，低于任务所需精度。agent 在 log step 183 明知该结果仍选择执行，log step 185 将此裁剪方案复制为最终计划，log step 188 启动执行。视频 57.5–58.6 s 实际结果存在大量漏白，agent 在 log step 202 也自述删去 159 笔留下纸缝和色界偏差；据此将不能在笔数预算内兼顾覆盖与边界的笔画规划归为根因。离线数值仅为规划诊断证据，不当作评分器结果。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 内提供本次完整视频和日志，但没有逐帧状态日志或逐笔评分记录。首次浸蘸细节较小，视频约 0.7 s 的载色时间由颜料盘动作及稍后有色笔迹联合推断；无法精确确定第 377 笔形成时刻，或把实际图像相对离线预测的额外偏差归于某一笔宽、压力或跟踪参数，故不添加控制子类根因。"
+ },
+ "summary_zh": "观察：本次机械臂首次蘸色成功，随后在主纸上画出卷浪与水波的大致走向，最终完成 1/2 个节点；视频 57.5–58.6 s 仍见大量纸白长缝和破碎色带，整图临摹未达成，评分器还记录主纸 377 笔超过 376 笔上限。推断：log step 182–188 显示代理选择并执行了离线估算已不达标的 376 笔裁剪方案，支持认��·推理/规划根因。观察：缺少逐帧状态与逐笔评分，额外一笔的来源和实际执行相对离线预测的偏差原因不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "brush_loaded 已达成、greatwave_copied 未达成（评分器各项远未过门槛，末帧大量漏白）与视频一致；断点、现象（其他·漏涂）与根因（认知·推理/规划，log step 175/182/183/202 支持）均有证据，未发现需要改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:58:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--uom9blw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--uom9blw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2199c4deae1ffd3a8e34f2ba77de6434710a73b4fb5e553e8b57d7e43c95fb84",
+   "video_sha256": "3d55b3b17e0dd3a53ca34d8c8724171fa4e5a058bb422d3f73cea1557c126c07",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--vfx6qmo.json

@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-standard--vfx6qmo",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.083974,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.083974,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 16.0593,
+   "de_p90": 42.3021,
+   "de_bad_frac": 0.519001,
+   "de_mean_sheet": 16.0069,
+   "ssim_L": 0.39427,
+   "paint_iou": 0.949538,
+   "paint_area_mm2": 49054.1,
+   "target_paint_area_mm2": 49806.7,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 12.3641,
+   "ssim_L_fine": 0.339566,
+   "edge_corr": 0.232518,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.486753,
+   "n_regions": 119.0,
+   "n_strokes": 759.0,
+   "n_practice_strokes": 38.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 16.0593,
+   "de_p90_unregistered": 42.3021,
+   "ssim_L_unregistered": 0.39427,
+   "edge_corr_unregistered": 0.232518,
+   "paint_iou_unregistered": 0.949538,
+   "path_mm": 38753.91,
+   "longest_stroke_mm": 662.92,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 0.0,
+   "scribble_max": 5.4382,
+   "scribble_share": 0.120302,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 0.0,
+   "strict_ok": 0.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.097609,
+   "sim_steps": 65894,
+   "resets": 1.0,
+   "n_contacts": 797.0,
+   "samples": 329470.0,
+   "contact_samples": 225082.0,
+   "max_press_m": 0.01485,
+   "max_tilt_deg_in_contact": 0.474033,
+   "max_speed_in_contact_mps": 0.278716,
+   "handle_contact_samples": 99.0,
+   "n_dips": 165.0,
+   "dry_strokes": 0.0,
+   "n_frames": 601.0,
+   "replay_wall_s": 205.93,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 65894,
+   "physics_steps": 329470,
+   "steps": 61514,
+   "calls": 444,
+   "elapsed_s": 7052.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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/robopaint-acrylic-greatwave-i00-standard--vfx6qmo/replay.mp4",
+  "duration_s": 60.1,
+  "fps": 10.0,
+  "frames": 601,
+  "sha256": "f65daecad40c153adff9e480b80c43b9a0bb4a81d1b92002d011dff8a76ae125"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.4–0.6 s 机械臂往返画纸旁的颜料盘与练习纸，视频 0.7 s 侧视画面已出现深色短笔痕，视频 0.8–1.1 s 又有新增深色笔痕；首次载色以视频约 0.7 s 的可见色迹为锚点，精度约半秒。"
+     },
+     {
+      "t": 3.3,
+      "log_step": 72,
+      "text_zh": "观察：视频 3.3 s 主画纸右上方已出现真实浅褐色笔触；log step 72 的脚本先将机械臂刷尖送至颜料井内再在练习纸作画。推断：主纸作画前已经载色，后续换色不重复计步。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：单臂末端安装的圆头笔刷伸向颜料盘，随后在练习纸与主纸留下色迹。候选接触“浸蘸”：刷毛与井内颜料接触载色，现有抓握、压/擦、托/舀均不能准确表达这一接触。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.7,
+      "log_step": null,
+      "text_zh": "观察：视频 11.5–11.7 s 机械臂在主画纸上留下粗深蓝折线及斜线，线条直接跨过浅绿、米黄和空白区域；视频 12.0 s 清楚可见这种跨区连线，尚无完整卷浪构图。"
+     },
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频全程按每 3 s 的帧检查，并加密检查视频 11.4–11.9 s 和视频 59.0–60.0 s；机械臂不断添加色块与交叉长线，末帧仍被直线网状笔痕贯穿，中央卷浪和底部水波轮廓没有形成目标样貌。参考成功视频 58.5 s 可见连续深蓝卷浪及分层浅绿、米黄浪带，仅用于理解目标外观。"
+     },
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：本次评分器 reward 报告 de_mean=16.0593、de_p90=42.3021、ssim_L=0.39427、edge_corr=0.232518、paint_iou=0.949538、n_strokes=759、path_mm=38753.91、scribble_share=0.120302，均未满足 DAG 对应阈值；image_success=0、strict_ok=0、live_matches_replay=1。推断：结合可见画面，临摹节点全程未达到、终值为假；不是仅从零成功分数推断未作画。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂以安装的圆头笔刷压住主画纸并沿纸面移动，留下浅褐、浅绿、深蓝等色块与长笔痕；视频 11.5–11.7 s 可见新增跨区蓝线。只记刷毛到纸面的接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 16.0593
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 42.3021
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.39427
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.232518
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.949538
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 759.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 38753.91
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.120302
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.083974
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 11.7,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.5–11.7 s 机械臂在临摹主纸时新增跨越多个目标色区的深蓝折线；之后视频 18.0、30.0、45.0 s 可见更多交叉连线，视频 59.0–60.0 s 仍未修复成目标卷浪。断点取临摹步骤发生明显跨区落笔的导航锚点，不把后续笔数或笔路超限另设为步骤。"
+  },
+  "unmet": {
+   "greatwave_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.7,
+    "log_step": null,
+    "evidence_zh": "观察：视频 11.5–11.7 s 新增深蓝笔迹从画纸上沿斜穿至左侧中部并折返，跨过应保留的浅色区；视频 60.0 s 的主纸上有密集斜线、竖线切割并覆盖色块，卷浪边界被打散。可见缺陷是笔刷落笔路径偏离目标图的色块与轮廓。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "note_zh": "控制脚本存在并发发送运动命令的风险；缺少实际提交块执行序列，不能确定更细控制子类。",
+    "evidence_zh": "观察：log step 221 在后台启动 runpaint.py，循环通过 Painter.go 分块向同一机器人提交绘画动作；log step 229、231 的服务状态显示 control_steps 继续增加，log step 235 又启动同样分块提交动作的 run2.py，之前未见停止 runpaint.py 的记录。log step 261 只请求取消 run2.py 对应的 bash-109，log step 265 又执行一批笔画。评分器实际记录 759 笔，而 log step 210 的离线计划只有 376 笔；视频 11.7–60.0 s 出现持续跨区长线。推断：多个绘画控制流程未统一串行管理，分块运动可能交错，使原本的抬笔、换色与落笔路径被打断，造成额外连线和重复作画；因此根因标控制总类，并发的具体执行顺序尚未直接验证。"
+   }
+  ],
+  "gap_zh": "无状态日志，也没有每个运动提交块的实际执行顺序与逐笔统计；无法把具体杂线逐一对应到两个脚本的命令，或定位笔数、笔路超限的准确视频时刻。并发控制解释为有日志与视频支持的推断，不确定其与笔宽近似误差各自的贡献。"
+ },
+ "summary_zh": "本次完成首次蘸色并在主纸持续作画，最终完成 1/2 个节点；临摹巨浪图全程未达到。视频约 11.7 s 出现跨色区深蓝长线，至视频 60.0 s 仍有密集交叉笔痕，图像相似度以及笔数、笔路和填色指标均未通过。日志显示先后启动多个绘画控制流程，推断分块命令可能交错，但无实际执行序列��确定具体贡献。",
+ "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（brush_loaded 达到、greatwave_copied 未达到）与视频和评分器数值一致；视频 11.7 s 出现跨区长线、60 s 末帧为密集交叉笔痕，断点与位姿不准现象有帧支持；控制根因已标为推断并写明缺少执行序列，log step 221/229/231/235/261 的内容与引文相符。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": "2026-10-30T23:02:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--vfx6qmo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--vfx6qmo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "73894a5410f53720a38662946ffb2423903f6b2fdad7d54488ed8f4682709239",
+   "video_sha256": "f65daecad40c153adff9e480b80c43b9a0bb4a81d1b92002d011dff8a76ae125",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--vguerla.json

@@ -0,0 +1,318 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-greatwave-i00-standard--vguerla",
+ "taskKey": "robopaint/acrylic_greatwave",
+ "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.693335,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 6.1333,
+   "de_p90": 16.0578,
+   "de_bad_frac": 0.20223,
+   "de_mean_sheet": 6.114,
+   "ssim_L": 0.696297,
+   "paint_iou": 0.893613,
+   "paint_area_mm2": 46066.0,
+   "target_paint_area_mm2": 49763.9,
+   "n_target_strokes": 289.0,
+   "de_mean_coarse": 4.9295,
+   "ssim_L_fine": 0.607443,
+   "edge_corr": 0.532659,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.808038,
+   "n_regions": 119.0,
+   "n_strokes": 367.0,
+   "n_practice_strokes": 9.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 376.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 6.1716,
+   "de_p90_unregistered": 16.0112,
+   "ssim_L_unregistered": 0.692346,
+   "edge_corr_unregistered": 0.534146,
+   "paint_iou_unregistered": 0.8933,
+   "success": 0,
+   "final_reward": 0.693335,
+   "path_mm": 9459.21,
+   "longest_stroke_mm": 222.2,
+   "max_path_mm": 37900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.0948,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.693335,
+   "sim_steps": 18095,
+   "resets": 1.0,
+   "n_contacts": 376.0,
+   "samples": 90475.0,
+   "contact_samples": 32179.0,
+   "max_press_m": 0.014008,
+   "max_tilt_deg_in_contact": 0.310962,
+   "max_speed_in_contact_mps": 0.056922,
+   "handle_contact_samples": 0.0,
+   "n_dips": 12.0,
+   "dry_strokes": 0.0,
+   "n_frames": 585.0,
+   "replay_wall_s": 106.64,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 18095,
+   "physics_steps": 90475,
+   "steps": 18091,
+   "calls": 148,
+   "elapsed_s": 1869.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "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/robopaint-acrylic-greatwave-i00-standard--vguerla/replay.mp4",
+  "duration_s": 58.5,
+  "fps": 10.0,
+  "frames": 585,
+  "sha256": "8090649c7bed8cf5bc02343d5b819d28689f000979ed59d339c72556481affbe"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": 55,
+      "text_zh": "推断：视频 0.2–0.4 s 的场景视角中机械臂刷尖下降至颜料盘右侧井位，随后移向练习纸；视频 0.7–0.8 s 的侧视图出现真实深蓝色横线，证明笔刷已经载色。首次蘸色约定位于视频 0.3 s，误差约半秒；log step 55 的执行代码也先蘸深蓝井再画练习线，仅作动作对应佐证。"
+     },
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0 s 主纸右下图开始出现浅褐色笔触，之后视频 24–58.4 s 陆续出现深蓝、浅绿灰及米黄笔触；载色事件已发生，后续换色不另计步。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：机械臂以固定安装的圆头笔刷下降至颜料井，随后在练习纸留下深蓝线（视频 0.2–0.8 s），后续又多次换色。候选接触“浸蘸”：刷毛接触井中颜料并载色，没有夹取或舀取，现有接触方式无准确对应。"
+     }
+    ]
+   },
+   "greatwave_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4–22 s 机械臂逐步画出浅褐背景和浅绿灰浪带，视频 24–30 s 加入中央深蓝卷浪及底部深蓝水波；此时大块区域仍为空白，尚未形成完整目标画面。"
+     },
+     {
+      "t": 57.7,
+      "log_step": null,
+      "text_zh": "观察：视频 54–58.4 s 机械臂补上褐色舟形和米黄色细节，右下画纸图中的中央卷浪已经可辨，但左侧浪带及底部水波间仍有大量细长的浅纸色缝隙，色块边缘破碎；相较成功参考录像的视频 59.8 s，同一区域的色带覆盖不连续。"
+     },
+     {
+      "t": 58.4,
+      "log_step": null,
+      "text_zh": "观察：评分器 reward 给出 image_success=0，de_mean=6.1333>2、de_p90=16.0578>6、ssim_L=0.696297<0.92、edge_corr=0.532659<0.8、paint_iou=0.893613<0.95；n_strokes=367≤376、path_mm=9459.21≤37900、scribble_share=0≤0.1，strict_ok=1。视频 58.4 s 的末帧仍有上述漏涂，整幅临摹目标未达成；这些指标是最终评分，不据此反推中间时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4.0–58.3 s，单臂末端安装的载色圆头笔刷反复下降接触主纸并沿纸面扫过，画面随之增加各色笔触；笔刷抬起后转移到下一笔。只记录刷毛与纸面的工具接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better",
+   "value": 6.1333
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 16.0578
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.696297
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.532659
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.893613
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 376,
+   "direction": "lower_better",
+   "value": 367.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 37900,
+   "direction": "lower_better",
+   "value": 9459.21
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.693335
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "greatwave_copied",
+   "t": 57.7,
+   "log_step": 296,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 57.7 s 的最后补画阶段，主纸已有中央卷浪、浪带和舟形，但浪带及底部水波之间仍留有许多细长缺色缝隙；至视频 58.4 s 机械臂退开，缺口仍未修补。评分器 image_success=0，五项图像相似度指标均未通过；log step 296 的 agent 自制末图评估也显示明显相似度不足。断点为临摹巨浪图，视频 57.7 s 仅作末段未修复偏差的导航锚点。"
+  },
+  "unmet": {
+   "greatwave_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触间漏涂",
+    "t": 57.7,
+    "log_step": null,
+    "evidence_zh": "观察：视频 57.7–58.4 s 的右下画纸图中，中央卷浪左下方的浅绿灰浪带及底部深蓝水波被许多浅纸色细缝切开，轮廓呈碎条状；成功参考录像的视频 59.8 s 对应色带更连续、更饱满。该缺陷在本次末帧仍然可见。",
+    "note_zh": "候选现象“笔触间漏涂”：这是材料绘制结果中可见的缺色缝隙；现有接触、运动、全身、约束、汇报与没尝试条目均不能准确表达，视频也不足以断言某次特定笔触的位置偏移或接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "log_step": 300,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 在 log step 277 的自制最终笔画渲染评估已得到色差均值5.415（目标≤2）、SSIM 0.7527（目标≥0.92）、边缘相关0.5373（目标≥0.8），仍于 log step 289 执行该方案；log step 296 对实际相机末图的自制评估又显示相似度不足。随后 agent 在 log step 300 宣称“The painting task has been completed”，最终总结只列过程限额满足，之后没有补画。run.json 的 wall_s=1852、time_limit_s=3600 表明仍有预算；结合视频 58.4 s 未修复的漏涂，支持其将执行结束及过程合规当成任务完成而停止修正。自制评估仅作决策证据，不替代评分器数值。"
+   }
+  ],
+  "gap_zh": "无状态日志，不能逐帧核算精确图像指标或精确确认刷毛首次入液深度；首次载色时间由蘸井动作及随后实色线综合定位。末图漏涂可见，但缺少逐笔实际宽度和目标覆盖对照，不能进一步确定漏涂由笔路简化、笔宽估计还是实际接触跟踪造成；不增加控制子类归因。"
+ },
+ "summary_zh": "机械臂首次蘸色后在练习纸试画，再在主纸画出中央深蓝卷浪、浅绿灰浪带、褐舟与米黄细节，最终完成1/2个节点。临摹巨浪图未达成：末段至视频 58.4 s 仍有明显笔触间漏涂，五项图像相似度指标均未通过，而笔数、笔路与填色规则通过；agent 在自测相似度不足后仍宣称完成并停止修正。没有状态日志，无法进一步区分笔路简化、笔宽估计与接触跟踪对漏涂的贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、评分器数值和日志一致：brush_loaded 约 0.3 s 达成，greatwave_copied 未达成（末帧仍有大量漏涂，五项图像指标均未过），断点、现象与根因均有证据支持，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": "2026-10-30T22:57:33Z",
+  "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/robopaint-acrylic-greatwave-i00-standard--vguerla/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--vguerla/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b1a47e35308c18d82f879bd497a012b3269553f9c21438a414e5424d0be777e6",
+   "video_sha256": "8090649c7bed8cf5bc02343d5b819d28689f000979ed59d339c72556481affbe",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--5nwb85b.json

@@ -0,0 +1,361 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-privileged--5nwb85b",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.87778,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.87778,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 2.4444,
+   "de_p90": 5.19,
+   "de_bad_frac": 0.033806,
+   "de_mean_sheet": 2.4304,
+   "ssim_L": 0.925643,
+   "paint_iou": 0.980517,
+   "paint_area_mm2": 49076.0,
+   "target_paint_area_mm2": 49526.3,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 1.5129,
+   "ssim_L_fine": 0.880677,
+   "edge_corr": 0.873484,
+   "region_cov_min": 0.429043,
+   "region_cov_mean": 0.969404,
+   "n_regions": 82.0,
+   "n_strokes": 371.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 377.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 2.4444,
+   "de_p90_unregistered": 5.19,
+   "ssim_L_unregistered": 0.925643,
+   "edge_corr_unregistered": 0.873484,
+   "paint_iou_unregistered": 0.980517,
+   "path_mm": 7614.57,
+   "longest_stroke_mm": 121.04,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.1436,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.87778,
+   "sim_steps": 22330.0,
+   "resets": 1.0,
+   "n_contacts": 371.0,
+   "samples": 111650.0,
+   "contact_samples": 31110.0,
+   "max_press_m": 0.013088,
+   "max_tilt_deg_in_contact": 0.598229,
+   "max_speed_in_contact_mps": 0.088462,
+   "handle_contact_samples": 0.0,
+   "n_dips": 12.0,
+   "dry_strokes": 0.0,
+   "n_frames": 589.0,
+   "replay_wall_s": 174.3,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 22330,
+   "video_rendered": 1,
+   "agent_sessions": 65,
+   "agent_resets": 24,
+   "agent_sim_steps": 762272,
+   "agent_records": 42,
+   "agent_replays": 6,
+   "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/robopaint-acrylic-kajikazawa-i00-privileged--5nwb85b/replay.mp4",
+  "duration_s": 58.9,
+  "fps": 10.0,
+  "frames": 589,
+  "sha256": "23dce8bebde39d09559af999c26c92bc095d1a04bb77914bd2e9fbd93a377006"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸空白；视频 0.1–0.3 s Panda 末端移到调色盘孔位并下探，视频 0.4 s 俯视画布首次出现浅黄色笔迹，视频 0.5–1.2 s 笔迹随刷尖扫动延长。"
+     },
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "推断：开局干笔而视频 0.4 s 已能留下有色笔迹，故首次蘸料已经完成，以首个显色画面保守定位；孔内刷尖及液面深度在该分辨率下不清楚，时间精度约半秒。评分器 reward 另记录 n_dips=12、n_dry_strokes=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "Panda 末端固定圆画笔的刷尖下探调色盘颜料孔，随后在主纸显色，据此确认刷毛接触颜料；候选接触名“蘸取”，现有抓握、压/擦、托/舀均不能准确描述浸入颜料载色。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频全段粗查显示机器人依次画浅黄天空、灰绿色横带与背景、深绿岩石、蓝色河水及人物，视频 30 s 左右河水仍在补画，视频 42–49.5 s 人物由零散深色块逐渐补上棕色头部；主纸不是未尝试的空白结果。"
+     },
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频 57.8–58.8 s 逐帧检查及视频 58.8 s 俯视末帧可见完整同向构图，但人物头部与躯干连接处零碎，岩石及河面色块夹有细小浅色缺口，局部边界呈短横段和阶梯状；成功参考 inputs/oracle/replay.mp4 的视频 59.4 s 仅用于外观比较，其人物轮廓与河面色块更连贯。"
+     },
+     {
+      "t": 58.8,
+      "log_step": 255,
+      "text_zh": "观察：log step 252 保存的交付轨迹有 22330 个关节目标、371 笔；log step 255 对该文件两次新进程回放得到相同 state_sha=0ee141aaafa8c93f 和 de_mean=2.4444，与本次 reward 一致。终局平均色差超过 2.0 上限，image_success=0；de_p90=5.19、ssim_L=0.925643、edge_corr=0.873484、paint_iou=0.980517、371 笔、path_mm=7614.57、scribble_share=0 均满足对应阈值。"
+     },
+     {
+      "t": 58.8,
+      "log_step": 252,
+      "text_zh": "推断：前段仍缺颜色和人物，后段补画后仍有局部覆盖与轮廓偏差，交付终局唯一未通过的验收项是平均色差，故不将大致构图齐全记为该节点完成；没有支持达标的区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频 0.4–58.8 s，Panda 末端固定圆画笔反复下压主纸、沿纸面扫动并抬起换笔，刷毛与主纸的受压接触留下各色笔迹；底座保持固定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 2.4444
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 5.19
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.925643
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.873484
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.980517
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 371.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 7614.57
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.87778
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.5129
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.880677
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.429043
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.969404
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 58.8,
+   "log_step": 255,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.8 s 机器人已画出天空、人物、岩石和河水，但人物连接处与河面局部轮廓仍零碎，绘画步骤没有达到完整验收。log step 255 交付文件的两次回放与 reward 均给出平均色差 2.4444>2.0，其他图像阈值及笔数、路径、涂抹规则通过；以末帧定位尚未修好的整幅临摹步骤。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部笔迹缺口及轮廓失真",
+    "t": 58.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 57.8–58.8 s 的俯视画布中，人物头部下方和躯干连接处由短小、断开的色块组成，深绿岩石和蓝色河面夹有细小浅色缺口，浪纹色块边缘呈阶梯状；与成功参考视频 59.4 s 的连贯人物轮廓及河面色块相比，局部笔迹覆盖和轮廓仍有偏差。",
+    "note_zh": "候选现象“局部笔迹缺口及轮廓失真”：现有接触和运动条目不能准确表达已落笔且主体构图齐全时，最终绘画材料分布的局部缺陷；未从色差指标单独推断刷尖位姿或接触力错误。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 58.8,
+    "log_step": 251,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 226 的生成器将各色区域转成按局部厚度变化的水平扫笔；log step 251 的交付版本用 tube_mask 对计划笔触构造理想画布 C2，再据此决定 85 笔修补，而没有在该修补计算中读取实际画布。log step 252 显示该方案 371 笔均执行、ik_failures=0，仍得到 de_mean=2.4444；视频 58.8 s 也保留细小缺口和碎裂轮廓。结合 log step 265 agent 对理想管状边缘与真实刷痕边缘不一致的自述，推断所设计扫笔的涂覆形状及修补覆盖与实际刷痕不充分匹配。",
+    "note_zh": "归因于画笔与纸面的接触覆盖几何设计；不据此断言某一个下压参数错误。该次运行未验证能消除这些残差的替代接触方案。"
+   }
+  ],
+  "gap_zh": "未提供状态日志或交付视频逐帧评分；压缩画布可见局部缺陷，但无法精确复算各时刻色差、逐笔分解误差来源或确定最早产生残差的一笔，断点取视频末帧作为导航锚点。蘸料时刷尖入孔的精确深度受分辨率限制，以视频 0.4 s 首次显色确认；根因是交付生成代码、末帧与 agent 自述共同支持的推断。"
+ },
+ "summary_zh": "机器人完成蘸料并用 371 笔画出整幅构图，节点终态为 1/2；整幅临摹仍未通过平均色差验收（2.4444>2.0），其余图像指标及过程规则通过。视频 58.8 s 留有局部笔迹缺口和碎裂轮廓，结合交付生成器按理想扫笔覆盖模型安排修补，推断接触覆盖几何与实际刷痕不充分匹配。没有逐帧评分或状态日志，精确误差形成时刻及逐笔原因无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 brush_loaded 约视频 0.4 s 达成、painting_copied 未达成（de_mean 2.4444>2.0，评分器读数），断点、接触、现象和根因均有证据支持；视频末帧与成功参考外观相近，现象证据较弱但可接受。",
+    "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": "2026-10-30T22:37:41Z",
+  "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/robopaint-acrylic-kajikazawa-i00-privileged--5nwb85b/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-privileged--5nwb85b/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "15fb8927be8cee6c0ccaf58567038078c705d516800ff8b59f0ed6c26745f244",
+   "video_sha256": "23dce8bebde39d09559af999c26c92bc095d1a04bb77914bd2e9fbd93a377006",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--hhlws4s.json

@@ -0,0 +1,352 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-privileged--hhlws4s",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.84519,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.84519,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 3.0962,
+   "de_p90": 7.1184,
+   "de_bad_frac": 0.063018,
+   "de_mean_sheet": 3.0807,
+   "ssim_L": 0.865432,
+   "paint_iou": 0.956652,
+   "paint_area_mm2": 48248.7,
+   "target_paint_area_mm2": 49526.3,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 1.9172,
+   "ssim_L_fine": 0.805313,
+   "edge_corr": 0.762991,
+   "region_cov_min": 0.243568,
+   "region_cov_mean": 0.944873,
+   "n_regions": 82.0,
+   "n_strokes": 376.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 377.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.0962,
+   "de_p90_unregistered": 7.1184,
+   "ssim_L_unregistered": 0.865432,
+   "edge_corr_unregistered": 0.762991,
+   "paint_iou_unregistered": 0.956652,
+   "path_mm": 8021.57,
+   "longest_stroke_mm": 213.05,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.1254,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.84519,
+   "sim_steps": 32549.0,
+   "resets": 1.0,
+   "n_contacts": 376.0,
+   "samples": 162745.0,
+   "contact_samples": 40819.0,
+   "max_press_m": 0.013063,
+   "max_tilt_deg_in_contact": 0.168831,
+   "max_speed_in_contact_mps": 0.055326,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 593.0,
+   "replay_wall_s": 124.0,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 32549,
+   "video_rendered": 1,
+   "agent_sessions": 0,
+   "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/robopaint-acrylic-kajikazawa-i00-privileged--hhlws4s/replay.mp4",
+  "duration_s": 59.3,
+  "fps": 10.0,
+  "frames": 593,
+  "sha256": "e31d798283f1502c0ab0cdf7d2cf963eadcee59305c7febaa46fff6db0056aba"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.2 s 主纸为空白，机械臂末端画笔从调色盘一侧移向主纸；视频 0.3 s 画布专用视图首次出现浅黄色笔迹，随后笔尖继续触纸绘画。"
+     },
+     {
+      "t": 0.3,
+      "log_step": 164,
+      "text_zh": "推断：结合任务初态为干笔、视频 0.3 s 已留下有色笔迹，以及交付文件重新回放的 log step 164 报告 loaded=true、n_dips=10、dry_strokes=0，首次蘸料已成功；以首次可见显色的视频 0.3 s 为约半秒精度的锁存锚点，刷尖入孔瞬间被机械臂遮挡。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端安装圆画笔的刷毛蘸取调色盘颜料，依据开局干笔后出现有色笔迹及交付回放 n_dips=10；候选接触名“蘸取”，浸入颜料载色不适合抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.3 s 机械臂开始以画笔在主纸留下浅黄色笔触；视频 3–45 s 逐渐补入灰绿色横带、岩石和河水，期间整幅构图尚不完整。"
+     },
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 48.0–56.5 s 机械臂补画人物及深蓝河水；视频 54.0 s 已能辨认完整构图，但浅黄天空与深绿岩石内有细碎浅色孔隙，河水笔触间有不规则断缝；这些形态在视频 58.3–59.2 s 仍可见。成功参考视频 59.5 s 的对应大色块更连续、浪纹边缘更整齐；参考仅用于外观比较。"
+     },
+     {
+      "t": 59.2,
+      "log_step": 164,
+      "text_zh": "观察：inputs/run.json 的评分器终局字段与交付文件重新回放的 log step 164 一致：image_success=0，de_mean=3.0962>2、de_p90=7.1184>6、ssim_L=0.865432<0.92、edge_corr=0.762991<0.8；paint_iou=0.956652、376 笔、path_mm=8021.57、scribble_share=0 均通过各自阈值。视频 59.2 s 画面仍有上述细碎缺口，整幅临摹节点终局不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.3 s 起机械臂末端安装的圆画笔刷毛下压并沿主纸扫动留下有色笔迹，随后多次抬笔、换色并继续绘画；不重复记录画笔安装链路。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 3.0962
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 7.1184
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.865432
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.762991
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.956652
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 376.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 8021.57
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.84519
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.9172
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.805313
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.243568
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.944873
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 54.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54.0 s 机械臂仍在补画深蓝河水，天空和岩石色块内已有细碎浅色孔隙；到视频 59.2 s 这些缺口仍在，图像未被修复到成功参考那样连续。评分器终局 image_success=0，四项颜色、结构和边缘指标未达阈值；这是整幅临摹步骤的失败，视频 54.0 s 仅作后期缺陷可见的导航锚点。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "漏涂与笔触边缘破碎",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0 s 及视频 58.3–59.2 s 的画布专用视图显示浅黄天空和深绿岩石内散布浅色小孔，河水多条笔触的交界呈零碎断缝；成功参考视频 59.5 s 的相应大色块更连续。缺陷是绘画覆盖与笔迹形态，现有接触、运动或全身条目不能准确描述，故用其他，候选名“漏涂与笔触边缘破碎”。",
+    "note_zh": "候选现象名“漏涂与笔触边缘破碎”：此处是已经接触并绘画后的局部空隙和边缘形态缺陷，无法准确归为没建立接触、没保持住或单一位姿不准，现有词表没有绘画覆盖缺陷条目。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：agent 的脚本把目标色块中心线及几何笔宽转换为实际绘画动作，这一转换未充分复现真实笔迹的覆盖和交叠。生成交付版本的 log step 146 给出几何预测 paint IoU=0.9630、label_acc=0.9879；同一版本的 log step 152 对实际画布自检给出部分颜色仅约 0.89 的同色比例。log step 162 自述降低压力以避免颜色交叠却损失覆盖，log step 158 的该实验确实得到更低的覆盖和更差的图像指标，随后 log step 159 恢复原交付，log step 164 重新回放仍有颜色及边缘误差；视频 54.0–59.2 s 与这些覆盖残差相符。证据支持绘画控制不足，尚不足以指定某个压力参数、逆解或反馈子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中没有逐帧状态日志，无法取得笔尖轨迹、压力和每笔图像评分；日志若干编辑调用仅保留 patch 占位文本。首次蘸料的入孔瞬间被���械臂遮挡，视频 0.3 s 的显色和交付回放字段支持已载料，但精确入孔时间不可见；根因的控制归类为推断，不能进一步区分笔宽模型、路径选择、下压或后画覆盖各自的贡献。没有中途精确图像指标，未观察到构图完整且后来又失去达标的阶段。",
+  "unmet": {
+   "painting_copied": false
+  }
+ },
+ "summary_zh": "机械臂在视频约 0.3 s 前完成首次蘸料，随后逐色绘出整幅构图，终局完成 1/2 个节点。整幅临摹断在绘画操作中：末段天空、岩石仍有细碎露白，河水笔迹边缘破碎，终局色差、结构和边缘四项指标未达标，笔数及过程规则均通过。日志与实际笔迹支持覆盖控制不足的推断，但缺少逐帧轨迹和压力数据，无法确定具体控制子因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点、断点与现象与视频、评分器读数和日志一致；根因停在“控制”并标为推断，合理。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": "2026-10-30T22:37:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-privileged--hhlws4s/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-privileged--hhlws4s/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2b02a5fc0b9231ece36564055217cdb701c9500362da51aa41c656d4df92bbb2",
+   "video_sha256": "e31d798283f1502c0ab0cdf7d2cf963eadcee59305c7febaa46fff6db0056aba",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--pw2kaqg.json

@@ -0,0 +1,350 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-privileged--pw2kaqg",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.8379,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.8379,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 3.242,
+   "de_p90": 8.9083,
+   "de_bad_frac": 0.084291,
+   "de_mean_sheet": 3.2299,
+   "ssim_L": 0.869233,
+   "paint_iou": 0.973924,
+   "paint_area_mm2": 49886.2,
+   "target_paint_area_mm2": 49482.6,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 1.664,
+   "ssim_L_fine": 0.806833,
+   "edge_corr": 0.76946,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.924915,
+   "n_regions": 82.0,
+   "n_strokes": 370.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 377.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.3719,
+   "de_p90_unregistered": 9.2822,
+   "ssim_L_unregistered": 0.862627,
+   "edge_corr_unregistered": 0.753362,
+   "paint_iou_unregistered": 0.973158,
+   "path_mm": 10087.82,
+   "longest_stroke_mm": 236.39,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.198,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.8379,
+   "sim_steps": 29658.0,
+   "resets": 1.0,
+   "n_contacts": 370.0,
+   "samples": 148290.0,
+   "contact_samples": 40434.0,
+   "max_press_m": 0.013082,
+   "max_tilt_deg_in_contact": 0.150302,
+   "max_speed_in_contact_mps": 0.043804,
+   "handle_contact_samples": 0.0,
+   "n_dips": 333.0,
+   "dry_strokes": 0.0,
+   "n_frames": 595.0,
+   "replay_wall_s": 174.1,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 29658,
+   "video_rendered": 1,
+   "agent_sessions": 9,
+   "agent_resets": 9,
+   "agent_sim_steps": 93566,
+   "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": 0.096,
+   "peak_memory_gb": 1.97,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.717,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-kajikazawa-i00-privileged--pw2kaqg/replay.mp4",
+  "duration_s": 59.5,
+  "fps": 10.0,
+  "frames": 595,
+  "sha256": "a8657d215d8ab6063001fa5c964d73ac0738bd90afdbb386ea7c42960f388937"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.2 s 的场景视图中，Panda 末端画笔向纸旁的调色盘孔列移动后返回纸上；视频 0.2 s 主纸开始出现深蓝色笔迹，视频 0.3–0.4 s 该笔迹延长。"
+     },
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "推断：结合任务给定初始干笔、视频 0.2 s 已显色，首次蘸料至迟在视频 0.2 s 已完成；以首个可确认有色笔迹的画面作达到时刻，蘸入孔内的精确瞬间受机械臂遮挡及采样限制。评分器记录 n_dips=333、n_dry_strokes=0，与后续反复换色绘画一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：Panda 末端安装画笔的刷尖蘸入调色盘颜料，随后在主纸显色；候选接触名“蘸取”，刷毛浸入颜料不属于抓握、压/擦或托/舀。视频 0.0–0.2 s 支持首次上色，评分器另记录333次蘸料。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.2–1.5 s，Panda 安装画笔贴纸移动，主纸出现并延长数条深蓝、绿色笔迹；视频 2.0–16.0 s 陆续补入天空、岩石和河水色块，仍有明显露白和不完整构图。"
+     },
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–33.0 s 已有整幅构图，但人物由圆点状色团拼接，右下河水的浅色浪纹多为分散的短直条与点块；视频 58.0–59.4 s 逐帧检查中仍保��这些差异。成功参考视频 59.5 s 的人物俯身外轮廓及弯折浪纹更连贯，仅用作外观对照。"
+     },
+     {
+      "t": 59.4,
+      "log_step": 32,
+      "text_zh": "观察：评分器终局 de_mean=3.242>2、de_p90=8.9083>6、ssim_L=0.869233<0.92、edge_corr=0.76946<0.8，image_success=0；paint_iou=0.973924、370笔、path_mm=10087.82、scribble_share=0 均满足各自限制。log step 32 对交付文件的独立回放输出同一分数与 success=0。"
+     },
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "推断：抽查全程及后半段细节，成画从未出现成功参考的完整细节，终局图像指标也明确未通过，故本节点无达到区间；没有逐帧评分量，不能把终局数值回填为中途测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.2–1.5 s 及后续绘画画面显示，Panda 末端固定画笔的刷毛下压主纸并沿纸面移动，留下有色笔触；过程反复抬笔、换色和重新落笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 3.242
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 8.9083
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.869233
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.76946
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.973924
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 370.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 10087.82
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.8379
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.664
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.806833
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.924915
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 32.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 30.0–33.0 s，机器人仍在补画整幅临摹，人物轮廓呈团块，河水浪纹为分散短条；视频 58.0–59.4 s 这些差异仍未消除。评分器终局图像匹配失败，而蘸料、笔数及两条过程规则均通过。推断：失败步骤为完成整幅临摹，视频 32.0 s 仅作可见缺陷的导航锚点，并非某次瞬时不可逆事故。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "人物与浪纹轮廓碎片化",
+    "t": 32.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 30.0–33.0 s 与视频 58.0–59.4 s 的画布视图中，人物头、躯干由圆点与短块拼接，右下浅色浪纹断为短直条和点块；成功参考视频 59.5 s 可见更连贯的俯身人物外缘与弯折浪纹。",
+    "note_zh": "候选现象“人物与浪纹轮廓碎片化”：这是成画的具体形状缺陷；现有接触、运动、全身、约束、汇报或没尝试条目均不能准确表达，故用其他，不以未达评分阈值代替可见现象。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 中没有状态日志或逐笔执行误差记录。log step 9、23 显示 agent 使用降采样画布上的贪心直线笔触搜索并增加实际收益惩罚，log step 34 自述更细网格和曲线可能改善结果；这些没有对应的验证实验。推断：现有证据不能把残余轮廓缺陷明确归于笔触表示、收益模型、笔宽近似或运动跟踪中的某一项，故根因留空；首次蘸料的入孔瞬间也有遮挡，节点时刻取视频 0.2 s 首次显色。"
+ },
+ "summary_zh": "观察：Panda 已完成首次蘸料并在主纸绘出整幅构图，最终达到1/2节点；370笔及路径、涂抹规则均合规，但人物和浪纹仍呈碎块与短直条，整幅临摹的颜色、结构和边缘指标未通过。log step 32 的交付文件回放结果与评分器一致，log step 34 明确承认未成功。推断：断点是完成整幅临摹的操作中；没有逐笔执行误差与对照实验，无法可靠细分根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频一致：视频 0.2 s 主纸出现深蓝笔迹，brush_loaded 成立；终局画面人物与浪纹相比成功参考更碎，painting_copied 未达成，评分器指标未过；断点、现象（可见的轮廓碎片化，非指标复述）和空根因层（带 gap_zh）符合 FAIL-15/N10。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:42:36Z",
+  "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/robopaint-acrylic-kajikazawa-i00-privileged--pw2kaqg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-privileged--pw2kaqg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6ba7f44cb2ff93451d21ee1292e2b482df9dae0b31dc70cc30c9d06eef35306d",
+   "video_sha256": "a8657d215d8ab6063001fa5c964d73ac0738bd90afdbb386ea7c42960f388937",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--rvwwlmk.json

@@ -0,0 +1,340 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-privileged--rvwwlmk",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.77045,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 4.591,
+   "de_p90": 12.3608,
+   "de_bad_frac": 0.135045,
+   "de_mean_sheet": 4.5791,
+   "ssim_L": 0.800927,
+   "paint_iou": 0.956584,
+   "paint_area_mm2": 49404.0,
+   "target_paint_area_mm2": 49485.5,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 2.9545,
+   "ssim_L_fine": 0.728486,
+   "edge_corr": 0.593583,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.873749,
+   "n_regions": 82.0,
+   "n_strokes": 353.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 377.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.2219,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 4.6017,
+   "de_p90_unregistered": 12.3806,
+   "ssim_L_unregistered": 0.80061,
+   "edge_corr_unregistered": 0.592099,
+   "paint_iou_unregistered": 0.956332,
+   "success": 0,
+   "final_reward": 0.77045,
+   "path_mm": 11867.44,
+   "longest_stroke_mm": 235.92,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.3026,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.77045,
+   "sim_steps": 25556.0,
+   "resets": 1.0,
+   "n_contacts": 353.0,
+   "samples": 127780.0,
+   "contact_samples": 42190.0,
+   "max_press_m": 0.012231,
+   "max_tilt_deg_in_contact": 0.111654,
+   "max_speed_in_contact_mps": 0.048445,
+   "handle_contact_samples": 0.0,
+   "n_dips": 80.0,
+   "dry_strokes": 0.0,
+   "n_frames": 596.0,
+   "replay_wall_s": 169.3,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 25556,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 44,
+   "agent_resets": 19,
+   "agent_sim_steps": 778121,
+   "agent_records": 12,
+   "agent_replays": 15,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-kajikazawa-i00-privileged--rvwwlmk/replay.mp4",
+  "duration_s": 59.6,
+  "fps": 10.0,
+  "frames": 596,
+  "sha256": "55a6d52fb9dc9e42db122e1dafd9c0fd3bc96577bcf58124dc64872cb1082b0c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.2 s 主纸为空白，视频 0.3 s 画布视图首次出现黄色短笔迹，视频 0.4–0.8 s 黄色笔迹继续延长；机器人末端画笔已能在主纸显色。"
+     },
+     {
+      "t": 0.3,
+      "log_step": 253,
+      "text_zh": "推断：结合开局干笔、视频 0.3 s 已显色以及交付文件官方回放在 log step 253 报告 loaded=true、n_dips=80、dry_strokes=0，首次蘸料已在视频 0.3 s 前完成；取视频 0.3 s 为保守定位，误差约 0.3 s，颜料孔内的瞬间受机械臂遮挡。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "Panda 末端固定画笔的刷毛蘸取调色盘颜料；由首次显色及交付回放的80次蘸料记录推断实际发生。候选接触名“蘸取”：刷毛浸入颜料载色，现有抓握、压/擦、托/舀均不能准确表达。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.3–6.0 s 机器人用画笔画出黄色天空和灰绿色横带，视频 9.0–18.0 s 增加深绿色岩石与深蓝水纹，视频 24.0–25.0 s 仍有大片浅色空隙；这些阶段均仅为部分绘画。"
+     },
+     {
+      "t": 58.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–57.0 s 机器人继续补画；视频 58.0–59.5 s 的画布视图可见整幅天空、人物、岩石与河水，但人物躯干周围、岩石右缘和下方水纹的色块轮廓及浅色缝隙与成功参考视频 59.5 s 的对应区域不同，细节没有完全复现。"
+     },
+     {
+      "t": 59.5,
+      "log_step": 253,
+      "text_zh": "观察：交付文件的官方回放结果（log step 253）与 inputs/run.json.reward 一致：de_mean=4.591>2、de_p90=12.3608>6、ssim_L=0.800927<0.92、edge_corr=0.593583<0.8，image_success=0；paint_iou=0.956584、353笔、path_mm=11867.44、scribble_share=0 则合规。结合视频全程从局部色块逐步补成上述终图，整幅临摹节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频 0.3 s 起，Panda 末端固定圆画笔刷毛下压并沿主纸扫动，连续留下多色笔触；视频 58.0–59.5 s 仍在补画。仅记录画笔作用于纸面这条工具接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 4.591
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 12.3608
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.800927
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.593583
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.956584
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 353.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 11867.44
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.77045
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 2.9545
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.728486
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.873749
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 58.0,
+   "log_step": 253,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.0–59.5 s，机器人仍用画笔补画，整图已可辨认，但人物附近和岩石右下方水面仍保留与成功参考视频 59.5 s 不同的断缝与色块轮廓；后续笔触未使整幅临摹达标。交付回放的 log step 253 及评分器字段均给 image_success=0，四项色差/结构/边缘指标不通过，而笔数与过程规则通过；视频 58.0 s 是终段残余缺陷的导航锚点。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触轮廓及填色偏差",
+    "t": 58.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.0–59.5 s 的画布中，人物躯干附近有浅色断缝，深绿色岩石右缘与下方蓝色水纹的交界较零碎；对照成功参考视频 59.5 s，同处的色块外形、浪纹连接和留白位置不同。这是结果中可见的局部形状与填色偏差。",
+    "note_zh": "候选现象“笔触轮廓及填色偏差”：现有接触、运动、全身、约束和汇报条目没有表达绘画结果局部重建偏差的条目；仅凭画面无法把它归为机械臂位姿跟踪失准。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 230,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的笔画分解方案本身未能保留目标的局部形状。log step 182 将方案截为340条计划笔画，离线近似评估已为 mean_de=4.72；修复早期圆角生成错误后，log step 223 官方执行得到4.6984，log step 230 对当前交付方案的离线近似仍为5.00，明显高于目标2。log step 250 仅将宽度系数调到1.14后重生成交付，结果仍为4.591；log step 253 官方回放复现该值。方案预测和执行均留下相近量级误差，支持笔画几何分解/覆盖方案不足，而不能把已经修复的早期圆角错误作为本次根因。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；首次蘸料的孔内瞬间受机械臂遮挡，以视频首次显色和交付回放载料记录推断时刻。压缩视频不能复算精确图像指标，终值采用评分器及交付回放；离线近似评估不是官方图像评分，因此根因为绘画方案不足的推断，无法进一步定量分离笔画分解、叠色顺序与执行宽度各自的贡献。log step 254 的工具拒绝发生在 log step 250 保存及 log step 253 官方验证之后，未改变已固定的交付结果。"
+ },
+ "summary_zh": "机器人成功蘸料并完成了天空、人物、岩石和河水的整幅构图，最终节点为1/2，整幅临摹的精确验收未达成。视��� 58.0–59.5 s 仍有局部轮廓、浪纹及填色偏差；交付评分的四项色差/结构/边缘指标失败，笔数、路径与涂抹占比合规，日志支持笔画几何方案不足是主要根因。无逐帧状态日志，首次蘸料时刻和根因细分存在推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、日志和评分器读数一致：brush_loaded 约 0.3 s 首次显色，painting_copied 未达成（de_mean 4.591、ssim 0.80、edge_corr 0.59 均不过线），断点在 painting_copied，根因为推理/规划有 log step 182/223/230/250/253 的数值支撑。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": "2026-10-30T22:40:55Z",
+  "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/robopaint-acrylic-kajikazawa-i00-privileged--rvwwlmk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-privileged--rvwwlmk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d041e553854c2b6a145c3d889df19a40c08bd0d43efb5cff3118b4cc8f28a2e8",
+   "video_sha256": "55a6d52fb9dc9e42db122e1dafd9c0fd3bc96577bcf58124dc64872cb1082b0c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--v7hxuku.json

@@ -0,0 +1,352 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-privileged--v7hxuku",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.58509,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.58509,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 8.2982,
+   "de_p90": 23.2008,
+   "de_bad_frac": 0.297265,
+   "de_mean_sheet": 8.2959,
+   "ssim_L": 0.595401,
+   "paint_iou": 0.892727,
+   "paint_area_mm2": 46603.3,
+   "target_paint_area_mm2": 49253.4,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 4.9229,
+   "ssim_L_fine": 0.527677,
+   "edge_corr": 0.371903,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.712183,
+   "n_regions": 82.0,
+   "n_strokes": 371.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 377.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 1.3312,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 1.3495,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 8.4256,
+   "de_p90_unregistered": 23.5396,
+   "ssim_L_unregistered": 0.59165,
+   "edge_corr_unregistered": 0.361611,
+   "paint_iou_unregistered": 0.888544,
+   "path_mm": 10440.21,
+   "longest_stroke_mm": 221.47,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2271,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.58509,
+   "sim_steps": 46617.0,
+   "resets": 1.0,
+   "n_contacts": 371.0,
+   "samples": 233085.0,
+   "contact_samples": 31162.0,
+   "max_press_m": 0.012388,
+   "max_tilt_deg_in_contact": 0.218332,
+   "max_speed_in_contact_mps": 0.051254,
+   "handle_contact_samples": 0.0,
+   "n_dips": 375.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 157.2,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 46617,
+   "video_rendered": 1,
+   "agent_sessions": 18,
+   "agent_resets": 18,
+   "agent_sim_steps": 304275,
+   "agent_records": 7,
+   "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/robopaint-acrylic-kajikazawa-i00-privileged--v7hxuku/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "333e5e028d864f654ee450cc987c7d6799d77fc64f59adfe55bfc17f257eccfe"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.2 s 主纸画布为空白，机械臂在调色盘与纸面之间移动；视频 0.3 s 画布右上方首次出现浅黄色有色笔迹，视频 0.5–0.9 s 延伸为横向笔触。"
+     },
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "推断：由开局干笔、先经过调色盘再留下有色笔迹，确认末端圆画笔已蘸上颜料；以视频 0.3 s 的首次显色作为保守到达时间，实际蘸取略早。评分器终局 n_dips=375、n_dry_strokes=0 也支持已成功载料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：视频 0.0–0.3 s 机械臂末端固定圆画笔经过调色盘后在主纸显色，刷毛与颜料发生蘸取接触。候选名称“蘸取”；现有抓握、压/擦、托/舀不能准确表达刷毛浸入颜料上色，故用其他；短暂蘸取在场景视角中较小。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗查及视频 0.0–1.5 s、49.5–52.5 s、58.8–59.8 s 加密检查显示，机械臂反复蘸料后下压主纸，按颜色绘制横向条带；视频 33.0 s 河水区仍为零散横条与大片空白，未形成完整画面。"
+     },
+     {
+      "t": 51.0,
+      "log_step": null,
+      "text_zh": "观察：视频 50.3–51.0 s 机械臂把人物上部画成分离的棕色横条；视频 58.8–59.8 s 最终画面已有天空、岩石、人物色块和河水，但人物轮廓碎裂，河水主要是水平短条，条带之间保留多处白缝。成功参照视频 59.5 s 的人物弯曲轮廓与连续浅色浪纹可见，仅用于外观比较。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 45,
+      "text_zh": "观察：评分器终局 image_success=0，de_mean=8.2982>2、de_p90=23.2008>6、ssim_L=0.595401<0.92、edge_corr=0.371903<0.8、paint_iou=0.892727<0.95；371 笔、path_mm=10440.21、scribble_share=0 均在过程限额内。log step 45 的同组得分及 46617 步与评分记录一致，log step 47 保存了这份轨迹；其后 log step 49–50 的改稿不属于交付录像。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.3–59.8 s，Panda 单臂末端固定圆画笔多次下压主纸并沿纸面扫动，留下浅黄、灰绿、深绿、棕色和深蓝色笔触；作用接触为刷毛对主纸的压/擦。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 8.2982
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 23.2008
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.595401
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.371903
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.892727
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 371.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 10440.21
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.58509
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 4.9229
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.527677
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.712183
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 51.0,
+   "log_step": 45,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 50.3–51.0 s 机械臂用分离棕色横条绘制人物上部，此时河水也是大量水平条带与白色间隙；视频 58.8–59.8 s 这些轮廓及覆盖缺陷仍未修复。评分器 image_success=0，五项图像相似度指标全部未过阈值，而 strict_ok=1；断在整幅临摹步骤，视频 51.0 s 为明显缺陷的导航锚点。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "条带漏涂与轮廓失真",
+    "t": 51.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 49.5–52.5 s 加密画面中，机械臂把人物画成相互分隔的横向色块，河水区留下大片不连续白缝；视频 58.8–59.8 s 虽又补入深蓝色，人物仍呈横条，浪纹仍被切成多条平直断带。成功参照视频 59.5 s 可见相应人物与浪纹为连续曲线，作为比较依据。",
+    "note_zh": "候选名称“条带漏涂与轮廓失真”：描述实际画面的材料覆盖及形状缺陷；现有接触、运动、全身、约束或汇报现象没有准确条目，不能仅用“图像不达标”复述分数。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：agent 在 log step 9 明确选择按颜色贪心分解为水平条带的整图重建策略；log step 38 的执行代码令每笔起终点共用同一 Y，并在候选超过 375 笔时按面积排序仅保留最大 375 笔。log step 45 规划出 451 笔后仍调用该执行器，log step 47 将其保存为交付文件；因此交付计划既将弯曲人物和浪纹近似为水平段，又删去了部分候选细节。视频 50.3–52.5 s 与 58.8–59.8 s 的横条轮廓及漏涂与这套重建和裁剪策略一致，支持整图规划未能兼顾形状、覆盖和笔数预算。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；视频每秒 10 帧且短暂蘸取在场景视角中很小，蘸料节点以首次显色的视频 0.3 s 保守定位。缺少交付轨迹逐笔目标掩膜、实际刷尖和着色范围的对照，无法量化条带近似、裁剪和笔触宽度执行误差各自的贡献；未进一步指定控制子类。log step 45 的“color mismatches 12”由逐项配对计数而来，存在实际笔数少于计划导致错位的可能，不据此断言换错颜料。"
+ },
+ "summary_zh": "机械臂在视频约 0.3 s 已蘸料并开始显色，最终完成蘸料节点，整幅临摹节点未达到，节点终值为 1/2。交付轨迹的笔数、路径和涂抹占比合规，但视频 51.0 s 至 59.8 s 仍见人物横条化、河水条带漏涂与轮廓失真，五项图像指标均未通过；日志支持水平条带重建及按面积删笔的规划未能保留充分形状与覆盖。无状态日志，不能精确分摊规划简化与实际笔触宽度误差的影响。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "蘸料节点 0.3 s 显色、整幅临摹未达成、断点在 painting_copied、现象为可见的条带漏涂与轮廓失真（非指标复述）、根因规划均有日志（step 9/38/45/47）和末帧支持，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": "2026-10-30T22:42:53Z",
+  "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/robopaint-acrylic-kajikazawa-i00-privileged--v7hxuku/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-privileged--v7hxuku/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ef99ae43ff4171eca3a60d34a98d989221acb495f6bb0df73d0c673046a9e90d",
+   "video_sha256": "333e5e028d864f654ee450cc987c7d6799d77fc64f59adfe55bfc17f257eccfe",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--8nf8kph.json

@@ -0,0 +1,365 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-standard--8nf8kph",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.208118,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.208118,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 4.1124,
+   "de_p90": 10.5268,
+   "de_bad_frac": 0.10724,
+   "de_mean_sheet": 4.0975,
+   "ssim_L": 0.821615,
+   "paint_iou": 0.934646,
+   "paint_area_mm2": 47786.8,
+   "target_paint_area_mm2": 49482.6,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 2.8561,
+   "ssim_L_fine": 0.746517,
+   "edge_corr": 0.692741,
+   "region_cov_min": 0.204365,
+   "region_cov_mean": 0.901096,
+   "n_regions": 82.0,
+   "n_strokes": 1439.0,
+   "n_practice_strokes": 11.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 377.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.2219,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 4.1882,
+   "de_p90_unregistered": 10.8085,
+   "ssim_L_unregistered": 0.816501,
+   "edge_corr_unregistered": 0.684806,
+   "paint_iou_unregistered": 0.933454,
+   "path_mm": 24328.63,
+   "longest_stroke_mm": 222.59,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.0299,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.208118,
+   "sim_steps": 58727,
+   "resets": 1.0,
+   "n_contacts": 1450.0,
+   "samples": 293635.0,
+   "contact_samples": 46410.0,
+   "max_press_m": 0.008028,
+   "max_tilt_deg_in_contact": 0.357333,
+   "max_speed_in_contact_mps": 0.414302,
+   "handle_contact_samples": 0.0,
+   "n_dips": 419.0,
+   "dry_strokes": 0.0,
+   "n_frames": 601.0,
+   "replay_wall_s": 181.35,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 58727,
+   "physics_steps": 293635,
+   "steps": 58540,
+   "calls": 1962,
+   "elapsed_s": 6858.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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/robopaint-acrylic-kajikazawa-i00-standard--8nf8kph/replay.mp4",
+  "duration_s": 60.1,
+  "fps": 10.0,
+  "frames": 601,
+  "sha256": "db0ca78c026183f3dd74e4c398988c8ceef4088470442d9c617355f1e3d487de"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": 78,
+      "text_zh": "观察：视频 0.4–0.8 s 中，机械臂恢复竖直笔姿，末端在调色盘附近与练习纸之间移动，随后练习纸出现深色长线；视频 1.4–2.0 s 又出现有色练习线。log step 78 记录脚本蘸料后完成练习笔触，评分器终局 n_dips=419、n_practice_strokes=11、n_dry_strokes=0。"
+     },
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "推断：纸上实际显色证明安装画笔已成功载料，首次达成保守定位为视频 0.8 s（约有半秒不确定性），之后按事件节点锁存；颜料孔和笔尖很小，录像不能精确分辨首次越过颜料面的帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端安装的圆画笔刷毛浸入调色盘颜料，随后在练习纸及主纸实际显色；候选接触名“蘸取”，现有抓握、托/舀、压/擦不能准确描述刷毛浸入颜料上色。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–2.0 s 主纸为空白；视频 4、8、12、16、20 s 中，机械臂依次添加浅黄色天空、灰绿色带、深绿色岩石和深蓝河水，仍有未画区域。视频 23.5–26.0 s 逐帧可见人物补色后整幅构图出现，但河水浪纹、人物周围与色块交界仍有��白缝隙和断续边缘。"
+     },
+     {
+      "t": 60.0,
+      "log_step": 223,
+      "text_zh": "观察：视频 26–58 s 机械臂继续在画面各处补画；视频 59.0–60.0 s 逐帧及视频 60.0 s 无遮挡画面显示构图已齐全，河水与人物周围仍有零碎露白，色块边界粗碎；参考成功录像的 视频 59.5 s 同类区域更连续平滑。log step 223 记录第二轮补画已执行，评分器 live_matches_replay=1，表明评分回放与本次服务记录一致。"
+     },
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：本次评分器 de_mean=4.1124>2、de_p90=10.5268>6、ssim_L=0.821615<0.92、edge_corr=0.692741<0.8、paint_iou=0.934646<0.95，n_strokes=1439>377，image_success=0；path_mm=24328.63≤44300、scribble_share=0≤0.1。"
+     },
+     {
+      "t": 25.0,
+      "log_step": 185,
+      "text_zh": "推断：整幅构图形成前，主纸尚有大片未画区域；log step 155、185 记录主画方案为 980 笔并已执行完，后续只是追加补画，累计有色笔数不会下降。因此后半程即使补齐外观也不能满足 377 笔上限，未见达到完整联合验收的区间。这里只用日志支持笔数逻辑，不把 agent 时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4–26 s 及后续补画中，Panda 单臂末端安装的画笔竖直下压主纸并沿纸面扫动，形成有色条带和短笔触；视频 59.0–59.8 s 仍在主纸局部落笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 4.1124
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 10.5268
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.821615
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.692741
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.934646
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 1439.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 24328.63
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.208118
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 2.8561
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.746517
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.204365
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.901096
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 25.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 23.5–26.0 s 机械臂完成主要色块及人物补色时，画面已能辨认整幅构图，但人物与河水处仍有碎白缝隙和不连续轮廓；视频 26–60.0 s 的后续补画没有消除这些缺陷，终局五项图像指标及笔数验收均失败。视频 25.0 s 是首次整图结果可见的粗略导航锚点，并非精确越过笔数上限的时刻。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "其他",
+    "t": 25.0,
+    "log_step": null,
+    "note_zh": "候选现象“笔触间留白与轮廓破碎”：这是已落笔后成画中的局部覆盖与边缘缺陷，现有接触、运动、全身、汇报条目不能准确概括，不用评分指标名称替代可见现象。",
+    "evidence_zh": "观察：视频 25.0 s 及视频 59.0–60.0 s，机械臂所画河水和人物周围有许多细碎白点、白缝，浪纹及色块交界呈短段、锯齿状；成功参考录像 视频 59.5 s 的浪纹与人物边缘更连贯。后续补画减少部分空隙，但这些可见缺陷保留到本次视频 60.0 s。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 155,
+    "source_zh": "日志",
+    "evidence_zh": "推断：任务文本明确主纸最多 377 笔；log step 155 的脚本比较 980 笔与 798 笔方案时仅以自估 mean_dE 最小选择 980 笔方案，其自估 mean_dE=3.046、p90=8.060、ssim=0.829 也尚未达到任务阈值。log step 159、185 确认这一方案被排序并执行，log step 213、223 又分别追加 260 与 200 笔补画；评分器终局记录 1439 笔。该分区平行扫线加事后补画的整体策略未把笔数硬上限与图像质量联合纳入可行方案选择，既留下视频 25.0–60.0 s 的碎白边界，又令补画无法恢复联合验收；这一判断依据实际方案和执行记录，而非停止或预算耗尽。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧图像评分量，不能精确定位累计笔数首次超过 377 的视频帧，也不能把每处碎白边缘唯一归因于轨迹跟踪或笔宽参数；故不追加控制子类根因。首次蘸料时颜料孔与刷尖很小、部分被机械臂遮住，以视频 0.8 s 已实际显色作保守定位，约有半秒误差。参考成功录像仅用于外观比较，不作为本次运行事实。"
+ },
+ "summary_zh": "本次机械臂成功蘸料并画出天空、人物、岩石与河水的完整构图，但“完成整幅临摹”始终未达到联合验收，最终节点为 1/2。视频 25.0–60.0 s 的成画仍有碎白缝隙和破碎轮廓，评分器五项图像指标均未达标且累计 1439 笔超过 377 笔；日志显示执行前就选择 980 笔方案并继续追加补画，支持推理/规划根因。无状态日志或逐帧评分量，首次蘸料及笔数越限时刻不能精确到帧。",
+ "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、日志和评分器读数一致：brush_loaded 达成、painting_copied 未达成（1439 笔 > 377，五项图像指标未达标），断点与推理/规划根因有日志支持（log step 155 选 980 笔方案，213/223 追加补画）。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": "2026-10-30T23:03:08Z",
+  "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/robopaint-acrylic-kajikazawa-i00-standard--8nf8kph/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--8nf8kph/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a87d576f240f8e8992943353782d7c189869b7ba5aed6a6c629553c7bf4d5854",
+   "video_sha256": "db0ca78c026183f3dd74e4c398988c8ceef4088470442d9c617355f1e3d487de",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--fqg6rfn.json

@@ -0,0 +1,363 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-standard--fqg6rfn",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.063585,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.063585,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 18.7283,
+   "de_p90": 50.5889,
+   "de_bad_frac": 0.528549,
+   "de_mean_sheet": 18.6004,
+   "ssim_L": 0.409046,
+   "paint_iou": 0.60665,
+   "paint_area_mm2": 30072.6,
+   "target_paint_area_mm2": 49355.6,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 18.2948,
+   "ssim_L_fine": 0.353481,
+   "edge_corr": 0.19677,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.481932,
+   "n_regions": 82.0,
+   "n_strokes": 374.0,
+   "n_practice_strokes": 9.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 377.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.4437,
+   "register_dy_mm": 0.4437,
+   "register_shift_mm": 0.6275,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 18.8306,
+   "de_p90_unregistered": 50.7982,
+   "ssim_L_unregistered": 0.399268,
+   "edge_corr_unregistered": 0.196287,
+   "paint_iou_unregistered": 0.60509,
+   "path_mm": 3821.01,
+   "longest_stroke_mm": 203.48,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.4018,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.063585,
+   "sim_steps": 12379,
+   "resets": 0.0,
+   "n_contacts": 383.0,
+   "samples": 61895.0,
+   "contact_samples": 16059.0,
+   "max_press_m": 0.013909,
+   "max_tilt_deg_in_contact": 0.300747,
+   "max_speed_in_contact_mps": 0.137507,
+   "handle_contact_samples": 0.0,
+   "n_dips": 19.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 12379,
+   "physics_steps": 61895,
+   "steps": 10577,
+   "calls": 77,
+   "elapsed_s": 2727.7,
+   "video_rendered": 1,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "instance_mismatch": 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/robopaint-acrylic-kajikazawa-i00-standard--fqg6rfn/replay.mp4",
+  "duration_s": 59.1,
+  "fps": 10.0,
+  "frames": 591,
+  "sha256": "0d75834be3fd6aabe216e78abe3b4002dfa155be4bcffff1cf515c94fc4b5525"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": 18,
+      "text_zh": "观察：视频 0.2–0.3 s 的场景视图中，Panda 末端画笔到调色盘孔位下探，随后转到练习纸；视频 0.5–0.6 s 的低位视图可见笔尖留下深蓝色笔迹。log step 18 执行先蘸 paint10 再画练习笔触的脚本。首次蘸料约在视频 0.3 s，时刻精度约 ±0.3 s。"
+     },
+     {
+      "t": 3.0,
+      "log_step": 22,
+      "text_zh": "观察：视频 3.0 s 主纸出现浅黄色横线，之后画笔持续留下多种颜色笔迹；评分器终局字段 n_dips=19、n_dry_strokes=0，支持已成功载料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "Panda 单臂末端固定的圆画笔刷尖下探颜料孔并载上颜料，之后多次换色。候选接触名“蘸取”：刷毛浸入颜料，现有抓握、压/擦、托/舀均不能准确表达此接触；不重复记录工具安装链。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0 s 主纸已有浅黄探测横线，视频 4.0–9.0 s 机械臂开始密集落笔，浅黄色区域由彼此分离的短条、圆斑组成；后续各色笔触逐步扩展到纸面其他区域。"
+     },
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–54.0 s 主纸逐渐出现绿色斜向岩石和深蓝色水面笔迹，但笔触之间保留密集白缝与孔洞；视��� 57.5–59.0 s 的末尾检查仍见天空、人物周围与河水区域大范围碎裂露白。对照成功参考视频 56.0 s 和 59.5 s 的连贯色带及水纹，本次没有达到整幅临摹外观。"
+     },
+     {
+      "t": 59.0,
+      "log_step": null,
+      "text_zh": "观察：评分器终局 image_success=0；de_mean=18.7283>2、de_p90=50.5889>6、ssim_L=0.409046<0.92、edge_corr=0.19677<0.8、paint_iou=0.60665<0.95。主纸 n_strokes=374≤377、path_mm=3821.01≤44300、scribble_share=0≤0.1，strict_ok=1；失败在图像匹配，过程限额通过。"
+     },
+     {
+      "t": null,
+      "log_step": 52,
+      "text_zh": "观察：agent 在 log step 52 自述离线方案指标不达标，并声称主纸用了377笔；评分器实际记录374笔。离线估计与自述笔数均不代替本次视频和终局评分器读数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "Panda 单臂用末端固定圆画笔刷毛下压主纸，沿短直线扫动或原地落点，抬笔后换位并反复换色；视频可见纸面逐笔显色。底座没有移动，不另记底盘接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 18.7283
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 50.5889
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.409046
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.19677
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.60665
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 374.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 3821.01
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.063585
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 18.2948
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.353481
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.481932
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 54.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54.0 s 已有天空、绿色斜岩及深蓝水面的整体颜色分布，但由分离短条和点斑组成，大片白缝使画面碎裂；机械臂之后继续补点，视频 58.1–59.0 s 仍未补齐。评分器 image_success=0 且过程规则 strict_ok=1，整幅临摹步骤未完成；视频 54.0 s 仅作为缺陷清楚可见的定位锚点。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触间漏涂",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0 s 及 57.5–59.0 s，主纸天空横带与河水由大量断开的短条、圆斑构成，条斑间有密集露白，人物形状也被白缝割裂；成功参考视频 56.0 s 和 59.5 s 同一区域为连贯色块与水纹。",
+    "note_zh": "候选现象“笔触间漏涂”：这是成画覆盖和笔触连接的缺陷；现有接触、位姿、全身、汇报等条目均不能准确表达，不能仅以图像指标未达标代替可见现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：agent 的按颜色贪心胶囊笔触分解及笔数分配未能在有限笔数内形成连贯覆盖。依据为 log step 30 按颜色面积分配笔数、逐次扣除胶囊区域的脚本，log step 36 对最终执行前356笔方案的离线评估已得 mean_dE=8.0983、SSIM=0.6206、IoU=0.8345，均未达目标；log steps 38–40 仍执行此方案，log step 43 才修改笔触方向搜索，log step 46 仅执行20个补点。视频 54.0–59.0 s 的大量残余白缝与此覆盖不足相符。归因于已可在执行前发现的笔触规划缺陷，不用 agent 对剩余时间的估计解释失败。",
+    "source_zh": "日志 / 视频",
+    "log_step": 36
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，首次蘸料的精确孔内深度和时刻不能逐步复核，视频时刻约 ±0.3 s；但随后的深蓝笔迹与终局蘸料记录支持该节点已达成。日志部分任务文本及代码/输出在输入中已截短，离线渲染与终局指标也有差异，无法进一步量化笔触几何近似、实际刷宽和运动跟踪各自造成了多少缺口，因此不另加控制子类根因。"
+ },
+ "summary_zh": "机械臂成功蘸料并在主纸持续绘画，最终达到1/2个节点；整幅临摹始终未完成，末尾画面仍有密集笔触间漏白，图像相似度五项指标均未通过，而笔数、路径和涂抹规则通过。日志显示agent在离线评估已预测覆盖与相似度不足后仍执行短胶囊笔触方案，之后20个补点未修复缺口；没有逐帧状态日志，不能进一步分离刷宽响应和跟踪误差的贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点（painting_copied，操作中）、接触、现象（笔触间漏涂，可见缺陷而非指标复述）与根因（推理/规划，log step 36 离线指标已显示覆盖不足）均有视频和日志支持，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": "2026-10-30T23:04:51Z",
+  "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/robopaint-acrylic-kajikazawa-i00-standard--fqg6rfn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--fqg6rfn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c920cf79c26f6d40b86a3a243b17d3660c84ccffd0e0f663e51414ff5d534de1",
+   "video_sha256": "0d75834be3fd6aabe216e78abe3b4002dfa155be4bcffff1cf515c94fc4b5525",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--kpdrbuz.json

@@ -0,0 +1,351 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-standard--kpdrbuz",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.72563,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 5.4874,
+   "de_p90": 14.5254,
+   "de_bad_frac": 0.160369,
+   "de_mean_sheet": 5.4655,
+   "ssim_L": 0.747443,
+   "paint_iou": 0.918036,
+   "paint_area_mm2": 46670.5,
+   "target_paint_area_mm2": 49444.3,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 3.9269,
+   "ssim_L_fine": 0.674959,
+   "edge_corr": 0.569196,
+   "region_cov_min": 0.164649,
+   "region_cov_mean": 0.850541,
+   "n_regions": 82.0,
+   "n_strokes": 374.0,
+   "n_practice_strokes": 30.0,
+   "n_dry_strokes": 3.0,
+   "max_strokes": 377.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.4437,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.4437,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 5.5181,
+   "de_p90_unregistered": 14.6269,
+   "ssim_L_unregistered": 0.74537,
+   "edge_corr_unregistered": 0.563676,
+   "paint_iou_unregistered": 0.917882,
+   "success": 0,
+   "final_reward": 0.72563,
+   "path_mm": 10574.4,
+   "longest_stroke_mm": 232.73,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.021,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.72563,
+   "sim_steps": 14731,
+   "resets": 1.0,
+   "n_contacts": 407.0,
+   "samples": 73655.0,
+   "contact_samples": 29557.0,
+   "max_press_m": 0.015034,
+   "max_tilt_deg_in_contact": 2.81918,
+   "max_speed_in_contact_mps": 0.27291,
+   "handle_contact_samples": 131.0,
+   "n_dips": 11.0,
+   "dry_strokes": 3.0,
+   "n_frames": 591.0,
+   "replay_wall_s": 110.72,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 14731,
+   "physics_steps": 73655,
+   "steps": 13967,
+   "calls": 224,
+   "elapsed_s": 3832.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "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/robopaint-acrylic-kajikazawa-i00-standard--kpdrbuz/replay.mp4",
+  "duration_s": 59.1,
+  "fps": 10.0,
+  "frames": 591,
+  "sha256": "f50865929641793ca92be696f9bb2cfc15368b5f10fc311e71bc022950f62468"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.9,
+      "log_step": 30,
+      "text_zh": "观察：视频 0.8–1.0 s 的场景视角中，机械臂把末端圆画笔从练习纸方向移到左侧调色盘的颜料孔上，下探后移开；视频 1.3–1.5 s 可见练习纸出现浅绿色有色笔迹。log step 30 记录脚本命令刷尖进入 paint03 孔，再在练习纸画测试笔触。"
+     },
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.9 s 的蘸孔动作与视频 1.3–1.5 s 新出现的浅绿色笔迹，刷毛已成功载料；首次达成锚点约为视频 0.9 s，精度约半秒，孔内深度不能由录像直接量测。该节点为首次成功后锁存的事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.9 s 机械臂末端固定圆画笔的刷尖下探调色盘颜料孔，随后在练习纸留下浅绿色笔迹。候选接触名“蘸取”：刷毛浸入颜料并载色，现有抓握、压/擦、托/舀均不能准确表达此接触。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.4,
+      "log_step": 151,
+      "text_zh": "观察：视频 0.0–6.8 s 主纸尚空白，机器人先探测并在旁边练习纸试画；视频 7.0–8.4 s 画笔开始在主纸留下浅黄色笔触。此后录像由天空、浅绿色横带逐渐增加岩石、河水及人物，属于同一次服务记录的绘画过程。"
+     },
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 54.0–58.9 s 主纸已有整幅构图，但右下河水各深蓝及灰蓝色块之间、人物头部两条棕色笔触之间仍有细长白缝，浪纹呈大量分离细条；对照成功参考视频 58.9 s，同一区域色块更连贯、人物头部也更饱满。视频 58.0–59.0 s 逐帧检查后这些缺口��在，末尾机器人抬笔移向纸外。参考视频仅用于比较外观。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器终局字段 image_success=0、de_mean=5.4874（要求≤2）、de_p90=14.5254（≤6）、ssim_L=0.747443（≥0.92）、edge_corr=0.569196（≥0.8）、paint_iou=0.918036（≥0.95）；374 笔、path_mm=10574.4、scribble_share=0 均未超相应上限，strict_ok=1、deterministic=1、live_matches_replay=1。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "推断：早期画面仅有局部色块，后期与终局仍有可见缺口且五项图像验收量均未通过，因此整幅临摹节点没有可确认的达成区间，终值为假；不能把完整构图或 agent 的完成自述等同于达到精确验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 7.0–8.4 s 以及视频 54.0–58.9 s，Panda 单臂经末端固定圆画笔作用于主纸，刷毛下压并沿纸面移动，留下有色笔触；侧视角可见刷尖在绘画位置落下和抬起。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 5.4874
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 14.5254
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.747443
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.569196
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.918036
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 374.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 10574.4
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.72563
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 3.9269
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.674959
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.164649
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.850541
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 54.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54.0 s 机器人仍在主纸上作最后阶段的补画，人物头部和右下河水色块之间可见细长白缝；视频 58.9–59.0 s 抬笔移出后缺口仍在。评分器终局 image_success=0，五项图像相似度要求均未通过，而笔数、路径和涂抹占比通过。此为持续绘画质量不足，视频 54.0 s 用作末段可见缺陷的导航锚点，没有单一突发失误时刻。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触间漏白",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0–58.9 s 右下深蓝、灰蓝河水笔触的接缝有多条狭长白线，人物头部棕色笔触之间也留下白缝；成功参考视频 58.9 s 的对应色块较连贯，人物头部较完整。视频 58.0–59.0 s 检查显示这些白缝保留到抬笔后。",
+    "note_zh": "候选现象“笔触间漏白”：描述分布在画面色块接缝处的可见缺涂；现有接触和运动条目不能准确表达这一结果，也没有足够证据将其归为特定的末端位姿偏差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "log_step": 174,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的实拍比较程序在 log step 164 给出校色后 mean_de=6.48、edge=0.548、ssim=0.7859，log step 169 又给出实拍相对自建模拟 mean_de=6.61；agent 在 log step 170 将差异解释为相机测量偏差。log step 174 自述“The painting is complete and verified”，称模拟计划全部达标并明确放弃补画、结束任务，同时自述还有约 48 分钟预算；run.json 记录 wall_s=3668、time_limit_s=7200，也支持预算尚有余量。评分器的真实终局图像验收未通过，结合视频 58.9 s 的未补缺口，这一错误完成判断使 agent 停止���正。"
+   }
+  ],
+  "gap_zh": "没有逐帧画布评分或刷毛接触状态日志，无法定位相似度偏差首次形成的瞬间，也不能确认漏白具体由下压深度、笔触宽度、跟踪滞后或自建绘画模型的哪一项误差造成，因此不另加控制子类根因。蘸料孔内深度不可直接量测，首次载料时刻结合相邻帧的有色笔迹推断，约有半秒不确定性。"
+ },
+ "summary_zh": "机器人约在视频 0.9 s 蘸料，先在练习纸试画，再在主纸绘出完整构图，最终完成 1/2 个节点。整幅临摹在末段仍有笔触接缝漏白，五项图像相似度均不达标；agent 将实拍差异视为相机偏差并以已完成为由停止，笔数、路径与涂抹占比则通过。没有逐帧评分和刷毛接触状态，无法进一步确定漏白的具体控制来源。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 brush_loaded 达成、painting_copied 未达成（评分器五项图像量未过），断点、现象与根因（误以为完成，log step 174 自述与评分器读数矛盾）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": "2026-10-30T22:56:48Z",
+  "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/robopaint-acrylic-kajikazawa-i00-standard--kpdrbuz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--kpdrbuz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "876480ce59180cdb635978ff6fddd324bdf5e8ac24476e43bc3d131a12107086",
+   "video_sha256": "f50865929641793ca92be696f9bb2cfc15368b5f10fc311e71bc022950f62468",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--mbnwvb7.json

@@ -0,0 +1,347 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-standard--mbnwvb7",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 25.9028,
+   "de_p90": 60.612,
+   "de_bad_frac": 0.713811,
+   "de_mean_sheet": 25.719,
+   "ssim_L": 0.357085,
+   "paint_iou": 0.40172,
+   "paint_area_mm2": 19862.8,
+   "target_paint_area_mm2": 49437.4,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 25.25,
+   "ssim_L_fine": 0.263586,
+   "edge_corr": -0.046971,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.296435,
+   "n_regions": 82.0,
+   "n_strokes": 375.0,
+   "n_practice_strokes": 2.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 377.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.4437,
+   "register_shift_mm": 0.4437,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 25.9556,
+   "de_p90_unregistered": 60.5943,
+   "ssim_L_unregistered": 0.349426,
+   "edge_corr_unregistered": -0.038233,
+   "paint_iou_unregistered": 0.400974,
+   "path_mm": 11629.22,
+   "longest_stroke_mm": 48.33,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.0249,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.0,
+   "sim_steps": 18369,
+   "resets": 0.0,
+   "n_contacts": 377.0,
+   "samples": 91845.0,
+   "contact_samples": 19628.0,
+   "max_press_m": 0.010012,
+   "max_tilt_deg_in_contact": 0.398879,
+   "max_speed_in_contact_mps": 0.187854,
+   "handle_contact_samples": 0.0,
+   "n_dips": 12.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 18369,
+   "physics_steps": 91845,
+   "steps": 18154,
+   "calls": 137,
+   "elapsed_s": 1586.0,
+   "video_rendered": 1,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "instance_mismatch": 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/robopaint-acrylic-kajikazawa-i00-standard--mbnwvb7/replay.mp4",
+  "duration_s": 59.4,
+  "fps": 10.0,
+  "frames": 594,
+  "sha256": "1a6af14f1d5470c2809bb9200c20d1d3ea38dc1e230082605830c0f7748535df"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": 23,
+      "text_zh": "推断：视频 0.0–0.3 s 机械臂在调色盘旁移动，视频 0.4 s 侧视画面中笔尖触练习纸并留下黄色笔迹，视频 0.8–1.0 s 黄色练习痕迹保留；结合 log step 23 的先入颜料孔再画练习线指令，可确认首次蘸料成功，时间约为视频 0.2 s（误差约 0.2 s）。评分器另记录 n_dips=12、n_dry_strokes=0，支持实际载料；入孔深度不能从压缩画面精确量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端固定画笔的刷毛蘸取调色盘颜料，随后在练习纸及主纸留下有色痕迹；候选接触名“蘸取”，现有接触方式没有准确对应刷毛入孔载料的条目。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.5,
+      "log_step": 87,
+      "text_zh": "观察：视频 9.5–19.5 s 机械臂在主纸逐笔画黄色线条，黄色区域完成一轮后仍是分离细线，线间大量露白；视频 20–58 s 陆续增加灰绿、深绿和蓝色笔迹，但未补成连贯的大面积色块。log step 87 中 agent 自己的相机像素检查报告黄色区域 recall=0.4251；该值仅作其后续决策的日志证据，不代替评分器。"
+     },
+     {
+      "t": 59.3,
+      "log_step": null,
+      "text_zh": "观察：视频 58.4–59.3 s 已逐帧检查，主纸终局天空、岩石和右下河水均由稀疏短线组成，大片纸底可见，人物只剩很小的棕色痕迹；成功参考视频 59.5 s 同视角呈连贯天空、完整绿色岩石与深蓝河水。当前运行评分器报告 image_success=0，de_mean=25.9028（要求≤2）、de_p90=60.612（≤6）、ssim_L=0.357085（≥0.92）、edge_corr=-0.046971（≥0.8）、paint_iou=0.40172（≥0.95）；n_strokes=375、path_mm=11629.22、scribble_share=0 均合规。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频 9.5–59.2 s 可见机械臂末端固定圆画笔反复下压主纸并扫动，纸上逐渐留下黄色、灰绿色、绿色及蓝色笔迹；前段也在旁侧练习纸压擦校准。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 25.9028
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 60.612
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.357085
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": -0.046971
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.40172
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 375.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 11629.22
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 25.25
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.263586
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.296435
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 19.5,
+   "log_step": 91,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 19.5–20.3 s 首组黄色笔迹仍稀疏、线间露白；机械臂随后继续添加其他颜色，视频 59.3 s 黄色天空及河水、岩石的大面积缺色仍未修复。log step 91 中 agent 表示将黄色组视为已完成并继续其余颜色；终局评分器 image_success=0，失败落在整幅临摹步骤。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "大片漏涂",
+    "t": 19.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 19.5 s 黄色天空主要是细线，视频 58.4–59.3 s 灰绿横带、绿色岩石与深蓝河水仍散布大量线间空白，人物形状也未形成；成功参考视频 59.5 s 这些区域为完整色块。",
+    "note_zh": "候选现象“大片漏涂”：描述画面中实际缺失的颜料覆盖；现有接触、运动、全身等条目不能准确表示已落笔却只覆盖局部的绘画结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：agent 的选笔方案本身未覆盖整幅目标：log step 66 的计划报告中颜色2仅覆盖7632/14150像素、颜色6为7449/18696、颜色7为11902/26646；log step 94 继续执行时仍报告同样的稀疏覆盖并跳过已完成的黄色组。log step 87 的 agent 自检已报黄色 recall=0.4251，log step 91 仍决定继续剩余颜色而不重规划该组；视频 19.5–59.3 s 的长期留白与此一致。因此将不能填满目标色块的笔触分配及分组完成策略归为规划不足，而非仅由失败分数反推原因。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；首次蘸料时间由开头动作及随后有色练习笔迹估计，无法量出确切入孔深度。日志中的脚本编辑只保留不完整片段，不能进一步确认实际笔迹比计划更细是哪个压力或路径参数所致，故不追加具体控制根因；视频与终局评分足以判定整幅临摹未完成。"
+ },
+ "summary_zh": "机械臂成功蘸料并在主纸完成多组颜色绘制，两个节点中仅“笔刷蘸上颜料”达成。整幅临摹在视频约 19.5 s 已出现黄色区域稀疏、大片漏涂，后续其他颜色同样未形成完整色块；日志支持笔触覆盖与分组完成策略不足，终局五项图像指标均未达标，笔数、路径与涂抹占���合规。首次蘸料时间为视觉估计，缺少状态日志及完整控制脚本，无法进一步细分笔宽偏差的控制原因。",
+ "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、评分器读数一致：蘸料达成、整幅临摹未达成（终局图像稀疏、五项图像指标均不达标），断点落在 painting_copied，现象“大片漏涂”和根因“推理/规划”有日志（step 66/94 计划覆盖率、step 87 recall）与视频支持，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": "2026-10-30T23:03:49Z",
+  "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/robopaint-acrylic-kajikazawa-i00-standard--mbnwvb7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--mbnwvb7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7a5b7b6daf208c866f3a3ed9bd14f2ab9e1c36f5b4e880b9a0c38cfc4348fc8e",
+   "video_sha256": "1a6af14f1d5470c2809bb9200c20d1d3ea38dc1e230082605830c0f7748535df",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--paqws3m.json

@@ -0,0 +1,387 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-standard--paqws3m",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.835657,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.835657,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 2.9322,
+   "de_p90": 6.9471,
+   "de_bad_frac": 0.056361,
+   "de_mean_sheet": 2.9196,
+   "ssim_L": 0.897442,
+   "paint_iou": 0.979264,
+   "paint_area_mm2": 49398.7,
+   "target_paint_area_mm2": 49445.9,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 1.5981,
+   "ssim_L_fine": 0.846839,
+   "edge_corr": 0.804476,
+   "region_cov_min": 0.53876,
+   "region_cov_mean": 0.953436,
+   "n_regions": 82.0,
+   "n_strokes": 385.0,
+   "n_practice_strokes": 10.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 377.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.2219,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.3138,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 3.0102,
+   "de_p90_unregistered": 7.1524,
+   "ssim_L_unregistered": 0.894767,
+   "edge_corr_unregistered": 0.795343,
+   "paint_iou_unregistered": 0.979755,
+   "path_mm": 15472.89,
+   "longest_stroke_mm": 360.76,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.0115,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.835657,
+   "sim_steps": 13973,
+   "resets": 1.0,
+   "n_contacts": 395.0,
+   "samples": 69865.0,
+   "contact_samples": 29457.0,
+   "max_press_m": 0.014597,
+   "max_tilt_deg_in_contact": 0.392903,
+   "max_speed_in_contact_mps": 0.123717,
+   "handle_contact_samples": 15.0,
+   "n_dips": 44.0,
+   "dry_strokes": 0.0,
+   "n_frames": 584.0,
+   "replay_wall_s": 142.33,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 13973,
+   "physics_steps": 69865,
+   "steps": 9186,
+   "calls": 75,
+   "elapsed_s": 2891.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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/robopaint-acrylic-kajikazawa-i00-standard--paqws3m/replay.mp4",
+  "duration_s": 58.4,
+  "fps": 10.0,
+  "frames": 584,
+  "sha256": "ac66c56e1440dd7248b810f5acf744379205a35480222b616600237f40c0176a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": 20,
+      "text_zh": "观察：视频 0.2 s 场景视角中，机械臂末端竖直画笔移到调色盘颜料孔处；视频 0.4–0.9 s 画笔在练习纸扫动后留下深蓝色线条。log step 20 的脚本先把刷尖降入 paint10 孔，再执行练习笔触，调用返回成功。"
+     },
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.2 s 的孔上位置和视频 0.4–0.9 s 的显色，首次载料约在视频 0.2 s 完成，时间不确定度约 0.2 s；其后换色不取消这个事件节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端固定画笔的刷毛进入颜料孔并蘸上颜料，随后在练习纸显色。候选接触名“蘸取”：现有抓握、压/擦、托/舀均不能准确表达刷毛浸入颜料的载料接触。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.5,
+      "log_step": 69,
+      "text_zh": "观察：视频 2.5 s 起主纸出现黄色笔触，视频 6–26 s 机械臂依次绘出绿色岩石、蓝色河水和人物，视频 28–58.2 s 继续覆盖修补；画笔接触纸面并随扫动留下颜色。log step 69、97、110 分别启动初次绘画、修补和最终补笔。"
+     },
+     {
+      "t": 58.3,
+      "log_step": null,
+      "text_zh": "观察：视频 57.3–58.3 s 以及最后一帧可见完整构图，���上方横带/天空交界和下方浪纹仍有细碎白缝、断续及不规则的笔触边界；成功参考视频 59.5 s 的相应浪纹和色块边界更连续。参考视频仅用于比较完成外观。"
+     },
+     {
+      "t": 58.3,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的终局评分为 de_mean=2.9322>2、de_p90=6.9471>6、ssim_L=0.897442<0.92、n_strokes=385>377，image_success=0；edge_corr=0.804476、paint_iou=0.979264、path_mm=15472.89、scribble_share=0 均在对应阈值内。live_matches_replay=1、deterministic=1。"
+     },
+     {
+      "t": 58.3,
+      "log_step": null,
+      "text_zh": "推断：早期画面尚未成图，后期修补仍留下上述局部差异，终局又明确未通过图像与笔数验收，因此整幅临摹节点未达到；不能凭构图已经可辨认就记为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂用末端固定圆画笔的刷毛下压主纸并沿纸面扫动，留下多色笔迹；后期重复覆盖细节。固定底座未移动，不另记握笔接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 2.9322
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 6.9471
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.897442
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.804476
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.979264
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 385.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 15472.89
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.835657
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.5981
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.846839
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.53876
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.953436
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 57.3,
+   "log_step": 110,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 57.3–58.2 s 机械臂仍在整幅临摹的最后修补阶段，浪纹与色块边界的局部缺口持续到视频 58.3 s；终局评分平均色差、p90 色差、SSIM 与笔数均未通过。log step 110 执行最后八条计划笔触。此处为最终修补仍未修好的粗略导航锚点，并非断言偏差首次产生于视频 57.3 s。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部笔迹缺口与边界偏差",
+    "t": 57.3,
+    "log_step": null,
+    "evidence_zh": "观察：视频 57.3–58.3 s 的俯视与无遮挡画布视角中，上方灰绿横带和黄色天空交界存在断续白缝，右下河水的浅色浪纹有细碎缺口、轮廓不齐；与成功参考视频 59.5 s 对照，这些局部色块与浪纹更零碎。",
+    "note_zh": "候选现象“局部笔迹缺口与边界偏差”。现有接触和运动条目不能准确描述已着色图像的局部形状/覆盖缺陷；未见足够证据把它具体归为末端位姿不准或接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "log_step": 115,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 102 中 agent 自己的画布估计仍显示平均色差 3.1703、p90 7.4364、SSIM 0.907；随后 log step 110 只追加八条计划笔触。log step 114 最后检查的是脚本能编译和服务状态，服务 elapsed_s=2858.0，相对 3600 s 预算尚有约 742 s；log step 115 随即停止并自述“completed”，宣称 375 笔、未超过 377 笔。终局评分实际为 385 笔且图像未通过，说明 agent 以计划笔数和完成绘画的判断代替了通过验收的确认，错误的完成信念影响了停止。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐笔接触/评分时间序列，无法确定额外十笔相对 agent 计划计数的具体来源，也无法分离局部缺口来自刷毛覆盖模型、下压响应还是轨迹跟踪。视频经过加速且分辨率有限，首次蘸料只定位到约视频 0.2 s，精确图像指标取终局评分器字段；不据此添加更细的控制根因。"
+ },
+ "summary_zh": "机械臂约在视频 0.2 s 成功蘸料，并在主纸画出完整构图且多次修补，最终达到 1/2 个节点。整幅临摹仍有局部笔迹缺口和边界偏差，终局平均色差、p90 色差、SSIM 与 385 笔计数未通过；agent 在尚有预算时误认已完成且未超笔数并停止。没有逐笔状态与评分序列，不能确定多出的笔数或局部绘画误差的具体物理来源。",
+ "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、时间、breakpoint 与根因整体有据：brush_loaded 约 0.2 s 达成，painting_copied 依评分器读数（de_mean 2.93>2、p90 6.95>6、SSIM 0.897<0.92、385>377）判未达成。唯一需改：gap_zh 称无法确定多出十笔来源，但评分器字段已给出 n_practice_strokes=10，375+10=385，可直接解释笔数超限。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "brush_loaded 约 0.2 s 达成、painting_copied 依评分器读数（de_mean 2.93、p90 6.95、SSIM 0.897、385>377 笔）未达成，breakpoint、现象与根因均有证据支持；第一轮的 gap 争议已由标注者以证据回应，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": "2026-10-30T23:07:49Z",
+  "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/robopaint-acrylic-kajikazawa-i00-standard--paqws3m/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--paqws3m/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--paqws3m/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--paqws3m/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f4c6d7dd2b683a5106069e20bfede05974b99a0501e03bc89e4f7730f0f9137b",
+   "video_sha256": "ac66c56e1440dd7248b810f5acf744379205a35480222b616600237f40c0176a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--pjs9tuy.json

@@ -0,0 +1,365 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-standard--pjs9tuy",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.872225,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.872225,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 2.5555,
+   "de_p90": 6.1967,
+   "de_bad_frac": 0.044462,
+   "de_mean_sheet": 2.5471,
+   "ssim_L": 0.914903,
+   "paint_iou": 0.972022,
+   "paint_area_mm2": 49980.0,
+   "target_paint_area_mm2": 49445.9,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 1.4579,
+   "ssim_L_fine": 0.862584,
+   "edge_corr": 0.867295,
+   "region_cov_min": 0.035948,
+   "region_cov_mean": 0.961358,
+   "n_regions": 82.0,
+   "n_strokes": 371.0,
+   "n_practice_strokes": 15.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 377.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.2219,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.3138,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 2.6466,
+   "de_p90_unregistered": 6.5041,
+   "ssim_L_unregistered": 0.909773,
+   "edge_corr_unregistered": 0.85398,
+   "paint_iou_unregistered": 0.971428,
+   "path_mm": 10409.61,
+   "longest_stroke_mm": 295.0,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.5252,
+   "scribble_share": 0.02044,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.872225,
+   "sim_steps": 27554,
+   "resets": 1.0,
+   "n_contacts": 386.0,
+   "samples": 137770.0,
+   "contact_samples": 32702.0,
+   "max_press_m": 0.014087,
+   "max_tilt_deg_in_contact": 0.105608,
+   "max_speed_in_contact_mps": 0.085673,
+   "handle_contact_samples": 0.0,
+   "n_dips": 376.0,
+   "dry_strokes": 0.0,
+   "n_frames": 600.0,
+   "replay_wall_s": 150.58,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 27554,
+   "physics_steps": 137770,
+   "steps": 27554,
+   "calls": 175,
+   "elapsed_s": 1845.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 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/robopaint-acrylic-kajikazawa-i00-standard--pjs9tuy/replay.mp4",
+  "duration_s": 60.0,
+  "fps": 10.0,
+  "frames": 600,
+  "sha256": "c7fa9de67ba4c07c161c05026032d3df0b850616495be034289172367f40120c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": 10,
+      "text_zh": "观察：视频 0.2–0.5 s 的侧视画面中，机械臂末端刷毛呈浅黄色，练习纸开始出现浅黄色线条；视频 0.7 s 可见已留下的黄色笔迹。log step 10 的执行脚本先蘸 paint01 再画练习线，服务返回已执行 310 个控制步。"
+     },
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "推断：开局干笔能留下有色笔迹，说明机械臂已完成首次蘸料；取视频约 0.2 s 为首次上色的导航锚点，蘸入颜料孔的短暂过程未被录像清楚分辨，时刻误差约 0.2 s。该节点按事件锁存，后续反复换色不使其失去。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端固定画笔的刷毛蘸入颜料孔中的颜料，随后在练习纸和主纸留下有色笔迹；视频 0.2–0.7 s 的上色结果、log step 10 的蘸料动作及评分器 n_dips=376 支持实际蘸料。候选接触名“蘸取”；刷毛浸入颜料不属于抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.0 s 主纸为空白，机械臂先在旁边的练习纸画线；视频 3.0–9.0 s 主纸逐渐出现深蓝河流、绿色岩石、人物及黄色天空，仍有大片未完成区域。"
+     },
+     {
+      "t": 58.0,
+      "log_step": 52,
+      "text_zh": "观察：视频 10.0–59.9 s 机械臂持续填色和修补；视频 58.0–59.9 s 的无遮挡画面已有整幅构图，但浅绿色横带留有零碎白缝，河流浅色浪纹呈粗短碎段。与成功参考视频 59.5 s 的画面比较，本次细小色区和局部笔触轮廓仍有差异。log step 52 的服务返回最终 control_steps=27554；log step 54 记录执行方案共 371 笔，与评分器 n_strokes=371、live_matches_replay=1 一致。"
+     },
+     {
+      "t": 59.9,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的终局评分为 de_mean=2.5555（要求≤2）、de_p90=6.1967（要求≤6）、ssim_L=0.914903（要求≥0.92），image_success=0；edge_corr=0.867295、paint_iou=0.972022、371 笔、path_mm=10409.61 和 scribble_share=0.02044 均满足各自要求。"
+     },
+     {
+      "t": 59.9,
+      "log_step": null,
+      "text_zh": "推断：依据完整绘画过程中的未完成画面、末段仍存的局部偏差及终局评分，未确认存在满足整幅临摹联合判据的区间，终态明确为 false；不能因整幅构图已出现就记为达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 3.0–59.8 s，固定在 Panda 末端的画笔下压主纸并扫动，纸面随之出现并叠加蓝、绿、黄等笔触；侧视可见笔尖触纸。机械臂经固定画笔作用于纸面，不另记夹爪握笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 2.5555
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 6.1967
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.914903
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.867295
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.972022
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 371.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 10409.61
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.02044
+  },
+  {
+   "name": "final_reward",
+   "unit": "score",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.872225
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.4579
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.862584
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.035948
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.961358
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 58.0,
+   "log_step": 52,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.0–59.8 s 机械臂仍在完成整幅临摹的末段修补，浅绿横带及河流浪纹的局部形状偏差持续到视频 59.9 s 退臂后；评分器 de_mean=2.5555、de_p90=6.1967、ssim_L=0.914903 分别未过 2、6、0.92 的阈值。log step 52 执行最后 6 笔修补，log step 55 的 agent 最终报告也自述预计达不到完整成功线。断点归整幅临摹，以视频 58.0 s 的末段作导航锚点，无法定位某一笔首次造成最终差异。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部笔触形状与覆盖偏差",
+    "t": 58.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.0–59.9 s 的右下无遮挡画面中，浅绿色水平带有零碎白缝，深蓝河流中的浅色线条有粗短碎段和不规则接头；与成功参考视频 59.5 s 相比，这些局部轮廓和小色区仍不一致。",
+    "note_zh": "候选现象“局部笔触形状与覆盖偏差”：描述画面中具体残留的白缝、碎段与轮廓差异；现有接触、运动、全身、约束和汇报条目不能准确表达这种材料绘画结果的缺陷。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 21,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 21、31 的规划代码把目标缩为 256×256 图，以离散笔宽曲线逐笔贪心最大化局部像素色差降幅，未联合优化评分器的模糊后色差与结构相似度；log step 33 输出所选 365 笔方案的模型 meanE=2.938，log step 41 随后执行该方案，log step 51–52 仅再选取并执行 6 笔局部修补。结合视频 58.0–59.9 s 残留的细小色区与轮廓差异，支持有限笔数下的图形分解和覆盖策略未能充分保留细节。模型 meanE 与评分器 de_mean 的计算不同，不把其数值直接当作评分。"
+   }
+  ],
+  "gap_zh": "没有逐帧图像评分或状态日志，无法精确确定某一笔造成最终偏差，也无法量化图形近似、笔宽标定和轨迹跟踪各自的贡献；根因仅是结合规划代码和终局画面的策略层推断。首次蘸料发生很快，视频只清楚显示随后刷毛上色和练习笔迹，首次时刻约有 0.2 s 误差。成功参考只用于辨认可见的构图和细节，不代替本次运行证据。"
+ },
+ "summary_zh": "机械臂已蘸上颜料并以 371 笔画出天空、人物、岩石与河流的整幅构图，最终达到 1/2 个节点。断在“完成整幅临摹”：末段仍有局部白缝及笔触轮廓偏差，平均色差、90 分位色差与亮度结构相似度未过阈值；日志支持贪心图形近似策略保留细节不足的推断，笔数和路径规则均通过。没有逐帧评分，无法精确分摊规划近似与执行误差的影响。",
+ "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 brush_loaded 已达、painting_copied 未达（评分器 de_mean 2.5555>2、de_p90 6.1967>6、ssim_L 0.9149<0.92，image_success=0）均有证据支持；断点、根因（规划近似，模型 meanE 2.94 本身已高于 2）与时钟、log step 引用均核对无误，未发现需要改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:58:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--pjs9tuy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--pjs9tuy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5de63ed43b841b57beb1358a8d845af502eb6ca2e617c93143064d45ff7aad68",
+   "video_sha256": "c7fa9de67ba4c07c161c05026032d3df0b850616495be034289172367f40120c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}