diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--hernsrv.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--hernsrv.json
new file mode 100644
index 0000000000000000000000000000000000000000..52425ae03c5f2808b4b3d624f01bc8fa4fb4a290
--- /dev/null
+++ b/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贪心方法；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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--hzqwefc.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--hzqwefc.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bb1724744109b6f78b6be69a2dc4d0ed55af5ca
--- /dev/null
+++ b/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，按根因判别次序归为推理/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--mgsl7qk.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--mgsl7qk.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b12296c1286920b64969e10a2efe7ca81398d9c
--- /dev/null
+++ b/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廓明显更连续。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时越过阈值；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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--vdncgk3.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--vdncgk3.json
new file mode 100644
index 0000000000000000000000000000000000000000..06c5169781f12738b9d6954841423261eeac6db3
--- /dev/null
+++ b/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。无逐帧状态和评分，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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--zpamyav.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--zpamyav.json
new file mode 100644
index 0000000000000000000000000000000000000000..768a62c1fed28d25b960a94cce3625d3338ae994
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--jygyss4.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--jygyss4.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aa6d572710c85c15bd0ed9aa26d5fa53c970bc9
--- /dev/null
+++ b/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。成功参考视频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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--ks8vm28.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--ks8vm28.json
new file mode 100644
index 0000000000000000000000000000000000000000..36f69ae1d2412865ec3df79f58c274699d7b37bb
--- /dev/null
+++ b/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": "认知",
+    "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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--nhhxaxr.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--nhhxaxr.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5dc94e8cd2534c8546b4c05adc435e465ce09af
--- /dev/null
+++ b/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；成功示例视频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，不当作评分器的逐帧指标。",
+    "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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--pds4m5a.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--pds4m5a.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e4582176e20d83ca0bb6c385158cb8ec6a807e7
--- /dev/null
+++ b/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 机器人仍在主纸扫绘，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": "无逐帧状态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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--qjsoyap.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--qjsoyap.json
new file mode 100644
index 0000000000000000000000000000000000000000..25916cf0f98f58bda75fee131bc0c9affff9003f
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--quxktq4.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--quxktq4.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebaafd2d4bd823a547304b94235fd64db78b49a3
--- /dev/null
+++ b/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": "没有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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--wqr5d4c.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--wqr5d4c.json
new file mode 100644
index 0000000000000000000000000000000000000000..05e2433cc6023a613826a6e660734c1e34a457d2
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--znx346t.json b/phase2/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--znx346t.json
new file mode 100644
index 0000000000000000000000000000000000000000..d65668e66fb9db16fc8413cb3edaa23d49d8eb9d
--- /dev/null
+++ b/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 对应区域为较连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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--d46rhhs.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--d46rhhs.json
new file mode 100644
index 0000000000000000000000000000000000000000..0be20d627f34bf78f101ab3ae9259642a234c11a
--- /dev/null
+++ b/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 的逐帧检查显示，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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--d55khwa.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--d55khwa.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d6199baea4bb9d58cc3288c9c6340ba745c3906
--- /dev/null
+++ b/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，本次马身内部的浅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；现有证据不能进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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--fwg4yse.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--fwg4yse.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b29c810030c275d66bd06b6f2f878cc487f34b3
--- /dev/null
+++ b/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始逐帧画布，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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--ivlymju.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--ivlymju.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc4f7191e69363ffb00de7d462bd36448d781ca
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--srtgome.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--srtgome.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf74ceaf48b6c420213e483639cd0174e9b6ff27
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--wnvtjtj.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--wnvtjtj.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f18639b5e6a93301697efb06230135397bcbbd8
--- /dev/null
+++ b/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 留有局部色带形状偏差。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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--wueiefw.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--wueiefw.json
new file mode 100644
index 0000000000000000000000000000000000000000..160627d6904f7f58b3afd7b085e2d1b55f957d89
--- /dev/null
+++ b/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，同类区域色块更连续、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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--9zy4jf8.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--9zy4jf8.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7ddb23bf658bdcddc913c49de5ebc70a468b0a7
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--afdt4hq.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--afdt4hq.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c6e32e756c4871d86ff17d2bcdea0d6a1ce2344
--- /dev/null
+++ b/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试笔线；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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--fesddfh.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--fesddfh.json
new file mode 100644
index 0000000000000000000000000000000000000000..8852dfd68dd7fb37cd403cad642e48d364b91deb
--- /dev/null
+++ b/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子类；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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--gmav5nr.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--gmav5nr.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb62338a0c9efda2c2c91cc933a6e234120b726e
--- /dev/null
+++ b/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，节点最终为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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--merkfwt.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--merkfwt.json
new file mode 100644
index 0000000000000000000000000000000000000000..47224891c7093c6289bfd12d941a00a54cfb5675
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--uwvjddj.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--uwvjddj.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd92a81ea98f8f351b06c8fd757fe538858c8886
--- /dev/null
+++ b/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、右侧浅色长带和上部背景；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的规划脚本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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--ypyvml7.json b/phase2/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--ypyvml7.json
new file mode 100644
index 0000000000000000000000000000000000000000..38763dcfa02563699644d6c3f2836ec0ffec2ab7
--- /dev/null
+++ b/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、轮廓更平滑；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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--78dx6fm.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--78dx6fm.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f36af3a9bdaab0b553dc5a403bafa3952f2046
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--anuh85z.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--anuh85z.json
new file mode 100644
index 0000000000000000000000000000000000000000..de8b1461a2e8ccd98be4c685f48d67c6221e9b68
--- /dev/null
+++ b/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色块拼接，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、离线预测、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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--e4ppqjc.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--e4ppqjc.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3811c271479425b1f714021d125bc7e270bd4ee
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--jkg8lu5.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--jkg8lu5.json
new file mode 100644
index 0000000000000000000000000000000000000000..64c14ad40804e66a59d86f7164da1ffcf0fc9d6b
--- /dev/null
+++ b/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状。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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--mb5mych.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--mb5mych.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca7801d144da810a742a981379c05307c73e3795
--- /dev/null
+++ b/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；因此该节点无成立区间。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": [
+   {
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+    "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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--8kzkuxv.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--8kzkuxv.json
new file mode 100644
index 0000000000000000000000000000000000000000..f836d9ca57f2738e52f4e9950566621bfd51f18d
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--bynssrs.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--bynssrs.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e7b345da666ae349e419cb02b6e5213d9a8423b
--- /dev/null
+++ b/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、深度跟踪或颜料成形误差，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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--djraajo.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--djraajo.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7de7ae8823bd650ef8be5d7a1722ec4a605249a
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--ensztby.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--ensztby.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fdde6724d19ce634120ce252cd24d5d7a63d085
--- /dev/null
+++ b/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，中段尚缺深蓝主体，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，临摹节点从未达成。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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--uom9blw.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--uom9blw.json
new file mode 100644
index 0000000000000000000000000000000000000000..88a57654cd97b56034e3e2961f4d9cfdf5c0b6ce
--- /dev/null
+++ b/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，支持认知·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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--vfx6qmo.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--vfx6qmo.json
new file mode 100644
index 0000000000000000000000000000000000000000..d694c1d466f3122a5395d12c2404436eb37f623e
--- /dev/null
+++ b/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，但无实际执行序列可确定具体贡献。",
+ "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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--vguerla.json b/phase2/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--vguerla.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bb5dae1299a818912ee1b7ff3ece1355058724f
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--5nwb85b.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--5nwb85b.json
new file mode 100644
index 0000000000000000000000000000000000000000..c34043cf5439ae1af3bda48ffcd49a85370c0233
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--hhlws4s.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--hhlws4s.json
new file mode 100644
index 0000000000000000000000000000000000000000..f42fb013c2f1cfbea9097401245e76820ff9bf11
--- /dev/null
+++ b/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机械臂遮挡，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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--pw2kaqg.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--pw2kaqg.json
new file mode 100644
index 0000000000000000000000000000000000000000..563370c3d3069029f02a5f0bc020ad8bb659ce0d
--- /dev/null
+++ b/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 逐帧检查中仍保留这些差异。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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--rvwwlmk.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--rvwwlmk.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d5166aaaae81ea8fa4b99ba0742e8894f687b15
--- /dev/null
+++ b/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。视频 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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--v7hxuku.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--v7hxuku.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b649e7995369ef1e922539b1f148f9bc370a44d
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--8nf8kph.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--8nf8kph.json
new file mode 100644
index 0000000000000000000000000000000000000000..187d3fd865f3c82813e23dc3111966aac0d5e168
--- /dev/null
+++ b/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碎白缝隙和断续边缘。"
+     },
+     {
+      "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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--fqg6rfn.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--fqg6rfn.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad81962068ce368c5b062940373042bbce46632c
--- /dev/null
+++ b/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；视频 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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--kpdrbuz.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--kpdrbuz.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f9e3556ef6b94b5d245e13149c0c9d17759e665
--- /dev/null
+++ b/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仍在，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 停止修正。"
+   }
+  ],
+  "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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--mbnwvb7.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--mbnwvb7.json
new file mode 100644
index 0000000000000000000000000000000000000000..27ce1c45ffd96d58046f39e3901c83987fae147f
--- /dev/null
+++ b/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、路径与涂抹占比合规。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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--paqws3m.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--paqws3m.json
new file mode 100644
index 0000000000000000000000000000000000000000..93563ba1dcc756f9e8a82b8852f94987ea89891f
--- /dev/null
+++ b/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，但上方横带/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--pjs9tuy.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--pjs9tuy.json
new file mode 100644
index 0000000000000000000000000000000000000000..9785bd9c5b2174ff1a0d27c70c1da7661e61280c
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--tbdeoab.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--tbdeoab.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad8901b7cce5dd03638e352005a99143a8ad8884
--- /dev/null
+++ b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--tbdeoab.json
@@ -0,0 +1,334 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-standard--tbdeoab",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.89724,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 2.0552,
+   "de_p90": 4.892,
+   "de_bad_frac": 0.022295,
+   "de_mean_sheet": 2.0448,
+   "ssim_L": 0.939698,
+   "paint_iou": 0.976337,
+   "paint_area_mm2": 49023.8,
+   "target_paint_area_mm2": 49526.3,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 1.106,
+   "ssim_L_fine": 0.896385,
+   "edge_corr": 0.906101,
+   "region_cov_min": 0.75,
+   "region_cov_mean": 0.980851,
+   "n_regions": 82.0,
+   "n_strokes": 355.0,
+   "n_practice_strokes": 11.0,
+   "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": 2.0552,
+   "de_p90_unregistered": 4.892,
+   "ssim_L_unregistered": 0.939698,
+   "edge_corr_unregistered": 0.906101,
+   "paint_iou_unregistered": 0.976337,
+   "success": 0,
+   "final_reward": 0.89724,
+   "path_mm": 11279.7,
+   "longest_stroke_mm": 275.5,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.0549,
+   "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": 0.89724,
+   "sim_steps": 42827,
+   "resets": 1.0,
+   "n_contacts": 366.0,
+   "samples": 214135.0,
+   "contact_samples": 96239.0,
+   "max_press_m": 0.014277,
+   "max_tilt_deg_in_contact": 1.600195,
+   "max_speed_in_contact_mps": 0.057353,
+   "handle_contact_samples": 0.0,
+   "n_dips": 90.0,
+   "dry_strokes": 0.0,
+   "n_frames": 596.0,
+   "replay_wall_s": 141.13,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 42827,
+   "physics_steps": 214135,
+   "steps": 42803,
+   "calls": 2989,
+   "elapsed_s": 2439.8,
+   "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-kajikazawa-i00-standard--tbdeoab/replay.mp4",
+  "duration_s": 59.6,
+  "fps": 10.0,
+  "frames": 596,
+  "sha256": "5ba7633cd7ed1272aa75f614d22aee9127d58dadabd9ea56881093d42b27e4be"
+ },
+ "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": 0.2,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.2 s 的场景视图中，Panda 末端画笔移至调色盘颜料孔一侧；视频 0.5–0.7 s 的低角度视图可见画笔在练习纸留下深蓝色细线。log step 13 的执行脚本先调用 dip(9)，再在练习纸试画。"
+     },
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "推断：由视频 0.2 s 的蘸料动作和视频 0.5 s 起的有色练习笔迹，首次蘸料已成功；以首次可确认显色的视频 0.5 s 为锁存锚点，实际载料略早于此。终局评分器 n_dips=90、n_practice_strokes=11、n_dry_strokes=0 与之相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "Panda 末端固定圆画笔的刷尖进入调色盘颜料孔取色，随后在练习纸及主纸留下有色笔迹；候选接触名“蘸取”，浸入颜料载色不适合归为抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5–16.5 s，Panda 用固定画笔逐层画出上方灰绿横带、黄色天空、浅绿形状和深蓝水纹，主纸中下部此时仍有大片未画区域；低角度视图可见刷尖落纸扫动。"
+     },
+     {
+      "t": 37.5,
+      "log_step": 59,
+      "text_zh": "观察：视频 31.5–37.5 s，主纸已出现人物、深绿岩石、深蓝河水及浅色浪纹的整幅构图，之后机械臂继续补画；log step 59 记录 agent 已执行基础绘画并开始根据俯视图选取修正笔触。"
+     },
+     {
+      "t": 59.5,
+      "log_step": 83,
+      "text_zh": "观察：视频 58.5–59.5 s，Panda 完成末段小笔触并抬笔离开，画面保留整幅构图；log step 83 的服务状态记录最终 control_steps=42827，log step 86 的 agent 最终报告明确称评分成功尚未验证。终局 reward 的 de_mean=2.0552，大于阈值 2，image_success=0；de_p90=4.892、ssim_L=0.939698、edge_corr=0.906101、paint_iou=0.976337 均达各自阈值，355 笔及路径、涂抹占比也合规。"
+     },
+     {
+      "t": 59.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 deterministic=1、live_matches_replay=1，终局整幅临摹条件为假。已检查的逐层绘画及后续补画画面没有可确认通过精确联合验收的时段，因此不记已达区间；缺少逐帧精确评分，不能排除无法从压缩画面辨别的短暂过线。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频可见 Panda 单臂驱动末端固定圆画笔，刷尖下压主纸并沿曲线扫动，逐层留下天空、人物、岩石和河水的色块及细线，末段继续在画面局部补画；底座固定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 2.0552
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 4.892
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.939698
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.906101
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.976337
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 355.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 11279.7
+  },
+  {
+   "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": 0.89724
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.106
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.896385
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.75
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.980851
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 58.5,
+   "log_step": 83,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.5–59.4 s，Panda 仍在已有整幅构图上执行最后的局部修正，视频 59.5 s 抬笔；log step 83 记录最后一组修正执行结束。该次交付的终局评分 de_mean=2.0552>2、image_success=0，而其他带阈值图像指标、笔数及过程预算合格，失败步骤是整幅临摹；视频 58.5 s 仅作为最后修正阶段的导航锚点，无法定位某一笔首次造成超差。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "没有状态日志、逐帧精确图像评分或独立目标原图可供逐像素比较；已检查本次全程粗采样、视频 0.0–2.0 s 与视频 58.5–59.5 s 的逐帧画面，以及视频 35.0–59.5 s 的密集画布采样，并对照成功参考视频。两者构图相近，成功参考本身也不是目标原图，不能把它与本次的所有笔纹差异都视为缺陷。评分器足以确定终局平均色差未过线，但不足以确定导致差值的具体缺口、偏色或错位位置，故现象留空；log step 28、40、44、68 显示 agent 做过笔宽校准、图像比较和修正，log step 85 的自检报告无 IK 失败，仍不能区分残余误差来自图像分解、笔宽模型还是实际轨迹执行，故根因留空。整幅临摹的逐帧阈值状态未记录，未达区间采用没有可确认达标时段的保守读法。"
+ },
+ "summary_zh": "机械臂先蘸料并在练习纸校准，再完成天空、人物、岩石和河水的整幅构图及多轮补画；终局仅“笔刷蘸上颜料”成立，为 1/2 节点。整幅临摹在最后修正后仍因平均色差 2.0552 高于阈值 2 未通过，其余带阈值指标均达标。压缩录像和终局评分不能可靠定位微小残差及其成因，故不强选失败现象或根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "brush_loaded 达成、painting_copied 未达（de_mean 2.0552>2，image_success=0）与评分器读数和画面一致；断点与空现象/根因附 gap_zh 的做法有据，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": "2026-10-30T23:00:47Z",
+  "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-kajikazawa-i00-standard--tbdeoab/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--tbdeoab/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6ce8471721f053152f990a3715c8b20076c21141b490395fb0266a1c3479ee2a",
+   "video_sha256": "5ba7633cd7ed1272aa75f614d22aee9127d58dadabd9ea56881093d42b27e4be",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--uv8z3xg.json b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--uv8z3xg.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9907fee148a6062df697e2a353f46c7bacde3b6
--- /dev/null
+++ b/phase2/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--uv8z3xg.json
@@ -0,0 +1,341 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-kajikazawa-i00-standard--uv8z3xg",
+ "taskKey": "robopaint/acrylic_kajikazawa",
+ "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038",
+ "outcome": {
+  "success": 0,
+  "reward": 0.80923,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 3.8154,
+   "de_p90": 10.1532,
+   "de_bad_frac": 0.101904,
+   "de_mean_sheet": 3.8023,
+   "ssim_L": 0.831697,
+   "paint_iou": 0.943826,
+   "paint_area_mm2": 48263.4,
+   "target_paint_area_mm2": 49485.5,
+   "n_target_strokes": 290.0,
+   "de_mean_coarse": 2.7197,
+   "ssim_L_fine": 0.772288,
+   "edge_corr": 0.697322,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.908345,
+   "n_regions": 82.0,
+   "n_strokes": 374.0,
+   "n_practice_strokes": 8.0,
+   "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": 3.8408,
+   "de_p90_unregistered": 10.2021,
+   "ssim_L_unregistered": 0.830519,
+   "edge_corr_unregistered": 0.694076,
+   "paint_iou_unregistered": 0.9435,
+   "success": 0,
+   "final_reward": 0.80923,
+   "path_mm": 11892.88,
+   "longest_stroke_mm": 229.33,
+   "max_path_mm": 44300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.1274,
+   "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": 0.80923,
+   "sim_steps": 17543,
+   "resets": 1.0,
+   "n_contacts": 382.0,
+   "samples": 87715.0,
+   "contact_samples": 33820.0,
+   "max_press_m": 0.014017,
+   "max_tilt_deg_in_contact": 0.192057,
+   "max_speed_in_contact_mps": 0.111064,
+   "handle_contact_samples": 0.0,
+   "n_dips": 12.0,
+   "dry_strokes": 0.0,
+   "n_frames": 586.0,
+   "replay_wall_s": 99.58,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 17543,
+   "physics_steps": 87715,
+   "steps": 17543,
+   "calls": 119,
+   "elapsed_s": 1101.5,
+   "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--uv8z3xg/replay.mp4",
+  "duration_s": 58.6,
+  "fps": 10.0,
+  "frames": 586,
+  "sha256": "fd1f5d0262af5f7ce585d8020d3ee69fc0230b4e55eea7149fbe106501211ca1"
+ },
+ "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": 43,
+      "text_zh": "观察：视频约0.1–0.3 s，场景相机中机械臂将固定画笔伸入调色盘孔位后移向练习纸；视频0.6–1.0 s，练习纸出现深色短线，视频1.4–1.8 s继续留下深蓝色试笔。log step 43记录机械臂先进入paint10颜料孔再在练习纸划线，与这段动作一致；首次上色时间约为视频0.2 s，误差约0.1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：机械臂末端固定圆画笔的刷尖进入调色盘颜料孔，随后在练习纸留下深色笔迹（视频约0.2–1.0 s），主纸绘制期间也反复换色。候选接触名为“蘸取”：刷毛浸入颜料上色，现有抓握、压/擦、托/舀不能准确表达该接触。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–3.6 s主纸基本空白，机械臂主要在练习纸试笔；视频约3.8 s起主纸出现浅黄色笔迹，随后依次扩展天空、绿色岩石和蓝色水面。视频54.0–57.0 s人物尚有未补的区域，未见先完成整幅后又被覆盖破坏的阶段。"
+     },
+     {
+      "t": 58.5,
+      "log_step": null,
+      "text_zh": "观察：视频58.0–58.5 s，主纸已有天空、人物、岩石和河水的整幅构图，但人物周围与岩石内部仍见不规则露白，河水笔触间也留有宽窄不一的白色裂隙；成功参考视频59.5 s的对应人物、岩石及水面更连续。评分器终局image_success=0，de_mean=3.8154>2、de_p90=10.1532>6、ssim_L=0.831697<0.92、edge_corr=0.697322<0.8、paint_iou=0.943826<0.95；因此整幅临摹节点终态为假。"
+     },
+     {
+      "t": 58.5,
+      "log_step": 148,
+      "text_zh": "观察：log step 148写出分色层批量绘制脚本，log step 150开始执行；视频呈现同样的逐层绘画过程。评分器记录374笔、path_mm=11892.88、scribble_share=0，strict_ok=1、deterministic=1、live_matches_replay=1，表明终局失败来自图像验收，而非笔数、路径或涂抹占比。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂用末端固定圆画笔的刷毛下压主纸并横向、斜向扫动，留下黄色、绿色、蓝色及褐色笔触（视频约3.8–58.3 s）；工具安装处不重复记为抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 3.8154
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 10.1532
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.831697
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.697322
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.943826
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 377,
+   "direction": "lower_better",
+   "value": 374.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 44300,
+   "direction": "lower_better",
+   "value": 11892.88
+  },
+  {
+   "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": 0.80923
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 2.7197
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.772288
+  },
+  {
+   "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": 0.908345
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 58.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约58.0 s机械臂补绘人物褐色部分后，整图仍有人物和岩石周围的露白缺口、水面笔触之间的破碎边界，直到视频58.5 s未修复；评分器image_success=0且五项图像相似度验收量均未达阈值。失败步骤为整幅临摹，时间锚点选在最后一层补绘时。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触覆盖缺口",
+    "t": 58.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频57.0–58.5 s，机械臂补上人物的褐色笔触后，人物颈部、躯干与绿色岩石交界仍有明显白色空隙，岩石内部有数条白色短缝，右下水面也有破碎的白色空隙；成功参考视频59.5 s相应区域更连贯。这些是可见的绘画覆盖和边界缺陷。",
+    "note_zh": "候选现象“笔触覆盖缺口”。已有接触和运动条目不能准确表达画面残留露白及轮廓破碎；没有证据把它归为工具未接触、掉落或单次末端位姿偏差，也不以相似度分数代替可见现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 148,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 148的绘画脚本按连通色块主轴分带生成笔触，明确跳过面积小于30像素的色块、面积小于20像素的子块和长度小于16像素的短段，再一次构造整段轨迹分块提交，仅在末尾取图；log step 137还记录以色块距离变换半径经拟合曲线转换压深的方案。结合视频57.0–58.5 s残留的露白与破碎边缘，支持笔触路径及刷毛覆盖的控制方案未能保留目标细节。现有证据不能分离几何简化、压深映射和实际跟踪各自贡献，故仅标控制大类。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志或逐笔图像评分，首次蘸料时间由视频孔位动作与随后显色联合判断；整图早期明显未完成，末段未见达到后再失去的过程。日志中部分长代码已被截断，不能精确确定各处缺口对应的笔触或证明具体压深参数、跟踪误差，故根因不细分到控制子类。"
+ },
+ "summary_zh": "机械臂在视频约0.2 s完成首次蘸料，先在练习纸试笔，再逐层画出天空、人物、岩石和河水，终态完成1/2个节点。整幅临摹在末层补绘后仍有人物与岩石周围的露白及破碎水面边缘，五项图像相似度均未达标，而笔数、总路径和涂抹占比合规；日志支持笔触覆盖方案的控制不足。缺少逐帧状态与逐笔评分，无法进一步区分路径简化、刷宽压深映射与跟踪误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（brush_loaded 真、painting_copied 假）、断点、接触和现象与视频及评分器读数一致；未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:01:34Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--uv8z3xg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--uv8z3xg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b7d25f580f2e659aa19c59e2402149766b8a81935c1c22af526c23012f1dcb44",
+   "video_sha256": "fd1f5d0262af5f7ce585d8020d3ee69fc0230b4e55eea7149fbe106501211ca1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--4sr5idk.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--4sr5idk.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc4e27c725c0f8eae8fc00151a3b61cace1af309
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--4sr5idk.json
@@ -0,0 +1,324 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-privileged--4sr5idk",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 1,
+  "reward": 0.91561,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 1.6878,
+   "de_p90": 4.1391,
+   "de_bad_frac": 0.022417,
+   "de_mean_sheet": 1.6842,
+   "ssim_L": 0.92942,
+   "paint_iou": 0.975556,
+   "paint_area_mm2": 49770.7,
+   "target_paint_area_mm2": 49560.9,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 1.1318,
+   "ssim_L_fine": 0.886275,
+   "edge_corr": 0.872169,
+   "region_cov_min": 0.574022,
+   "region_cov_mean": 0.985679,
+   "n_regions": 55.0,
+   "n_strokes": 361.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 1.7756,
+   "de_p90_unregistered": 4.3865,
+   "ssim_L_unregistered": 0.925887,
+   "edge_corr_unregistered": 0.861596,
+   "paint_iou_unregistered": 0.974728,
+   "success": 1,
+   "final_reward": 0.91561,
+   "path_mm": 17100.85,
+   "longest_stroke_mm": 348.93,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.9468,
+   "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": 0.91561,
+   "sim_steps": 33364.0,
+   "resets": 1.0,
+   "n_contacts": 361.0,
+   "samples": 166820.0,
+   "contact_samples": 60627.0,
+   "max_press_m": 0.013603,
+   "max_tilt_deg_in_contact": 0.142938,
+   "max_speed_in_contact_mps": 0.057722,
+   "handle_contact_samples": 0.0,
+   "n_dips": 178.0,
+   "dry_strokes": 0.0,
+   "n_frames": 597.0,
+   "replay_wall_s": 203.4,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 33364,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 7,
+   "agent_resets": 2,
+   "agent_sim_steps": 158637,
+   "agent_records": 4,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-suddenshower-i00-privileged--4sr5idk/replay.mp4",
+  "duration_s": 59.7,
+  "fps": 10.0,
+  "frames": 597,
+  "sha256": "38a95ecbc2e248cc5e33b332481a10284c39baef7834d4844156532630a18c39"
+ },
+ "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": null,
+      "text_zh": "观察：视频0.0 s主纸为空白；视频0.1 s机械臂画笔移至颜料盘附近，视频0.2 s右下画纸图已出现首段蓝灰色笔迹，视频0.3–1.5 s笔迹随画笔扫动扩展。"
+     },
+     {
+      "t": 0.2,
+      "log_step": 42,
+      "text_zh": "推断：已知画笔干笔开局，视频0.2 s前已完成首次蘸料，否则不能留下该有色笔迹；首次载料发生在视频0.0–0.2 s内，以视频0.2 s为可确认锚点。log step 42对交付轨迹的独立回放报告loaded=true、n_dips=178、dry_strokes=0，支持实际载料接触；颜料井内的瞬间及精确深度未被视频采样直接分辨。"
+     }
+    ],
+    "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刷毛蘸入颜料井中的颜料，随后在视频0.2 s留下蓝灰色笔迹；候选接触名为蘸/浸。该接触用于刷毛载料，非夹持、承托或压擦固体表面，现有接触值无准确对应。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.2–6.0 s机械臂用画笔在主纸上铺出上部蓝灰色笔迹，视频8.0–14.0 s增加灰绿水面及深色轮廓；视频16.0–18.0 s斜向米黄桥梁逐渐成形，视频22.0 s可见右上红色与下部深色区域。视频24.0–58.0 s机械臂继续覆画和修补，画纸保留这些整体结构。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频58.7–59.6 s；右下画纸图持续显示蓝灰色上部、灰绿水面、斜向米黄桥梁、右上红色块和下方深色细节及留白，机械臂画笔仍在主纸上方移动，末帧画面完整。侧视可见画笔下压扫掠并抬起，右下图随之增加有色笔迹。"
+     },
+     {
+      "t": 59.6,
+      "log_step": 43,
+      "text_zh": "观察：inputs/run.json的最终评分器字段success=1、all_success=1、deterministic=1；平均ΔE=1.6878、90分位ΔE=4.1391、SSIM=0.92942、边缘相关=0.872169、颜料IoU=0.975556，均达DAG阈值，361笔≤380笔、总路径17100.85 mm≤40500 mm、scribble_share=0≤0.1。log step 39验证封装后的动作与通过版本完全相同，log step 43的两次新进程回放汇总为both_success=true、same_final_state=true，支持这是交付轨迹的终局验收。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "推断：最终评分通过且视频终态结构一致，故画作临摹完成在终局为真。没有状态日志或逐帧ΔE、SSIM等评分，肉眼不能确定首次跨过全部严格阈值的帧；区间起点采用视频59.6 s的终帧确认锚点，不主张此前各帧必定未达标，也不把会话中早期测试的评分映射成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂固定安装的圆头画笔刷毛在主画纸表面下压并扫掠，留下连续有色笔迹，随后抬笔移动；见视频0.2–1.5 s及全程绘画的侧视和右下画纸图。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：临摹中机械臂以同一画笔刷毛反复蘸入颜料井换色，与纸面压擦依次发生；视频依次出现多种颜料色，交付回放的n_dips=178（log step 42）支持反复载料。候选接触名为蘸/浸，因刷毛浸入颜料而非夹持、承托或压擦固体表面，采用其他。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 1.6878
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 4.1391
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.92942
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.872169
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.975556
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 361.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 17100.85
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.91561
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.1318
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.886275
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.574022
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.985679
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机械臂先给干画笔蘸料，再在主纸上逐步铺色、绘出桥梁与细节并修补，终局两个节点均完成。评分器确认成功：361笔、平均ΔE 1.6878、SSIM 0.92942，图像与绘画过程规则全部通过，交付轨迹的两次独立回放通过且终态一致（log step 43）。没有状态日志和逐帧图像评分，首次蘸料以视频0.2 s有色笔迹为确认锚点，临摹严格达标的首次时刻无法精确定位，保守以视频59.6 s终帧确认；本次无独立参考录像，未将同一运行的oracle视频当作额外证据。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点终局为真，与评分器success=1及视频帧一致；时间锚点保守且证据区分观察与推断，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:46:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--4sr5idk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--4sr5idk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "32dfd33a91906afb2f59e9d9e9cf09e2f2904bbb0c7214056f6dfc34caf30857",
+   "video_sha256": "38a95ecbc2e248cc5e33b332481a10284c39baef7834d4844156532630a18c39",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--5ibbx8k.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--5ibbx8k.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7e372a63eb8d2376be9e3c577e3750aa2cd64a6
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--5ibbx8k.json
@@ -0,0 +1,344 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-privileged--5ibbx8k",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 0,
+  "reward": 0.664995,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 6.7001,
+   "de_p90": 19.4822,
+   "de_bad_frac": 0.231276,
+   "de_mean_sheet": 6.6672,
+   "ssim_L": 0.62232,
+   "paint_iou": 0.859796,
+   "paint_area_mm2": 42999.6,
+   "target_paint_area_mm2": 49606.3,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 5.5815,
+   "ssim_L_fine": 0.53804,
+   "edge_corr": 0.350852,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.781874,
+   "n_regions": 55.0,
+   "n_strokes": 380.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 6.724,
+   "de_p90_unregistered": 19.6177,
+   "ssim_L_unregistered": 0.62309,
+   "edge_corr_unregistered": 0.349717,
+   "paint_iou_unregistered": 0.859552,
+   "success": 0,
+   "final_reward": 0.664995,
+   "path_mm": 12241.98,
+   "longest_stroke_mm": 209.16,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.1841,
+   "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": 0.664995,
+   "sim_steps": 27375.0,
+   "resets": 1.0,
+   "n_contacts": 380.0,
+   "samples": 136875.0,
+   "contact_samples": 76702.0,
+   "max_press_m": 0.007047,
+   "max_tilt_deg_in_contact": 0.101434,
+   "max_speed_in_contact_mps": 0.046845,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 597.0,
+   "replay_wall_s": 189.4,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 27375,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 16,
+   "agent_resets": 7,
+   "agent_sim_steps": 168848,
+   "agent_records": 3,
+   "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-suddenshower-i00-privileged--5ibbx8k/replay.mp4",
+  "duration_s": 59.7,
+  "fps": 10.0,
+  "frames": 597,
+  "sha256": "8662d5e35944fcaad6c2c651e416591a4c5d285e8c8c25a8eaa2774c78bec081"
+ },
+ "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": "推断：视频0.0 s画纸空白，机械臂随后在视频0.1–0.2 s移到颜料井一侧并下探，视频0.4 s主纸首次出现蓝灰色笔迹；结合任务给定干笔初态，首次载料约在视频0.2 s成立，时刻误差约0.2 s，不能从画面精确量出液面深度。"
+     },
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "观察：视频0.4 s起右下画纸图出现蓝灰色笔迹，随后机械臂画笔持续在纸面铺色；run.json评分器报告n_dips=10、dry_strokes=0，支持实际已蘸料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：视频0.1–0.2 s机械臂固定画笔在颜料井处下探，视频0.4 s留下有色笔迹，作用端为刷毛、对象为井内颜料；候选接触名为蘸/浸，现有抓握、托/舀、压/擦均不能准确表示刷毛浸入颜料。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s主纸空白；视频0.4 s后机器人开始留下笔迹，视频16.0–20.0 s上部蓝灰区域由多条笔带组成，笔带之间仍有宽白缝，中部灰绿铺色刚开始，整画尚未形成。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "观察：视频58.6–59.6 s逐帧可见上部蓝灰区多条斜长白缝、中部灰绿区多条近水平白缝，下方米黄桥梁及深色细节已画出，但色块轮廓碎裂。成功参考视频59.6 s的对应蓝灰与灰绿区域更连续，仅用于辨认匹配外观；本次全程粗看及关键段密看均未见完整匹配后又被覆坏的阶段。"
+     },
+     {
+      "t": 59.6,
+      "log_step": 172,
+      "text_zh": "观察：log step 172对已保存轨迹的官方回放报告image_success=0；run.json终局de_mean=6.7001>2、de_p90=19.4822>6、ssim_L=0.62232<0.92、edge_corr=0.350852<0.8、paint_iou=0.859796<0.95。笔数380、path_mm=12241.98、scribble_share=0均满足过程限制，图像条件未达成。log step 175重新生成交付文件，log step 177最终回放仍得到相同终态哈希及奖励。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频0.4 s后至视频59.6 s，机械臂固定安装的圆头画笔反复压在主纸上扫掠，右下画纸图随之增加有色笔带；作用端为画笔刷毛，对象为主画纸。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：视频约17.0 s等换色段，机械臂画笔回到颜料井一侧后继续画出新颜色；评分器n_dips=10支持重复蘸料。候选接触名为蘸/浸，刷毛与井内颜料接触，现有接触词不能准确表示此过程。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 6.7001
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 19.4822
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.62232
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.350852
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.859796
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 380.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 12241.98
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.664995
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 5.5815
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.53804
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.781874
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 18.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频16.0–20.0 s机器人转入灰绿铺色时，上部蓝灰色块已经留下多条长白缝；后续虽增加深蓝细节，视频58.6–59.6 s这些色块仍呈条带断裂，中部灰绿区也留下多条白缝。断点定位在整幅临摹步骤，视频18.0 s为可见漏涂的导航锚点；run.json报告image_success=0且strict_ok=1，失败来自成画而非过程限制。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "条带漏涂",
+    "t": 18.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频16.0–20.0 s上部蓝灰笔带间出现斜长的纸色缝隙；视频58.6–59.6 s上部这些缝隙及中部近水平的白条仍明显存在，色块边缘呈断续阶梯状。成功参考视频59.6 s对应色块更连续，说明这里记录的是实际可见的多余漏涂条带。",
+    "note_zh": "候选现象为条带漏涂：描述成画中可见的空白缝隙，现有接触、运动、全身、约束、汇报、没尝试类别均没有准确的绘画覆盖缺陷条目；画面不足以把它直接命名为末端位姿误差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：agent在log step 152明确按部分奖励比较粗细方案，log step 162选择单尺度F1并删去小笔触；log step 163的执行前预测已是de_mean=6.083、IoU=0.8852。log step 174的最终生成代码固定scales=(1.0,)、fine_scales=()、leftover_min_px=10**9，并按面积删至380笔，没有安排后续边缘补画。log step 175执行该生成器，log step 177验证其交付结果不变；结合视频58.6–59.6 s持续的条带漏涂，支持所选整画填充与删减策略未解决有限笔数下的完整覆盖，而不是从失败分数单独推因。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，首次蘸料的精确液面接触时刻只能由井旁下探和随后着色推断；视频为压缩呈现的绘画过程，未把agent时间或仿真步数换算为视频时刻。没有逐帧图像评分，无法确定中途各项数值，但可见的局部铺色和终局漏涂足以判定整幅临摹未达成；也不足以进一步归因到某个控制参数。"
+ },
+ "summary_zh": "机器人完成首次蘸料，并实际在主纸上画出蓝灰上部、灰绿水面、米黄斜桥及深色和红色细节，最终节点为1/2。整幅临摹始终未达成：视频最后一秒仍有明显条带漏涂，五项图像验收指标均失败而笔数、路径与扫掠规则通过；日志支持单尺度填充后删减小笔触且不再补边的规划策略造成覆盖不足。缺少状态日志和逐帧图像评分，首次载料时刻为近似判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点和现象与视频及评分字段一致：视频59.6 s成画仍有条带白缝，而成功参考视频更连续；log step引用均存在，且未把agent时间换算成视频时间。规划类根因有log step 152、162、163、172–177支持，未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:47:48Z",
+  "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-suddenshower-i00-privileged--5ibbx8k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--5ibbx8k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "22c9b02c403ad22f842a454b2e318b064ee8f457969924074475912c5f2d37cf",
+   "video_sha256": "8662d5e35944fcaad6c2c651e416591a4c5d285e8c8c25a8eaa2774c78bec081",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--bxbp279.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--bxbp279.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2415083735cb25bcef2b90c079e685cf51b63be
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--bxbp279.json
@@ -0,0 +1,357 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-privileged--bxbp279",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 0,
+  "reward": 0.90011,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.90011,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 1.9978,
+   "de_p90": 5.0762,
+   "de_bad_frac": 0.023299,
+   "de_mean_sheet": 1.9895,
+   "ssim_L": 0.907465,
+   "paint_iou": 0.975357,
+   "paint_area_mm2": 49856.2,
+   "target_paint_area_mm2": 49584.2,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 1.0258,
+   "ssim_L_fine": 0.844241,
+   "edge_corr": 0.839864,
+   "region_cov_min": 0.643625,
+   "region_cov_mean": 0.983178,
+   "n_regions": 55.0,
+   "n_strokes": 376.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 2.0351,
+   "de_p90_unregistered": 5.1895,
+   "ssim_L_unregistered": 0.904149,
+   "edge_corr_unregistered": 0.832646,
+   "paint_iou_unregistered": 0.975222,
+   "path_mm": 10470.3,
+   "longest_stroke_mm": 220.65,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2362,
+   "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": 0.90011,
+   "sim_steps": 21465.0,
+   "resets": 1.0,
+   "n_contacts": 376.0,
+   "samples": 107325.0,
+   "contact_samples": 21849.0,
+   "max_press_m": 0.013208,
+   "max_tilt_deg_in_contact": 0.665669,
+   "max_speed_in_contact_mps": 0.152686,
+   "handle_contact_samples": 0.0,
+   "n_dips": 376.0,
+   "dry_strokes": 0.0,
+   "n_frames": 598.0,
+   "replay_wall_s": 173.9,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 21465,
+   "video_rendered": 1,
+   "agent_sessions": 43,
+   "agent_resets": 26,
+   "agent_sim_steps": 482184,
+   "agent_records": 15,
+   "agent_replays": 9,
+   "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-suddenshower-i00-privileged--bxbp279/replay.mp4",
+  "duration_s": 59.8,
+  "fps": 10.0,
+  "frames": 598,
+  "sha256": "57689a58694788c92c4993342c75a6b60110de851d60e4cbb96f9208165bd8e8"
+ },
+ "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": "推断：视频 0.0–0.1 s 机械臂末端从颜料盘处移出，视频 0.2 s 右下画纸图已出现第一条蓝灰色笔迹，视频 0.3 s 该笔迹延长，证明原先干燥的固定画笔已载料；首次蘸料以视频约 0.1 s 为锚点，误差约 0.1 s。"
+     },
+     {
+      "t": 59.7,
+      "log_step": 62,
+      "text_zh": "观察：log step 62 将 q7_acts.npy 保存为最终交付轨迹并在两个新进程回放，均报告 loaded=true、n_dips=376、dry_strokes=0；评分记录的 n_dips=376、n_dry_strokes=0 与视频持续留下有色笔迹相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "固定在单臂末端的圆头画笔刷毛进入颜料井载料，随后在主纸留下蓝灰色笔迹；后续反复换色。候选接触名为蘸/浸，现有抓握、托/舀、压/擦均不能准确表示刷毛浸入颜料的接触。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸为空白；视频 0.2–1.4 s 机械臂用固定画笔压在纸上横向扫出蓝灰色条纹。视频约 3–9 s 逐步增加中部灰绿色、下部米黄色斜桥、右上红色及下方深色区域，之后持续局部补画。"
+     },
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 53.5–54.9 s 机械臂仍在主纸上补短笔。视频 58.8–59.7 s 的右下画纸图中主要色块和斜桥已成形，但上部蓝色区的白色留白多呈零散点状，中部白色细线和桥边轮廓仍粗碎；对照成功参考视频 59.6 s，同一区域的留白形状、线条连续性及桥边细节不同。"
+     },
+     {
+      "t": 59.7,
+      "log_step": 62,
+      "text_zh": "观察：最终评分字段 ssim_L=0.907465，未达到 DAG 要求的 0.92，image_success=0；de_mean=1.9978、de_p90=5.0762、edge_corr=0.839864、paint_iou=0.975357 及笔数、路径、scribble_share 均通过各自硬阈值。log step 61–62 对最终 q7 交付的检查得到相同指标，评分记录 deterministic=1。"
+     },
+     {
+      "t": 59.7,
+      "log_step": null,
+      "text_zh": "推断：全程粗查及开头、后期补画和末秒密查未发现整幅细节达到目标的时段，终局专用图像指标也确认未达标，因此不记录已完成区间；主要构图相似不能代替整体临摹验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂固定安装的圆头画笔刷毛反复下压主纸并沿纸面扫掠，实际留下各色条带和局部补笔；抬笔后移向颜料盘换色，再返回主纸绘画。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 1.9978
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 5.0762
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.907465
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.839864
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.975357
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 376.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 10470.3
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.90011
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.0258
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.844241
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.643625
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.983178
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 54.0,
+   "log_step": 62,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 53.5–54.9 s 机械臂正在主纸上作后期补笔，蓝色区留白与桥边细节仍和成功参考不同；视频 58.8–59.7 s 这些局部差异仍在。log step 62 的最终交付回放与评分记录一致，亮度 SSIM 为 0.907465，小于 0.92；故失败步骤为整幅画作临摹，视频 54.0 s 仅作后期未修复偏差的导航锚点。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "画面细节失配",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0 s 及视频 59.7 s 的画纸中，上部蓝色区白色留白呈分散小斑，中部白线与斜桥边缘局部粗碎；成功参考视频 59.6 s 相应留白、细线和轮廓更连贯，形状也不同。画面主要色块已在正确区域，问题表现为局部绘画细节差异。",
+    "note_zh": "候选现象为画面细节失配。现有接触、全身、汇报等条目不描述绘画结果，位姿不准也不能准确概括同一画面内留白、纹理与笔触边缘的多处差异，故使用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：log step 12 的候选笔触仅搜索直线方向、长度与固定宽度；log step 31 的 real_gain 按模糊后的 Lab 色差下降量选笔，log step 43–44 只另加白纸覆盖惩罚，未把亮度局部结构纳入选笔目标。log step 54 启动此 plan3.py 的 q7 配置，log step 62 保存并验证的正是 q7_acts.npy。结合视频 54.0–59.7 s 持续存在的留白和边缘差异，以及最终颜色指标通过而 ssim_L 未通过，支持该逐笔贪心色差优化策略未充分安排局部结构与细笔触的复现；不是由停止或失败分数单独反推。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或逐笔 SSIM；视频右下画纸视图分辨率有限，只能辨认局部形状差异，不能精确确定哪一笔首次导致结构指标偏离，也不能用视频测出中途的精确指标。首次蘸料由颜料盘处动作及视频 0.2 s 的第一条有色笔迹联合推断；绘画策略根因由交付脚本和终局结果联合推断，未验证单一改动能否消除差异。"
+ },
+ "summary_zh": "机械臂在视频约 0.1 s 首次载料，随后用 376 笔画出蓝灰色上部、灰绿水面、米黄斜桥及红色与深色细节，最终完成 1/2 个节点。画作临摹因局部留白、细线与边缘细节失配未达标，亮度 SSIM 为 0.907465＜0.92，其余硬阈值通过；日志支持逐笔直线色差优化策略未充分复现局部结构的推断。无逐帧图像指标，无法定位首次失配的具体笔触，断点以视频 54.0 s 的后期补画为锚点。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "brush_loaded（约0.1 s，视频0.0 s空白、0.2 s已有首条笔迹）与painting_copied未达成（评分器ssim_L=0.907<0.92，image_success=0）均与视频和评分字段相符；断点、现象与根因有日志和评分字段支持，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": "2026-10-30T22:44:49Z",
+  "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-suddenshower-i00-privileged--bxbp279/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--bxbp279/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4e06e8aa759b159f6a2ac4002c15f9d3dd21e8184ebcc201cfeca512035e833c",
+   "video_sha256": "57689a58694788c92c4993342c75a6b60110de851d60e4cbb96f9208165bd8e8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--dldgtcq.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--dldgtcq.json
new file mode 100644
index 0000000000000000000000000000000000000000..f759a23433dafdcf8585d93995cae5ca59be865f
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--dldgtcq.json
@@ -0,0 +1,345 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-privileged--dldgtcq",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 0,
+  "reward": 0.713335,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.713335,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 5.7333,
+   "de_p90": 18.3938,
+   "de_bad_frac": 0.176951,
+   "de_mean_sheet": 5.7045,
+   "ssim_L": 0.710216,
+   "paint_iou": 0.872082,
+   "paint_area_mm2": 43605.6,
+   "target_paint_area_mm2": 49606.3,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 5.1375,
+   "ssim_L_fine": 0.647291,
+   "edge_corr": 0.548648,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.838216,
+   "n_regions": 55.0,
+   "n_strokes": 380.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 5.7479,
+   "de_p90_unregistered": 18.4071,
+   "ssim_L_unregistered": 0.71069,
+   "edge_corr_unregistered": 0.548551,
+   "paint_iou_unregistered": 0.871392,
+   "path_mm": 11450.34,
+   "longest_stroke_mm": 356.98,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.87,
+   "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": 0.713335,
+   "sim_steps": 29258.0,
+   "resets": 1.0,
+   "n_contacts": 380.0,
+   "samples": 146290.0,
+   "contact_samples": 80013.0,
+   "max_press_m": 0.013007,
+   "max_tilt_deg_in_contact": 0.095102,
+   "max_speed_in_contact_mps": 0.031475,
+   "handle_contact_samples": 0.0,
+   "n_dips": 22.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 191.6,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 29258,
+   "video_rendered": 1,
+   "agent_sessions": 17,
+   "agent_resets": 17,
+   "agent_sim_steps": 420067,
+   "agent_records": 1,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-suddenshower-i00-privileged--dldgtcq/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "3514b78ef34c03fdf2dfcc0465e73081ac7fa0877024e36454f406cd612a0f5e"
+ },
+ "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 侧视中机械臂固定画笔下降到颜料井所在位置，随后离开，视频 0.3–0.4 s 主纸开始出现蓝灰色笔迹。"
+     },
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "推断：结合干笔初态、视频 0.1 s 的井位下降及视频 0.3 s 已出现的有色笔迹，首次蘸料已完成；以视频 0.1 s 为近似时刻，实际载料瞬间在视频 0.0–0.3 s 内，未凭视频测量井内高度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.1 s 机械臂固定安装的画笔刷毛下降到颜料井位置，随后在主纸留下蓝灰色颜料。候选接触名为“蘸/浸”：作用端为刷毛，对象为井内颜料，现有抓握、托/舀、压/擦等值不能准确表示浸料。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸为空白；视频 3、6、9、12、15 s 逐渐形成上部蓝灰色块，视频 18–30 s 铺灰绿水面，视频 33–45 s 画米黄桥梁，视频 48–57 s 添加深色、红色及局部细节，均未见整体达到参考的连续覆盖。"
+     },
+     {
+      "t": 18,
+      "log_step": null,
+      "text_zh": "观察：视频 15–20 s 的右下画纸图显示，机械臂转去画灰绿区域时，上部蓝灰色块内仍有多处不规则纸白缺口；视频 58.8–59.8 s 这些缺口仍明显。成功参考录像视频 45.0、59.6 s 的同一区域覆盖更连续，桥面及下方深色区域也更完整。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 140,
+      "text_zh": "观察：视频 59.8 s 右下画纸图可见蓝灰、灰绿、斜桥、红色和深色区域，但色块内及桥缘仍有碎白缺口。inputs/run.json 的终局评分为 de_mean=5.7333>2、de_p90=18.3938>6、ssim_L=0.710216<0.92、edge_corr=0.548648<0.8、paint_iou=0.872082<0.95；380笔、path_mm=11450.34、scribble_share=0 则通过过程限制。agent 最终在 log step 140 也明确自述图像阈值未通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.3–59.6 s 机械臂以固定安装的圆头画笔反复下降接触主纸并扫掠，纸上随之留下各色笔迹；作用端为刷毛，对象为主画纸，不另记不存在的夹爪抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 5.7333
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 18.3938
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.710216
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.548648
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.872082
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 380.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 11450.34
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.713335
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 5.1375
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.647291
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.838216
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 18.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 18–20 s 机械臂已转向灰绿区域作画，上部蓝灰色块仍留下多处缺口；视频 58.8–59.8 s 的成画仍保留大量纸白裂隙。终局评分的五项图像验收均未通过。推断：未修复的失败属于整幅临摹步骤，视频 18 s 仅为缺口已可辨认的导航锚点，不表示此时已有不可逆判负。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "漏涂",
+    "t": 18.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 15–20 s 蓝灰区域的上部、中央及右缘留有碎白缺口，视频 58.8–59.8 s 仍存在；水面及斜桥周边也残留断续白缝。对照成功参考录像视频 45.0、59.6 s，同类色块的内部覆盖更连续。",
+    "note_zh": "候选现象为“漏涂”：已接触并留下颜料，但色块内残留未覆盖的纸白缺口；现有接触、运动、全身、约束、汇报和没尝试条目均不能准确表示这种绘画结果缺陷。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：本次没有状态日志，视频不能精确给出首次蘸料的井内高度或逐帧图像指标。日志含多轮会话试验；log step 98 的脚本图像统计显示缺色，log step 120、124、132 记录最终文件哈希一致及恢复交付，但未提供可核验的完整最终笔触宽度设计与实际末端跟踪误差。推断：可以确认漏涂及终局不达标，尚不能可靠区分扫掠笔触的规划、笔压/接触设计与轨迹跟踪各自的因果贡献，故根因留空。"
+ },
+ "summary_zh": "机械臂约在视频 0.1 s 完成首次蘸料，随后画出上部蓝灰色块、灰绿水面、斜桥及红色和深色细节，最终完成1/2节点。临摹步骤在操作中留下未修复的漏涂，视频 59.8 s 仍见碎白缺口，终局五项图像指标均未通过，而笔数、路径和扫掠规则通过。没有状态日志及完整最终笔触/跟踪诊断，蘸料时刻为近似值，具体根因留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 brush_loaded 已达、painting_copied 未达，终局图像指标全部未过，视频 59.5 s 可见大量白缺口，断点与漏涂现象有据；根因留空并附 gap_zh 合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:54:12Z",
+  "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-suddenshower-i00-privileged--dldgtcq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--dldgtcq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d207c6d8fbfa51d231ba8a069e6b8d36aa2af77e270c1bd442c49fb5ac21d4db",
+   "video_sha256": "3514b78ef34c03fdf2dfcc0465e73081ac7fa0877024e36454f406cd612a0f5e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--opy6gzp.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--opy6gzp.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad0057e8bb6e7023c29cf6a7c544482beb17de6e
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--opy6gzp.json
@@ -0,0 +1,360 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-privileged--opy6gzp",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 0,
+  "reward": 0.7518,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.7518,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 4.964,
+   "de_p90": 13.8966,
+   "de_bad_frac": 0.150569,
+   "de_mean_sheet": 4.9627,
+   "ssim_L": 0.700348,
+   "paint_iou": 0.953902,
+   "paint_area_mm2": 50189.4,
+   "target_paint_area_mm2": 49477.5,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 3.4176,
+   "ssim_L_fine": 0.624471,
+   "edge_corr": 0.307129,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.863327,
+   "n_regions": 55.0,
+   "n_strokes": 370.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 5.0475,
+   "de_p90_unregistered": 14.0496,
+   "ssim_L_unregistered": 0.697525,
+   "edge_corr_unregistered": 0.296553,
+   "paint_iou_unregistered": 0.953258,
+   "path_mm": 8974.13,
+   "longest_stroke_mm": 113.98,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.5154,
+   "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": 0.7518,
+   "sim_steps": 23709.0,
+   "resets": 1.0,
+   "n_contacts": 370.0,
+   "samples": 118545.0,
+   "contact_samples": 37440.0,
+   "max_press_m": 0.012106,
+   "max_tilt_deg_in_contact": 0.122569,
+   "max_speed_in_contact_mps": 0.044385,
+   "handle_contact_samples": 0.0,
+   "n_dips": 153.0,
+   "dry_strokes": 0.0,
+   "n_frames": 594.0,
+   "replay_wall_s": 176.3,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 23709,
+   "video_rendered": 1,
+   "agent_sessions": 33,
+   "agent_resets": 26,
+   "agent_sim_steps": 297153,
+   "agent_records": 11,
+   "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": 4.696,
+   "peak_processes": 14,
+   "peak_disk_gb": 1.092,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-suddenshower-i00-privileged--opy6gzp/replay.mp4",
+  "duration_s": 59.4,
+  "fps": 10.0,
+  "frames": 594,
+  "sha256": "a2e1755d523da20d25e0152926e09e421d4a6f5239f66d441ac1f61702e0be30"
+ },
+ "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右下主纸图为空白，视频0.2 s出现灰绿色短笔迹，视频0.3–1.9 s该色笔迹随机械臂画笔运动连续延长；载料最晚在首笔出现时已成立。"
+     },
+     {
+      "t": 0.2,
+      "log_step": 272,
+      "text_zh": "推断：任务文字规定干刷开局且须浸入颜料井才载料，结合视频0.2 s的有色首笔，可确认首次蘸料已发生，时间锚取视频0.2 s，具体入井瞬间在视频0.0–0.2 s之间、受臂体遮挡及采样限制。log step 272对最终交付文件的官方复放报告loaded=true、n_dips=153、dry_strokes=0，与有色绘画相符；未将日志工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：固定在Panda末端的圆头画笔刷毛浸入颜料井中的颜料；视频0.2 s起留下有色笔迹，结合干笔初态和官方复放n_dips=153确认确有浸料。候选接触名为“蘸/浸”，属于刷毛载液，不是抓握或压擦固体，现有接触值不精确。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频1.5、4.5、7.5 s机械臂安装的画笔在主纸逐步画出灰绿、蓝灰及米黄色长条；视频10.5–22.5 s继续铺色补空，逐渐形成上部蓝灰、中部灰绿、下部斜桥及右上红色区域。早期画面仅有局部铺色，未成整幅。"
+     },
+     {
+      "t": 59.3,
+      "log_step": null,
+      "text_zh": "观察：视频45.5、52.5、57.5 s及视频58.0–59.3 s逐帧可见终图蓝灰区仍有较长白色接缝，灰绿水面和桥上深色细节不足；与成功参考录像59.6 s的水面黑短线、桥左侧黑红细节及更完整的色区边界不同。右下主纸图始终可见，缺陷未被末端遮挡；补画后仍未达到整体匹配。"
+     },
+     {
+      "t": 59.3,
+      "log_step": 272,
+      "text_zh": "观察：log step 271将runI轨迹选为最终交付，log step 272对该文件官方复放给出de_mean=4.964、de_p90=13.8966、ssim_L=0.700348、edge_corr=0.307129、paint_iou=0.953902、n_strokes=370、path_mm=8974.13、scribble_share=0；reward同值且deterministic=1、image_success=0、strict_ok=1。颜色误差、亮度结构和边缘阈值未过，覆盖率及绘画过程规则通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频0.2–1.9 s及后续铺色画面中，Panda单臂末端固定画笔压在主纸并滑动扫掠，有色笔迹随工具运动延长；后段反复抬笔换位、补画。实际作用端为圆头刷毛，对象为主画纸；无可开合夹爪，不重复标握持工具。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：临摹过程中同一安装画笔还反复蘸取不同颜料；各色笔迹及log step 272最终交付复放的153次蘸料佐证换料。候选接触名“蘸/浸”，现有how值没有准确对应的刷毛浸料方式。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 4.964
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 13.8966
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.700348
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.307129
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.953902
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 370.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 8974.13
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.7518
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 3.4176
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.624471
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.863327
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 45.5,
+   "log_step": 272,
+   "where": "操作中",
+   "evidence_zh": "观察：视频45.5 s机械臂仍在已铺色的主纸附近补画，蓝灰区接缝、水面与桥上细节偏差已明显；视频52.5 s及58.0–59.3 s仍未修复。log step 271–272确认该runI轨迹为最终交付且官方复放image_success=0。此处是持续临摹未达标，视频45.5 s为可见缺陷的导航锚，并非声称该帧发生了单次不可逆失误。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "其他",
+    "t": 45.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频45.5、52.5 s及58.0–59.3 s右下图中，上部蓝灰色区有额外的长白色裂缝状留白，水面中央及桥左部缺少成功参考录像59.6 s可见的黑色短线与黑红细节，桥缘也更碎裂；这些偏差在补画后保留。",
+    "note_zh": "候选现象名“色块接缝与细节缺失”。这是画纸上的可见成画缺陷；现有接触、运动、全身等现象没有准确对应的材料绘画结果项，不用“指标不达标”替代可见现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "log_step": 271,
+    "evidence_zh": "推断：agent的绘画脚本用直线扫掠覆盖复杂色区，并以局部宽度估计刷痕，接触覆盖方案未保住细小异色结构及色区接缝。log step 134的best_sweep按面积贪心选择直线、gap_fill以缺口中占多数的颜色填补；log step 243的生成脚本说明沿用这套方法，log step 271最终配置min_region_mm2=100、gap_min_area=8、scale=1.12、bonus_mm=1.3。log step 264的会话校准还显示名义8 mm刷痕沿程宽度变化，故几何覆盖模型不能保证实际边界；这是根因的会话证据，不作为本次节点进度。视频45.5–59.3 s实际成画的接缝和细节缺失与该方案局限一致。成功参考录像59.6 s在同任务中保有相应细节且oracle.json标记success=1，验证存在可行的绘画接触方案。",
+    "source_zh": "日志",
+    "note_zh": "此项指画笔扫掠形状、覆盖范围和颜色填补的接触设计；没有证据将失败归为IK不可解、单一参数失调或错误完成信念。"
+   }
+  ],
+  "gap_zh": "无状态日志及逐帧图像评分，不能定位每项图像指标首次偏离的精确时刻；以已检查画面的持续缺陷判断临摹未达，最终精确阈值由评分器字段确认。首次浸料发生在视频0.0–0.2 s之间，入井瞬间受臂体遮挡及采样限制，以视频0.2 s有色首笔作时间锚。接触覆盖设计的归因结合脚本及会话校准推断，无法量化各类刷痕误差对终局评分的独立贡献。"
+ },
+ "summary_zh": "本次完成笔刷载料，机械臂在主纸画出上部蓝灰、中部灰绿和下部斜桥等主要色区，最终节点完成1/2。临摹步骤持续补画后仍有色区接缝与深色细节缺失，直线扫掠及缺口填色的接触覆盖方案不足以重现目标细节；颜色、结构和边缘指标未过，而笔数、路径与扫掠规则通过。无状态日志和逐帧图像指标，首次蘸料及持续误差的精确起点只能由视频近似定位。",
+ "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首笔灰绿笔迹处成立，painting_copied 末帧仍有蓝灰区白色接缝与细节缺失，未达成；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": "2026-10-30T22:50:27Z",
+  "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-suddenshower-i00-privileged--opy6gzp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--opy6gzp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5b4e4b51478e6a6119ea22e1ff54cbad3979c9c64c62b743dec9c3e5a8427666",
+   "video_sha256": "a2e1755d523da20d25e0152926e09e421d4a6f5239f66d441ac1f61702e0be30",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--q2h2nsm.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--q2h2nsm.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb40f71fba98837b076773f86bcd5c097099099a
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--q2h2nsm.json
@@ -0,0 +1,365 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-privileged--q2h2nsm",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 0,
+  "reward": 0.786718,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.786718,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 4.0586,
+   "de_p90": 12.244,
+   "de_bad_frac": 0.12615,
+   "de_mean_sheet": 4.0411,
+   "ssim_L": 0.756927,
+   "paint_iou": 0.925013,
+   "paint_area_mm2": 46618.9,
+   "target_paint_area_mm2": 49580.7,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 3.5213,
+   "ssim_L_fine": 0.685896,
+   "edge_corr": 0.587891,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.882327,
+   "n_regions": 55.0,
+   "n_strokes": 385.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 4.07,
+   "de_p90_unregistered": 12.2944,
+   "ssim_L_unregistered": 0.756505,
+   "edge_corr_unregistered": 0.586805,
+   "paint_iou_unregistered": 0.924528,
+   "path_mm": 12179.72,
+   "longest_stroke_mm": 160.0,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.5379,
+   "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": 0.786718,
+   "sim_steps": 27717.0,
+   "resets": 1.0,
+   "n_contacts": 385.0,
+   "samples": 138585.0,
+   "contact_samples": 82946.0,
+   "max_press_m": 0.01282,
+   "max_tilt_deg_in_contact": 0.182552,
+   "max_speed_in_contact_mps": 0.032514,
+   "handle_contact_samples": 0.0,
+   "n_dips": 20.0,
+   "dry_strokes": 0.0,
+   "n_frames": 591.0,
+   "replay_wall_s": 138.7,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 27717,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 2,
+   "agent_sim_steps": 55434,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-suddenshower-i00-privileged--q2h2nsm/replay.mp4",
+  "duration_s": 59.1,
+  "fps": 10.0,
+  "frames": 591,
+  "sha256": "1d090f7f7a6802a14c485bd9b5b32628a8e8a2289fe626999e9ebb38b84cc9d6"
+ },
+ "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 画纸空白，视频 0.1 s 机械臂将固定画笔降至颜料井位置；视频 0.2–0.3 s 右下画纸图开始出现米黄色笔迹。"
+     },
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "推断：干笔初态与视频 0.1 s 的井边动作、视频 0.3 s 已出现的有色笔迹共同表明首次蘸料已完成，锚点取视频 0.1 s，误差约 0.2 s；后续换色不撤销此事件。评分器 reward 另报告 n_dips=20、dry_strokes=0，作为整段载料行为的佐证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端固定圆头画笔的刷毛进入颜料井蘸取颜料（视频 0.1 s 的井边动作，随后视频 0.3 s 有色笔迹佐证）。候选接触名为蘸/浸；这是刷毛载入颜料，不是抓握、托舀或压擦固体表面。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸空白；视频 0.3–16.0 s 机械臂用画笔逐步画出米黄桥梁和灰褐轮廓，视频 18.0–24.0 s 铺灰绿水面，视频 26.0–42.0 s 铺蓝灰上部及深色下缘，视频 44.0 s 已有右上红块，均可在右下画纸图核对。"
+     },
+     {
+      "t": 44.0,
+      "log_step": null,
+      "text_zh": "观察：视频 44.0 s 虽已有主要构图，上部蓝灰块内部仍有多条长白缝，水面中部偏左缺少成功参考录像视频 59.6 s 可见的棕色短块及黑色短线；本次视频 58.0–59.0 s 逐帧检查后这些缺漏仍存在。成功参考仅用于比较画面，不作为本次进度证据。"
+     },
+     {
+      "t": 59.0,
+      "log_step": 46,
+      "text_zh": "观察：本次视频 59.0 s 终局仍有上述白缝、缺漏及左侧穿过蓝灰和水面区域的细长米黄笔迹。评分器 reward 与 log step 46 的最终评分一致：de_mean=4.0586>2、de_p90=12.244>6、ssim_L=0.756927<0.92、edge_corr=0.587891<0.8、paint_iou=0.925013<0.95，n_strokes=385>380；路径与扫掠占比合规。"
+     },
+     {
+      "t": 59.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–42.0 s 的铺色过程尚未形成完整目标，之后至视频 59.0 s 的成画仍有持续未补的色区和细节缺漏，结合最终独立图像评分不通过，整幅临摹节点未达到，终值为 false；这不是仅凭 success=0 反推未绘画。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂以固定画笔刷毛下压主画纸并沿纸面扫掠留下颜料，视频 0.3–44.0 s 可见各色笔迹陆续形成，视频 58.0–59.0 s 仍在补画；期间画笔往返颜料井换色。作用端为刷毛、对象为主纸，不重复标注固定工具的握持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 4.0586
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 12.244
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.756927
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.587891
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.925013
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 385.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 12179.72
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.786718
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 3.5213
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.685896
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.882327
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 44.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 44.0 s 机械臂已画出上蓝灰、中灰绿、下米黄及右上红块，继续绘画时仍留下上部多条长白缝和水面细节缺漏；视频 58.0–59.0 s 检查可见这些偏差始终未修复。推断：失败发生在整幅临摹步骤，取视频 44.0 s 作为成画偏差清晰可见的导航锚点，并非精确越阈时刻；评分器 reward 的五项图像指标和 385/380 笔数确认该步最终未达标。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔迹缺漏与多余留白",
+    "t": 44.0,
+    "log_step": null,
+    "evidence_zh": "观察：本次视频 44.0 s 的右下画纸图及视频 58.0–59.0 s 终局，上部蓝灰色块有多处细长白缝和轮廓缺口；水面中部偏左没有成功参考录像视频 59.6 s 所示的棕色短块、黑色短线。本次终局还保留左侧跨色区的细长米黄笔迹，整体比参考破碎。",
+    "note_zh": "候选现象为笔迹缺漏与多余留白，描述具体成画缺陷而非复述相似度未达标；现有接触或运动标签不能准确表达缺画、留白及多余笔迹，录像也不足以把它们归为某次位姿不准或失去接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 43,
+    "evidence_zh": "推断：agent 的笔画压缩与筛选策略未保留整幅目标所需的覆盖和细节。log step 42 的规划输出有 624 条候选笔画；log step 43 的脚本按各候选新增覆盖面积排序、截取至多 380 条，输出仅 378 条、计划路径从 20469 mm 降至 11228 mm，然后进入绘画。实际视频 44.0–59.0 s 保留色区白缝和水面细节缺漏；agent 在 log step 47 也自述筛减造成薄色带及边界覆盖不足。这里归因于可在执行前决定的图像到笔画方案，不由零分或停止行为反推。",
+    "source_zh": "日志"
+   },
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "log_step": 46,
+    "evidence_zh": "推断：agent 最后一次修订没有进入实际交付笔画文件，导致已知笔数超限未被修复。log step 45 已返回 385 笔；log step 46 只将生成脚本的截取上限从 380 改为 370，随后直接运行 run 分支，没有执行 plan；log step 8 展示 run 分支先读取已保存笔画、再录制及保存轨迹。log step 46 重跑仍返回相同图像指标和 385 笔，log step 47 明确自述复用了缓存 strokes.npz；本次评分器 reward 同为 385 笔。该操作错误解释重画仍交付原方案，不能据此声称重生成后的 370 条方案会成功。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或逐帧图像评分，首次蘸料只能用视频 0.1 s 的井边动作和视频 0.2–0.3 s 的首批有色笔迹定位；不能精确测量入井深度或定位图像各项阈值的逐帧变化。日志部分代码被截断，无法逐处证明缺漏对应哪条被删笔画，也无法独立确认 agent 在 log step 46 自述的七次笔画分裂机制；因此未标接触失稳或具体控制子因。"
+ },
+ "summary_zh": "机械臂约在视频 0.1 s 首次蘸上颜料，并在整段录像中完成主要构图，最终达到 1/2 个节点；整幅临摹因上部白缝、水面细节缺漏等偏差未达标，五项图像指标均不通过且实际笔数为 385/380。log step 42–43 的笔画筛减策略与缺画相符，log step 46 修改上限后未重新生成缓存笔画，故重画仍交付同一超限方案。没有逐帧状态及图像评分，蘸料时刻和每处缺漏的具体来源仍有上述不确定性。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "brush_loaded 与 painting_copied 的取值、时间、接触及断点均与视频和评分器读数一致；根因的日志证据（step 45/46/47 的 385 笔、缓存 strokes.npz 复用）核对属实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:51:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--q2h2nsm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--q2h2nsm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f6b5b25fa50f06ecbcafeba64ae324f433880fc8337829ad17dd4d54f819970c",
+   "video_sha256": "1d090f7f7a6802a14c485bd9b5b32628a8e8a2289fe626999e9ebb38b84cc9d6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--vxpkzsc.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--vxpkzsc.json
new file mode 100644
index 0000000000000000000000000000000000000000..d232c20b561a6c0fd00992461d429df29520cffe
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--vxpkzsc.json
@@ -0,0 +1,347 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-privileged--vxpkzsc",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 0,
+  "reward": 0.738935,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 5.2213,
+   "de_p90": 15.7933,
+   "de_bad_frac": 0.186361,
+   "de_mean_sheet": 5.2113,
+   "ssim_L": 0.701656,
+   "paint_iou": 0.956043,
+   "paint_area_mm2": 50033.6,
+   "target_paint_area_mm2": 49488.0,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 3.7063,
+   "ssim_L_fine": 0.62777,
+   "edge_corr": 0.325654,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.824819,
+   "n_regions": 55.0,
+   "n_strokes": 148.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.8874,
+   "register_dy_mm": -0.2219,
+   "register_shift_mm": 0.9148,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 5.3611,
+   "de_p90_unregistered": 16.2894,
+   "ssim_L_unregistered": 0.701256,
+   "edge_corr_unregistered": 0.330549,
+   "paint_iou_unregistered": 0.952404,
+   "success": 0,
+   "final_reward": 0.738935,
+   "path_mm": 14006.0,
+   "longest_stroke_mm": 228.45,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2609,
+   "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": 0.738935,
+   "sim_steps": 15954.0,
+   "resets": 1.0,
+   "n_contacts": 148.0,
+   "samples": 79770.0,
+   "contact_samples": 41540.0,
+   "max_press_m": 0.013041,
+   "max_tilt_deg_in_contact": 0.158099,
+   "max_speed_in_contact_mps": 0.044279,
+   "handle_contact_samples": 0.0,
+   "n_dips": 29.0,
+   "dry_strokes": 0.0,
+   "n_frames": 592.0,
+   "replay_wall_s": 141.2,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 15954,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 98,
+   "agent_resets": 14,
+   "agent_sim_steps": 129752,
+   "agent_records": 6,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-suddenshower-i00-privileged--vxpkzsc/replay.mp4",
+  "duration_s": 59.2,
+  "fps": 10.0,
+  "frames": 592,
+  "sha256": "dc44f1ba9ccfdf9b4c77d68540a2c5d5dcd691f3cae6cd17fd22ee470a7db0e1"
+ },
+ "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，机械臂的固定画笔移动至颜料井阵列并下降、抬起；视频0.5 s起右下主纸图出现米黄色竖向有色笔迹。"
+     },
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "推断：结合视频0.1–0.3 s的入井动作与视频0.5 s随后留下的有色笔迹，首次载料约在视频0.2 s成立，时间误差约0.2 s；此为锁存事件，后续换色不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂固定安装的圆头画笔刷毛进入颜料井载料，随后留下有色笔迹。候选接触名为蘸/浸；现有抓握、托/舀、压/擦均不能准确表示刷毛浸入液态颜料。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.5 s已有米黄边条，视频2.3 s起画笔在主纸上留下蓝色横带；视频15–27 s铺灰绿水面，视频30–42 s加深色云带和局部细节，视频45–57 s绘斜桥及桥下竖线，视频58.0–59.1 s末段补右上红条，整段确实在临摹。"
+     },
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频51.0–58.0 s的右下纸面图中，云层形成平整斜带，河面留白为两条较短且规整的横槽，桥面为宽平行直带、左桥头细节稀少；视频59.1 s这些差异仍在。成功参考视频59.6 s的同一视图具有曲折水面留白、碎小亮斑和更不规则的桥头及桥边轮廓；参考仅用于外观对比。"
+     },
+     {
+      "t": 59.1,
+      "log_step": null,
+      "text_zh": "观察：本次run.json评分器终局字段image_success=0、de_mean=5.2213>2、de_p90=15.7933>6、ssim_L=0.701656<0.92、edge_corr=0.325654<0.8；paint_iou=0.956043、n_strokes=148、path_mm=14006、scribble_share=0均通过对应阈值，deterministic=1、grader_error=0。"
+     },
+     {
+      "t": 59.1,
+      "log_step": null,
+      "text_zh": "推断：视频早段为未完成的局部铺色，晚段上述轮廓与留白差异未修复，结合终局图像指标，画作临摹完成节点从未成立；不把覆盖率达标等同于整幅匹配。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机器人以固定画笔刷毛压在主画纸上作横向、斜向及竖向扫掠，留下各色笔迹；其间抬笔并返回颜料井换色。无夹爪抓取或移动底盘。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 5.2213
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 15.7933
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.701656
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.325654
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.956043
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 148.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 14006.0
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.738935
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 3.7063
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.62777
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.824819
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 54.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频54.0 s机器人仍在补画桥下结构，主体已呈现宽平行色带、规整水面留白和简化桥头；视频58.0–59.1 s补红条后这些差异仍未消失，终局image_success=0。推断：失败发生在整幅临摹过程中；视频54.0 s作为结果偏差清晰可见的导航锚点，并非一次突然丢失已达标状态的事件。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "色块轮廓与留白失真",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频54.0–59.1 s，主纸蓝灰云带、灰绿水面和米黄桥梁均已画出，但云带下缘近直线、水面两条留白短而平直、桥头与桥边呈规整平行条带；成功参考视频59.6 s同视图的水面留白更长且曲折，云层有碎小亮斑，桥头和桥边轮廓更不规则。上述差异在本次补画后仍可见。",
+    "note_zh": "现有接触、运动、全身、约束及汇报条目不能准确描述已着色画面的局部形状和留白失真，故采用此候选现象；不是用评分未达标重述现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "log_step": 499,
+    "evidence_zh": "推断：agent脚本在log step 499以成排长直线、每笔固定压入深度构造天空和水面，再仅小幅平移整笔及调整压力；log step 503在机械臂执行前的直接渲染已得到平均ΔE=5.29、90分位ΔE=15.84。log step 505、518把同一global_optimized_strokes列表转为画笔端点间恒深直线扫掠并保存交付，评分器终局误差5.2213、15.7933与其接近，视频54.0–59.1 s也保留规则宽色带。由此判断所选刷毛扫掠几何与覆盖布局未复现目标曲折轮廓和留白，而非仅凭失败猜测跟踪不稳；成功参考视频59.6 s已展示本环境存在能复现这些细节的可行笔触布局。",
+    "source_zh": "日志",
+    "note_zh": "此处接触设计指画笔在纸面上的扫掠位置、形状和压入深度组合，并非抓握画笔。具体每笔的误差贡献未记录，不再归为参数调试或反馈控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧图像评分，首次载料时刻由入井动作和随后有色笔迹联合推断，无法逐笔量化形状、压力与误差的贡献。终局精确数值来自本次评分器字段；会话中的其他测试未当作本次进度或失败现象，两个时钟未作换算。"
+ },
+ "summary_zh": "机器人完成首次蘸料，并画出天空、水面、斜桥、桥下结构和红色细节，最终完成1/2个节点；整幅临摹节点未达到。断点为画作临摹完成：最终云带、水面留白和桥头轮廓过于规整，日志与执行前渲染支持刷毛扫掠几何和覆盖布局不适配，终局颜色、结构与边缘指标失败，而笔数、路径和扫掠规则通过。无逐帧状态或评分，载料时间及具体每笔误差贡献仍有不确定性。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、评分器字段、日志一致：载料约0.2 s成立，临摹节点终局未成立，断点、现象与根因均有证据支撑；未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:46:36Z",
+  "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-suddenshower-i00-privileged--vxpkzsc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--vxpkzsc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4d365262dcf8a19d596f3a243540745c7e18010ed2a31943eec84734bbfb0c3a",
+   "video_sha256": "dc44f1ba9ccfdf9b4c77d68540a2c5d5dcd691f3cae6cd17fd22ee470a7db0e1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--8c97kjx.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--8c97kjx.json
new file mode 100644
index 0000000000000000000000000000000000000000..7874815969183db94ebc7007cfd130b10a158de5
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--8c97kjx.json
@@ -0,0 +1,363 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-standard--8c97kjx",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 0,
+  "reward": 0.569265,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.569265,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 8.6147,
+   "de_p90": 26.7147,
+   "de_bad_frac": 0.265098,
+   "de_mean_sheet": 8.6085,
+   "ssim_L": 0.576754,
+   "paint_iou": 0.847031,
+   "paint_area_mm2": 44922.1,
+   "target_paint_area_mm2": 49497.2,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 7.2546,
+   "ssim_L_fine": 0.522517,
+   "edge_corr": 0.18298,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.748125,
+   "n_regions": 55.0,
+   "n_strokes": 312.0,
+   "n_practice_strokes": 4.0,
+   "n_dry_strokes": 1.0,
+   "max_strokes": 380.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.6656,
+   "register_shift_mm": 0.6656,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 8.7241,
+   "de_p90_unregistered": 27.0903,
+   "ssim_L_unregistered": 0.573509,
+   "edge_corr_unregistered": 0.185621,
+   "paint_iou_unregistered": 0.844866,
+   "path_mm": 19443.23,
+   "longest_stroke_mm": 173.66,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.0551,
+   "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": 0.569265,
+   "sim_steps": 16386,
+   "resets": 0.0,
+   "n_contacts": 317.0,
+   "samples": 81930.0,
+   "contact_samples": 21659.0,
+   "max_press_m": 0.010286,
+   "max_tilt_deg_in_contact": 0.468129,
+   "max_speed_in_contact_mps": 0.172309,
+   "handle_contact_samples": 0.0,
+   "n_dips": 68.0,
+   "dry_strokes": 1.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 16386,
+   "physics_steps": 81930,
+   "steps": 16322,
+   "calls": 142,
+   "elapsed_s": 1982.2,
+   "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-suddenshower-i00-standard--8c97kjx/replay.mp4",
+  "duration_s": 58.7,
+  "fps": 10.0,
+  "frames": 587,
+  "sha256": "db37afaccb544a54ef46e8eef0ce11883059771391b9368eaac5d333ac3c6b87"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": 25,
+      "text_zh": "观察：视频0.8–1.1 s，机械臂末端画笔移到颜料井一侧，随后侧视中的刷尖由灰色变为红色；视频2.6 s练习纸上已有蓝色笔迹。首次载料以视频1.0 s刷尖变红为确认点，时刻约有0.2 s不确定性；log step 24–25记录机器人执行红色颜料井蘸料测试。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "观察：视频4.0–58.6 s，机械臂反复蘸料并在主纸留下多色笔迹；评分器字段n_dips=68。首次蘸料为锁存事件，后续换色不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频0.8–1.1 s，机械臂固定安装的圆头画笔刷毛进入颜料井后带出红色颜料。候选接触名为蘸/浸；作用端为刷毛，对象为井内颜料，现有抓握、托/舀、压/擦等值均不能准确描述这种载料接触。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s主纸空白；视频4.0–16.0 s机械臂用画笔在主纸逐步画出蓝灰、灰绿及斜向棕黄细线，各线之间仍有大面积空白，尚未形成完整临摹画。"
+     },
+     {
+      "t": 38.0,
+      "log_step": null,
+      "text_zh": "观察：视频18.0–38.0 s，机械臂覆画并填补色区，主纸出现上部蓝灰色块、中部灰绿水面、下方米黄斜桥、右上红色块及底部深色带；水面和上部色块趋于大片平涂，色区之间及桥面附近仍有明显空隙。"
+     },
+     {
+      "t": 58.6,
+      "log_step": 130,
+      "text_zh": "观察：视频57.0–58.6 s及末帧右下画纸图显示，后续细笔触未补齐色区边缘与桥面周围的大片空隙，水面只有很少的小色痕。对照成功参考视频59.6 s可辨识的水面长条留白、棕色与黑色小细节及上部深浅蓝层次，本次相应结构明显不足；参考仅用于辨识达标外观。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "观察：本次终局评分器image_success=0，de_mean=8.6147>2、de_p90=26.7147>6、ssim_L=0.576754<0.92、edge_corr=0.18298<0.8、paint_iou=0.847031<0.95；n_strokes=312、path_mm=19443.23、scribble_share=0均满足各自上限，strict_ok=1。推断：结合全程画面及终局图像评分，该临摹节点未达到判据，失败发生在成画质量而非过程预算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频4.0–58.6 s，机械臂固定安装的圆头画笔刷毛下压接触主画纸并沿线扫掠，连续留下有色笔迹；其间抬笔换位、蘸料换色后继续覆画。作用端为刷毛，对象为主画纸。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 8.6147
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 26.7147
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.576754
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.18298
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.847031
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 312.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 19443.23
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.569265
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 7.2546
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.522517
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.748125
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 58.6,
+   "log_step": 130,
+   "where": "操作中",
+   "evidence_zh": "观察：视频57.0–58.6 s，机械臂仍在补绘细节，末帧主纸已成大体构图，但色区边缘和桥周空隙、大片平涂与缺少的内部细节持续存在；本次评分器image_success=0而strict_ok=1。log step 128–130记录最后37笔细节绘制结束并查看画纸；log step 134随后结束会话。推断：未修复的失败步骤是整幅画作临摹，以最后补画及终局画面作为导航锚点。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "漏涂与细节缺失",
+    "t": 58.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频57.0–58.6 s右下画纸图中，上部蓝灰与水面间、斜桥周围留下宽的断续空隙；上部蓝色和中部灰绿色主要呈大片平涂，水面仅有零星小色痕。对照成功参考视频59.6 s的长条留白、小色块和分层轮廓，本次这些细节与边缘形状仍不完整。",
+    "note_zh": "候选现象为漏涂与细节缺失，描述本次可见的成画缺陷。现有接触、运动、全身、约束和汇报条目均不能准确涵盖画纸上色区覆盖与内部图形细节的缺失；不以相似度数值本身代替现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 89,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent脚本采用同色连通域的平行中心线近似来组织临摹，再主要以是否已有颜料来决定补画，未充分重建目标的色层、留白和小图形。log step 39、47的算法对同色域作开运算、腐蚀、面积筛选，再取分带中位线；log step 89的补画条件为target_paint且非present，其中present仅由画面颜色与纸色的距离决定，已涂错颜色或需要恢复留白的区域不进入该补画掩码；log step 123的细节程序又筛掉面积过小或不够细长的分量，仅生成37笔。结合视频38.0–58.6 s补画后仍呈大块平涂、细节不足，支持笔触分解及后续补画策略过度简化这一规划根因。"
+   }
+  ],
+  "gap_zh": "无状态日志或逐帧图像指标，不能精确定位图像偏差首次形成的时刻，也不能逐项分离笔宽、轨迹跟踪和绘画分解对误差的贡献；断点时间取最后补绘结果的可见锚点。首次蘸料由刷尖变色及随后笔迹确认，时间约有0.2 s不确定性。"
+ },
+ "summary_zh": "本次在视频约1.0 s完成首次蘸料，随后画出蓝灰上部、灰绿水面、米黄斜桥和红黑色块，最终完成1/2个节点。画作临摹步骤仍因漏涂、内部细节及色层不足而未达标，图像指标均未过线，笔数与路径等过程限制通过；日志支持同色域中心线与补空白策略过度简化的规划根因。无状态日志和逐帧评分，无法精确确定偏差首次形成的时间或分离各项执行误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "首次蘸料约视频1.0 s（0.6 s刷尖灰、1.0 s刷尖红）成立；临摹节点终局画面与评分器指标均未达标，断点、现象与规划根因有日志和评分字段支持，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": "2026-10-30T23:06:52Z",
+  "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-suddenshower-i00-standard--8c97kjx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--8c97kjx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cdbb847dd84aa0fac4150708eb1b774c1b5ae8bc019b82f986f73b3fae27d1d2",
+   "video_sha256": "db37afaccb544a54ef46e8eef0ce11883059771391b9368eaac5d333ac3c6b87",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--jhpweho.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--jhpweho.json
new file mode 100644
index 0000000000000000000000000000000000000000..19b6b4ee031d9467c47b801c8aa99b04809e43a0
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--jhpweho.json
@@ -0,0 +1,334 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-standard--jhpweho",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "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": 40.3827,
+   "de_p90": 59.1398,
+   "de_bad_frac": 0.979412,
+   "de_mean_sheet": 40.1492,
+   "ssim_L": 0.534129,
+   "paint_iou": 0.0,
+   "paint_area_mm2": 0.0,
+   "target_paint_area_mm2": 49626.0,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 39.8859,
+   "ssim_L_fine": 0.501366,
+   "edge_corr": 0.0,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.025746,
+   "n_regions": 55.0,
+   "n_strokes": 0.0,
+   "n_practice_strokes": 27.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 40.3827,
+   "de_p90_unregistered": 59.1398,
+   "ssim_L_unregistered": 0.534129,
+   "edge_corr_unregistered": 0.0,
+   "paint_iou_unregistered": 0.0,
+   "path_mm": 0.0,
+   "longest_stroke_mm": 0.0,
+   "max_path_mm": 40500.0,
+   "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": 2022,
+   "resets": 0.0,
+   "n_contacts": 27.0,
+   "samples": 10110.0,
+   "contact_samples": 1421.0,
+   "max_press_m": 0.013852,
+   "max_tilt_deg_in_contact": 0.357944,
+   "max_speed_in_contact_mps": 0.27255,
+   "handle_contact_samples": 0.0,
+   "n_dips": 11.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 2022,
+   "physics_steps": 10110,
+   "steps": 290,
+   "calls": 14,
+   "elapsed_s": 2983.7,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.813,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.277,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-suddenshower-i00-standard--jhpweho/replay.mp4",
+  "duration_s": 50.7,
+  "fps": 10.0,
+  "frames": 507,
+  "sha256": "052191e112889b4834627c7a225e6a0cd9a5e0776ce5275afdfd280f539330b6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": 20,
+      "text_zh": "观察：视频 1.5–2.1 s，机械臂固定画笔下降到颜料盘一端的深色井并抬起；log step 20 的机器人指令为先蘸 paint10、再在练习纸上画线。"
+     },
+     {
+      "t": 2.8,
+      "log_step": 20,
+      "text_zh": "推断：视频 2.6–3.4 s，画笔在练习纸上留下首条深色线，后续视频 4–8 s 可见多条深色试线，佐证此前已成功载料；首次蘸料取视频约 1.8 s，受井区像素较小影响约有 0.3 s 不确定性。评分器另报告 n_dips=11、n_dry_strokes=0；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 1.8 s，机械臂末端固定安装的圆头画笔刷毛进入颜料井，随后留下深色试线；后续还反复蘸料换色。候选接触名为蘸/浸：刷毛浸入颜料，不是抓握、托舀或压擦固体，现有接触值无准确对应。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.6 s 主纸为空白；全程每约 2 s 的画面以及视频 49.6–50.6 s 的逐帧末段检查，主纸始终没有成画，笔迹仅出现在旁边狭长练习纸。右下图是主纸图像，始终空白；成功参考的同一视图在参考视频 59.6 s 则清楚显示蓝灰上部、灰绿水面及斜桥，故本次不是目标被遮挡而无法判断。"
+     },
+     {
+      "t": 50.6,
+      "log_step": 45,
+      "text_zh": "观察：视频 50.6 s，机械臂从练习纸上方抬起，主纸仍空白；log step 20、26、29、45 的机器人执行均为练习纸标定和试色，log step 45 是最后一次机器人运动调用。评分器报告主纸 n_strokes=0、paint_area_mm2=0、paint_iou=0，而 n_practice_strokes=27；这与视频相符。"
+     },
+     {
+      "t": null,
+      "log_step": 87,
+      "text_zh": "观察：log step 80–87 中，agent 的脚本生成并删减笔画列表，log step 87 的 360 笔及 mean_de=1.5109 等数值来自其自身的离线栅格模拟；没有随后向机器人提交该方案的调用，不能作为主纸临摹进度。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 40.3827
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 59.1398
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.534129
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 39.8859
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.501366
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.025746
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 88,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 88 的终止消息为“This request was blocked by Gemini's filters”；此前 log step 87 仅完成离线笔画列表删减，最后一次机器人动作仍是 log step 45 的练习纸试线，视频 50.6 s 主纸为空白。推断：会话在主纸正式绘画执行前被模型提供方过滤切断，尚无已执行的成画方案或过滤前已固定的主纸验收结果；按外因中断规则不指定机器人失败步骤，保留已达到的蘸料节点。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 88 记录模型提供方过滤中断；inputs/ 中有完整运行日志、视频及成功参考视频，没有模拟器状态日志。推断：中断前只完成练习纸标定和离线笔画规划，没有证据表明主纸方案已执行或出现不可修复的物理失败，因此按外因中断处理，现象与根因均留空，不标没尝试或规划错误。蘸料时刻由小尺寸井区与随后有色试线综合定位，精确载料时刻缺少状态日志；过滤发生的 agent 时刻不能换算为视频时刻，breakpoint.t 留空。"
+ },
+ "summary_zh": "机械臂在视频约 1.8 s 成功蘸料，终态完成 1/2 节点；之后只在练习纸试画，视频 50.6 s 主纸仍为空白，画作临摹未达到。log step 87 仅完成 360 笔离线方案生成，log step 88 随即记录模型提供方过滤中断；按外因中断处理，不归因于机器人失败。没有状态日志，首次载料时刻为视觉估计，离线画稿及模拟指标不计入实际主纸进度。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与证据一致：视频约1.8 s首次蘸料后只在练习纸试画，50.6 s 主纸仍空白；log step 88 为模型提供方过滤中断，此前没有任何主纸方案提交（评分 n_strokes=0），按外因中断空层+gap_zh处理合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:48:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--jhpweho/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--jhpweho/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7461a1ff6a280b5f091ea90c08223e10327e23a6132359f398996f04459c315e",
+   "video_sha256": "052191e112889b4834627c7a225e6a0cd9a5e0776ce5275afdfd280f539330b6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--knmqehp.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--knmqehp.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d66bf8b054f03bcb17b7adbfba9b0c4808e59b
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--knmqehp.json
@@ -0,0 +1,356 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-standard--knmqehp",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 0,
+  "reward": 0.408869,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 11.6935,
+   "de_p90": 30.9559,
+   "de_bad_frac": 0.401294,
+   "de_mean_sheet": 11.6697,
+   "ssim_L": 0.381047,
+   "paint_iou": 0.772281,
+   "paint_area_mm2": 39924.7,
+   "target_paint_area_mm2": 49252.2,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 10.1367,
+   "ssim_L_fine": 0.30626,
+   "edge_corr": 0.101529,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.608977,
+   "n_regions": 55.0,
+   "n_strokes": 386.0,
+   "n_practice_strokes": 16.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.8874,
+   "register_dy_mm": 0.8874,
+   "register_shift_mm": 1.255,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 12.0076,
+   "de_p90_unregistered": 31.5205,
+   "ssim_L_unregistered": 0.383527,
+   "edge_corr_unregistered": 0.102504,
+   "paint_iou_unregistered": 0.767306,
+   "success": 0,
+   "final_reward": 0.408869,
+   "path_mm": 8486.57,
+   "longest_stroke_mm": 219.74,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2647,
+   "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": 0.408869,
+   "sim_steps": 17747,
+   "resets": 1.0,
+   "n_contacts": 402.0,
+   "samples": 88735.0,
+   "contact_samples": 16789.0,
+   "max_press_m": 0.015239,
+   "max_tilt_deg_in_contact": 17.136279,
+   "max_speed_in_contact_mps": 0.350634,
+   "handle_contact_samples": 126.0,
+   "n_dips": 23.0,
+   "dry_strokes": 0.0,
+   "n_frames": 593.0,
+   "replay_wall_s": 101.83,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 17747,
+   "physics_steps": 88735,
+   "steps": 8825,
+   "calls": 2204,
+   "elapsed_s": 4884.5,
+   "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-suddenshower-i00-standard--knmqehp/replay.mp4",
+  "duration_s": 59.3,
+  "fps": 10.0,
+  "frames": 593,
+  "sha256": "06c66357823e6fb02b6ebfe41c3d749f01e6533a58f694e1b31825aca2e88382"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": 39,
+      "text_zh": "观察：视频4.3–4.5 s，机械臂把固定画笔移至颜料井一侧并下降，随后移往练习纸；视频6.5 s练习纸已有蓝色笔迹。log step 39记录机器人执行paint06蘸料及练习笔触。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "推断：结合视频4.4 s井边下降动作和随后出现的蓝色笔迹，首次成功载料约为视频4.4 s，误差约0.3 s；井内笔尖被腕部部分遮挡，不能从画面精测浸入深度。评分器报告n_dips=23、n_dry_strokes=0，亦支持已载料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：机械臂固定安装的圆头画笔进入颜料井，随后留下蓝色笔迹；作用端为刷毛，对象为井中颜料。候选方式为蘸/浸；现有抓握、压/擦、托/舀均不能准确描述刷毛浸入液体载料。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s主画纸空白；视频10.6–11.0 s才出现孤立蓝色校准短线，视频11.6 s右上又出现较宽蓝色笔迹，均不构成整幅临摹。"
+     },
+     {
+      "t": 34.0,
+      "log_step": null,
+      "text_zh": "观察：视频28.0–34.0 s机械臂以画笔扫掠主纸，上部蓝灰色被画成彼此分离的竖条，中部灰绿色也形成分离横条；视频38.0–58.0 s逐渐补入米黄色斜桥、深色细节和右上红块，但笔触间留有明显浅色空隙。"
+     },
+     {
+      "t": 59.2,
+      "log_step": 222,
+      "text_zh": "观察：视频58.2–59.2 s含最后一秒的逐帧画面中，上部仍有规则宽竖向留白，中部仍有横向漏涂；本次视频59.2 s右下画纸与成功参考视频59.6 s的连续蓝灰天空、灰绿水面和完整斜桥明显不同。log step 222中agent自己的相机估计也报告18.5%目标涂色区仍为空白，此估计仅作佐证。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "观察：评分器终局de_mean=11.6935>2、de_p90=30.9559>6、ssim_L=0.381047<0.92、edge_corr=0.101529<0.8、paint_iou=0.772281<0.95，且n_strokes=386>380；image_success=0、live_matches_replay=1、deterministic=1。推断：终局未达判据，且已检查的绘画过程始终缺少整体匹配画面，没有达到后又丢失的区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频10.6 s之后，机械臂末端固定画笔的刷毛下压主画纸并扫掠，实际留下蓝灰、灰绿、米黄及深色等笔迹；视频28.0–58.0 s多次可见纸面接触和随运动增长的色条。工具固定安装，无另行抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 11.6935
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 30.9559
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.381047
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.101529
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.772281
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 386.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 8486.57
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.408869
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 10.1367
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.30626
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.608977
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 34.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频34.0 s机械臂正在主纸上铺灰绿色水面，上方蓝灰色已呈分离竖条，水面也出现横条间的宽空白；这些漏涂在视频58.2–59.2 s补画后仍可见。评分器同时判定图像指标不达标、386笔超过380笔。推断：失败发生在已实际作画的整幅临摹步骤；视频34.0 s作为缺陷已清楚显现的导航锚点，并非精确首次判负时刻。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触间漏涂",
+    "t": 34.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频34.0 s蓝灰天空的竖条之间、灰绿水面的横条之间有连续浅色纸面间隙；视频59.2 s仍保留大量这类间隙，桥面和下方深色区域也较碎。成功参考视频59.6 s相应天空、水面为连续色块，仅有局部不规则留白。",
+    "note_zh": "候选现象为笔触间漏涂：画笔确已接触并留下颜色，但笔触覆盖未连成目标色块；这不是没有接触、丢失抓握或单一末端位姿偏差，现有现象值无准确对应。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 195实际执行的三笔把12.6–13.3 mm笔宽换成z=-9.5484至-9.8393 m；log step 199才将深度除以1000转换为米。视频11.6–27.0 s右侧形成较宽蓝斑，后续视频30.0–59.2 s的多数色条却又不能覆盖条带间空隙。agent在log step 224自述实际笔迹比练习拟合预测窄。推断：笔宽与下压深度的执行映射未可靠校准，导致实际覆盖偏离计划；单位错误有代码和执行输出证据，但后续窄笔迹的具体控制子型不能独立确定，故保留上层控制。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   },
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "观察：log step 190的最终离线计划自测已为平均ΔE=4.50、90分位ΔE=13.82、边缘相关=0.419，均未达到任务所列2、6、0.8阈值；agent仍在log step 191冻结376笔计划并在log step 206执行剩余372笔。log step 221只按4笔计划预执行+372笔主体+4笔补画计算380笔，未计入此前主纸校准等接触，而评分器实记386笔。推断：agent接受了其自身预测已不合格的绘画方案，且笔数预算未覆盖整段永久保留的主纸操作，使后续补画决策建立在错误剩余笔数上。",
+    "source_zh": "日志 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧图像评分，不能精确定位图像指标的每次变化；画面足以确认从局部铺色到终局始终存在明显未匹配区域。首次蘸料的井内笔尖部分遮挡，视频4.4 s由井边动作及随后有色笔迹推定。后续笔宽不足的具体深度、跟踪或渲染贡献无法独立区分；386笔的额外接触不能逐笔与日志完全对应，不能把agent的380笔自计数视为评分记录。"
+ },
+ "summary_zh": "机械臂约在视频4.4 s完成首次蘸料，随后绘出蓝灰天空、灰绿水面、米黄斜桥及深色和红色细节，最终达到1/2节点。整幅临摹在操作中失败：视频59.2 s仍有大量规则条带间漏涂，全部五项主要图像指标不达标，主纸386笔也超过380笔；日志支持笔宽执行映射不可靠，以及采用自测不达标计划和漏计主纸笔数的规划问题。无状态日志，首次蘸料时刻和后续窄笔迹的具体控制机制只能作有限推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（brush_loaded 约4.4 s达成、painting_copied未达成）、断点（painting_copied 操作中）、现象（笔触间漏涂）与两个根因均有视频帧、日志与评分字段支持，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": "2026-10-30T22:45:41Z",
+  "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-suddenshower-i00-standard--knmqehp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--knmqehp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9860868ab4ce62540ce924aaef33e033a2cd724e251f7c5a254d8bafaddbb536",
+   "video_sha256": "06c66357823e6fb02b6ebfe41c3d749f01e6533a58f694e1b31825aca2e88382",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--krzpkmt.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--krzpkmt.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a9cd7b5eb8e572e0f99d24c6f2bf2eff9815289
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--krzpkmt.json
@@ -0,0 +1,372 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-standard--krzpkmt",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 0,
+  "reward": 0.7179,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.7179,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 5.642,
+   "de_p90": 16.5798,
+   "de_bad_frac": 0.193719,
+   "de_mean_sheet": 5.6416,
+   "ssim_L": 0.711319,
+   "paint_iou": 0.9248,
+   "paint_area_mm2": 49139.6,
+   "target_paint_area_mm2": 49541.2,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 3.9776,
+   "ssim_L_fine": 0.641198,
+   "edge_corr": 0.38672,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.817371,
+   "n_regions": 55.0,
+   "n_strokes": 224.0,
+   "n_practice_strokes": 16.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 5.6986,
+   "de_p90_unregistered": 16.9555,
+   "ssim_L_unregistered": 0.705435,
+   "edge_corr_unregistered": 0.374572,
+   "paint_iou_unregistered": 0.924326,
+   "path_mm": 10384.52,
+   "longest_stroke_mm": 225.76,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2492,
+   "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": 0.7179,
+   "sim_steps": 20565,
+   "resets": 1.0,
+   "n_contacts": 240.0,
+   "samples": 102825.0,
+   "contact_samples": 17183.0,
+   "max_press_m": 0.014121,
+   "max_tilt_deg_in_contact": 0.27474,
+   "max_speed_in_contact_mps": 0.089355,
+   "handle_contact_samples": 0.0,
+   "n_dips": 219.0,
+   "dry_strokes": 0.0,
+   "n_frames": 589.0,
+   "replay_wall_s": 87.4,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 20565,
+   "physics_steps": 102825,
+   "steps": 20561,
+   "calls": 139,
+   "elapsed_s": 2943.0,
+   "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-suddenshower-i00-standard--krzpkmt/replay.mp4",
+  "duration_s": 58.9,
+  "fps": 10.0,
+  "frames": 589,
+  "sha256": "8aa5016ba4d1db498b03d99e887cd6f62f8b5cbdd376ebb5346c3c586322f73e"
+ },
+ "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": 61,
+      "text_zh": "观察：视频 0.0–0.2 s，机械臂固定安装的画笔移到颜料井处并下探；视频 0.3 s 侧视中笔尖已呈红色，视频 0.4–0.7 s 在练习纸留下红色短线，证明已载料。以首次明确可见的红色笔尖记视频约 0.3 s，蘸料时刻误差约 0.2 s；log step 61 的蘸红料命令与该动作顺序相符。"
+     },
+     {
+      "t": 5.4,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–7.8 s，机器人在主纸逐条留下蓝色扫掠笔迹；评分器记录 n_dips=219、n_dry_strokes=0，进一步支持本次轨迹确有载料。"
+     }
+    ],
+    "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画笔刷毛下探颜料井并载上红色颜料，随后反复换色。候选接触名为蘸/浸：对象为井中颜料，现有抓握、压/擦和托/舀均不能准确描述刷毛浸入载料。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–15.0 s，机器人用末端画笔扫出上方蓝灰色区、中部灰绿色区和下方斜向桥梁；视频 15.0 s 桥梁的棕色与米黄色笔迹之间留有宽白缝，尚未形成完整匹配的画面。"
+     },
+     {
+      "t": 19.0,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0–20.0 s，机器人继续补画，但视频 19.0 s 右上红色部分呈几条分开的窄竖线，桥面长白缝仍在；视频 21.0–57.0 s 的逐段画面也未出现这些缺口被完整修补后的状态。"
+     },
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频 57.8–58.8 s（含最后一秒）仍见桥面沿斜向贯穿的白缝、分离的右上红色细线及与成功参考不同的水面笔迹边界。成功参考视频 59.6 s 的桥面米黄色区更连续，右上为相连红色块；参考只用于解释目标外观，不作为本次进度证据。"
+     },
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：本次评分器 image_success=0、live_matches_replay=1；de_mean=5.642>2、de_p90=16.5798>6、ssim_L=0.711319<0.92、edge_corr=0.38672<0.8、paint_iou=0.9248<0.95。n_strokes=224、path_mm=10384.52、scribble_share=0 均满足过程限制，失败来自图像验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 5.0–7.8 s 可见机械臂固定安装的圆头画笔刷毛压到主纸并沿横向扫掠，留下蓝色笔迹；此后同一画笔反复接触主纸补画水面、桥梁和细节。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 5.642
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 16.5798
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.711319
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.38672
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.9248
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 224.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 10384.52
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.7179
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 3.9776
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.641198
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.817371
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 19.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 19.0 s，机器人正在继续临摹，桥面两条斜向色带之间仍有明显白缝，右上红色区已画成分离细线；这些偏差至视频 58.8 s 仍未修复。整幅画从未出现达标状态，评分器 image_success=0，断点归于画作临摹完成步骤。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔迹间隙与轮廓偏差",
+    "t": 19.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 19.0 s 和视频 58.8 s，桥梁棕色笔迹与米黄色桥面间有长条白色间隙，右上红色部分为分离的窄线；对照成功参考视频 59.6 s，可见本次填色连续性和色块轮廓偏离。",
+    "note_zh": "现有接触失败、物体位姿和全身运动条目均不能准确描述已落到纸上的颜料图形缺陷，故采用其他，候选名为笔迹间隙与轮廓偏差；不是重述图像评分未达标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "log_step": 352,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：实际执行脚本的笔宽到下压深度换算不符合 agent 自己的校准结果，导致部分笔迹窄于选定宽度。log step 71 的练习纸测量为下压 5 mm 得 13.9 px 笔宽，log step 94 已拟合非线性换算；但 log step 352 的执行脚本改用 penetration=clip(width_px×0.00025,0.002,0.014) m，期望 13.9 px 时仅下压 3.475 mm，而非校准的 5 mm。视频 19.0 s 与视频 58.8 s 的分离红线和桥面间隙符合覆盖不足的方向；这是有校准记录支持的参数不当，不能将全部图像误差都归给它。"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "log_step": 432,
+    "source_zh": "日志 / agent 自述",
+    "evidence_zh": "推断：agent 将执行完所选笔画当作完成任务，未继续修补图像。log step 340 和 log step 351 自测所选 252 笔方案已给出平均 ΔE=4.807、90分位=13.784，且 log step 340 明列阈值为 2 与 6；log step 428–430 移开机械臂并检查终图后，log step 432 仍自述“The painting task has been completed”，随后停止。log step 431 的服务 elapsed_s=2919、time_limit_s=3600，尚余约 681 s；视频 58.8 s 的缺口和本次评分器 image_success=0 说明该完成判断不成立。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐笔实际笔宽、下压力和图像指标记录；蘸料时刻由视频首次可见着色估计，误差约 0.2 s。日志校准与执行公式支持笔宽参数问题，但不能定量分离笔画方案本身的近似误差、笔宽换算误差和执行偏差各自的贡献；参考视频只用于外观比较。"
+ },
+ "summary_zh": "机器人已完成首次蘸料并绘出蓝灰天空、灰绿水面和斜向桥梁，最终完成 1/2 个节点，整幅临摹未达标。视频 19.0 s 已见且视频 58.8 s 仍保留桥面长白缝和分离红线；执行脚本的笔宽换算偏离已有校准，agent 在自测色差仍超阈值后执行并宣称完成，五项图像指标最终均不通过，过程限制则通过。缺少逐笔状态与图像指标，无法精确分摊方案近似和实际控制各自造成的误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 brush_loaded（视频约 0.3 s 笔尖已红）与 painting_copied 未达成（评分器 image_success=0，各图像指标均未过）判断成立；断点、现象与两个根因均有日志与视频支撑，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:48:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "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-suddenshower-i00-standard--krzpkmt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--krzpkmt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c1373eb7f76212ef726f01b5d196b2d1771c6755055a1dddaaeed0a633a0a676",
+   "video_sha256": "8aa5016ba4d1db498b03d99e887cd6f62f8b5cbdd376ebb5346c3c586322f73e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--miwzfqe.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--miwzfqe.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3244ed770e22d59e1260e9bca3e827d34c1f626
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--miwzfqe.json
@@ -0,0 +1,361 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-standard--miwzfqe",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "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": 39.0927,
+   "de_p90": 59.1471,
+   "de_bad_frac": 0.968749,
+   "de_mean_sheet": 38.9298,
+   "ssim_L": 0.522269,
+   "paint_iou": 0.059604,
+   "paint_area_mm2": 3190.0,
+   "target_paint_area_mm2": 49626.0,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 38.4378,
+   "ssim_L_fine": 0.487937,
+   "edge_corr": -0.011375,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.03498,
+   "n_regions": 55.0,
+   "n_strokes": 362.0,
+   "n_practice_strokes": 9.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 39.0927,
+   "de_p90_unregistered": 59.1471,
+   "ssim_L_unregistered": 0.522269,
+   "edge_corr_unregistered": -0.011375,
+   "paint_iou_unregistered": 0.059604,
+   "path_mm": 3076.59,
+   "longest_stroke_mm": 50.38,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.1781,
+   "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": 8278,
+   "resets": 0.0,
+   "n_contacts": 371.0,
+   "samples": 41390.0,
+   "contact_samples": 15875.0,
+   "max_press_m": 0.012179,
+   "max_tilt_deg_in_contact": 0.286135,
+   "max_speed_in_contact_mps": 0.248566,
+   "handle_contact_samples": 0.0,
+   "n_dips": 13.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 8278,
+   "physics_steps": 41390,
+   "steps": 8120,
+   "calls": 65,
+   "elapsed_s": 3468.5,
+   "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-suddenshower-i00-standard--miwzfqe/replay.mp4",
+  "duration_s": 59.3,
+  "fps": 10.0,
+  "frames": 593,
+  "sha256": "8916e8d90f9e9ff93796f80667088e819e8bdb65ce2aa5b58acf5f267fa0bb91"
+ },
+ "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": 16,
+      "text_zh": "观察：视频 0.2–0.3 s，机械臂的固定画笔移到颜料井处下探后抬起；视频 0.5–0.7 s 侧视可见刷头变红，随后在左侧练习纸留下红色笔迹（视频 0.7–1.3 s）。首次载料取视频约 0.3 s，精度约 0.2 s；log step 16 是同一无重置现场中的蘸料及练习纸执行。"
+     },
+     {
+      "t": 5.1,
+      "log_step": null,
+      "text_zh": "观察：视频 5.1 s 主纸图左上方已有蓝色笔迹，此后持续出现其他颜色；inputs/run.json 的评分器记录 n_dips=13、n_dry_strokes=0，支持本次确实完成载料，而非干刷。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.2–0.3 s，机械臂固定安装的圆头画笔刷毛下探颜料井，抬起后刷头带红色颜料。候选接触名为“蘸/浸”：刷毛浸入颜料，现有抓握、托/舀及压/擦均不准确；后续换色仍由同一刷头进入其他颜料井。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": 65,
+      "text_zh": "观察：视频 4.8 s 主纸仍空白，视频 4.9–5.1 s 右下主纸图左上角开始出现蓝色短笔迹；侧视见机械臂画笔下压、平移和抬起，确实启动主纸绘画。"
+     },
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0、20.0、30.0、40.0、50.0 s 的主纸图中，蓝灰、灰绿及米黄等颜色逐步叠加，但始终局限在左上小块；纸张中部、右部和下部没有形成应有的整幅水面及斜桥布局。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频 58.3–59.2 s，终态仍只有左上角的一小块多色图形，主纸绝大部分空白。成功参考视频 59.6 s 的同一主纸视图则显示蓝灰上部、灰绿中部及斜向米黄桥梁覆盖整幅；参考仅用于辨认完成形态。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 评分器终局字段为 de_mean=39.0927（阈值≤2）、de_p90=59.1471（≤6）、ssim_L=0.522269（≥0.92）、edge_corr=-0.011375（≥0.8）、paint_iou=0.059604（≥0.95），五项图像标准均未达；n_strokes=362、path_mm=3076.59、scribble_share=0 均符合各自上限，strict_ok=1、image_success=0。节点未达由上述画面和图像字段共同确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4.9–5.9 s 及后续绘画中，机械臂以固定安装的圆头画笔刷毛下压主纸、扫动并抬笔，右下主纸图不断增加有色笔迹，至视频 59.2 s 都集中于左上小块；过程中同一画笔反复进入颜料井换色。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 39.0927
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 59.1471
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.522269
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": -0.011375
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.059604
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 362.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 3076.59
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 38.4378
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.487937
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.03498
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 5.0,
+   "log_step": 65,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约 5.0 s 起，机械臂开始把主纸笔迹画在左上角，之后所有色区都沿同一缩小范围叠加，至视频 59.2 s 仍未修复。log step 61 的执行器把已用毫米表示的笔画坐标乘以 0.22186/1000，log step 65 开始执行该脚本；这使整幅笔画位置压缩到左上角，断点属于画作临摹步骤的操作中。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 5.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.9–5.9 s 的第一批主纸蓝色笔迹位于左上小范围，视频 30.0、50.0 s 后续色块继续挤在同一区域；视频 58.3–59.2 s 终态显示大部分纸面空白，斜桥和水面没有落在整幅画应有的位置与尺度。问题表现为笔迹落点范围和布局尺度错误。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 52 的规划器以 MM=0.22186 将像素转换为毫米笔画坐标，log step 61 的执行器 w2p(x_mm,y_mm) 却设置 MMW=0.22186/1000，再将毫米坐标乘此常数；毫米到米应为 0.001，因此笔画坐标相对纸张原点被缩为正确值的 0.22186 倍。这一已证实的比例参数错误与视频 5.0–59.2 s 所见左上角小块笔迹一致；agent 在 log step 71、72 也明确承认该单位错误。log step 65 的中途图像自检因 reshape 缺少颜色维度崩溃，log step 66、67 随后跳过该自检继续执行，未修正比例。"
+   }
+  ],
+  "gap_zh": "没有状态日志，首次载料的精确时刻依据视频 0.2–0.5 s 的入井动作和刷头变红估计；视频可明确排除整幅临摹达标，但无法逐帧计算 ΔE、SSIM 等图像指标，精确终局数值来自评分器。视频为压缩展示，未用 agent 时间或 control_steps 换算视频时间。"
+ },
+ "summary_zh": "机械臂完成首次蘸料并在练习纸试画，随后在主纸持续绘画，最终完成 1/2 个节点。画作临摹失败：执行器把毫米坐标再次乘像素比例，笔迹被压缩到主纸左上角，视频 59.2 s 仍有大片空白，五项图像指标均未达标，而笔数、路径及扫掠规则均通过。无状态日志，首次蘸料时刻仅能从视频近似定位，精确图像指标采用评分器终局记录。",
+ "conf": 9,
+ "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、log 一致：首次蘸料已达，临摹未达；视频 59 s 主纸图仅左上角小块，评分器五项图像指标均未达；log step 61 的 MMW=0.22186/1000 比例错误及 step 71 的自述支持根因。未发现需改动处。",
+    "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": "2026-10-30T23:08:48Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--miwzfqe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--miwzfqe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "90d33c7711ac03a68f8901908c3220d8c50c587448c5956b9da730e354d127bc",
+   "video_sha256": "8916e8d90f9e9ff93796f80667088e819e8bdb65ce2aa5b58acf5f267fa0bb91",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--shyfous.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--shyfous.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a1d888735534bb94263db7783e23510fe06accb
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--shyfous.json
@@ -0,0 +1,370 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-standard--shyfous",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 0,
+  "reward": 0.780405,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.780405,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 4.3919,
+   "de_p90": 13.4023,
+   "de_bad_frac": 0.137739,
+   "de_mean_sheet": 4.3885,
+   "ssim_L": 0.741793,
+   "paint_iou": 0.929043,
+   "paint_area_mm2": 48650.7,
+   "target_paint_area_mm2": 49534.2,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 3.1991,
+   "ssim_L_fine": 0.67091,
+   "edge_corr": 0.485713,
+   "region_cov_min": 0.019654,
+   "region_cov_mean": 0.876985,
+   "n_regions": 55.0,
+   "n_strokes": 380.0,
+   "n_practice_strokes": 22.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 4.4096,
+   "de_p90_unregistered": 13.4899,
+   "ssim_L_unregistered": 0.741351,
+   "edge_corr_unregistered": 0.486591,
+   "paint_iou_unregistered": 0.928616,
+   "path_mm": 11264.61,
+   "longest_stroke_mm": 201.3,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2047,
+   "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": 0.780405,
+   "sim_steps": 17456,
+   "resets": 1.0,
+   "n_contacts": 402.0,
+   "samples": 87280.0,
+   "contact_samples": 35255.0,
+   "max_press_m": 0.014006,
+   "max_tilt_deg_in_contact": 0.178459,
+   "max_speed_in_contact_mps": 0.222178,
+   "handle_contact_samples": 0.0,
+   "n_dips": 18.0,
+   "dry_strokes": 0.0,
+   "n_frames": 583.0,
+   "replay_wall_s": 142.36,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 17456,
+   "physics_steps": 87280,
+   "steps": 17456,
+   "calls": 168,
+   "elapsed_s": 3945.7,
+   "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-suddenshower-i00-standard--shyfous/replay.mp4",
+  "duration_s": 58.3,
+  "fps": 10.0,
+  "frames": 583,
+  "sha256": "952043774b7100ced620d68d9cd1449b4658a53e48b83d4952a877c207cf9f14"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": 82,
+      "text_zh": "观察：视频 1.7–1.9 s 的场景视图中，机械臂将竖直画笔降至颜料盘井位后移向练习纸；视频 2.2–2.8 s 侧视可见练习纸上逐条出现蓝色笔迹。log step 82 的服务返回显示这次蘸料及练习动作执行，无逆解失败。"
+     },
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "推断：由视频 1.7–1.9 s 的井位下探及视频 2.2–2.8 s 随后的有色笔迹，首次载料约在视频 1.8 s 成立，时刻误差约 0.2 s；这是锁存事件，后续换色不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：机械臂固定安装的圆头刷毛下降进入颜料井，随后在练习纸留下蓝色笔迹（视频 1.7–2.8 s）。候选接触名为“蘸/浸”：作用对象是井中颜料，现有抓握、托/舀和压/擦均不准确。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–8.0 s 主纸基本空白，机械臂先在旁边练习纸试画；视频 10.0–54.0 s 依次在主纸铺上蓝灰、灰绿、深色及桥梁米黄色块，仍持续补色、补细节，未呈现完成且匹配参考的整体结果。"
+     },
+     {
+      "t": 58.2,
+      "log_step": null,
+      "text_zh": "观察：视频 56.0、57.0、57.5、58.0 和 58.2 s 的右下画纸图中，整体桥水构图已形成，但桥左端仍有碎裂白隙与团块状深色细节，水面右半部有横向白色断带。与成功参考视频 59.6 s 相比，本次蓝灰分界更呈阶梯状，桥左端人物轮廓及上部细小留白明显不同；参考只用于外观比较。"
+     },
+     {
+      "t": 58.2,
+      "log_step": 264,
+      "text_zh": "观察：inputs/run.json 的最终评分器字段为 de_mean=4.3919>2、de_p90=13.4023>6、ssim_L=0.741793<0.92、edge_corr=0.485713<0.8、paint_iou=0.929043<0.95，image_success=0；n_strokes=380、path_mm=11264.61、scribble_share=0，过程限制均通过，live_matches_replay=1。log step 264 的 agent 自建图像比较也报告补画后仍未达阈值，但上述精确终值采用评分器数据。"
+     },
+     {
+      "t": 58.2,
+      "log_step": null,
+      "text_zh": "推断：全程粗查每隔视频 2.0 s 的画面及视频 54.0–58.2 s 的密集收尾画面显示由局部铺色逐渐成画，最终仍有漏涂和轮廓偏差；结合评分器五项图像判据均失败，画作临摹完成节点未达到，终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂固定安装的圆头画笔刷毛反复压在主画纸上直线扫掠并留下有色笔迹，提笔后移到下一笔（例如视频 10.0–24.0 s 铺色、视频 54.0–58.0 s 收尾）；没有可开合夹爪的抓笔动作。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：绘画中机械臂多次把同一画笔移到纸旁颜料盘下探，再回主纸画另一颜色（例如视频 14.0–18.0 s 的换色前后）。候选接触名为“蘸/浸”，刷毛接触井中颜料，现有固体表面压擦等接触值不准确；它与纸面压擦依次发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 4.3919
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 13.4023
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.741793
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.485713
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.929043
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 380.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 11264.61
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.780405
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 3.1991
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.67091
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.019654
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.876985
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 56.0,
+   "log_step": 224,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 56.0 s 已具备蓝灰上部、灰绿水面、斜桥和红色角标，但桥左端及水面细节仍有明显缺口和轮廓偏差；视频 56.0–58.2 s 机械臂继续补画后这些偏差仍未消除。log step 224 执行主方案、log step 262 再补 12 笔，评分器最终 image_success=0 且五项图像指标均未过线；失败步骤是整幅临摹，非首次蘸料。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部漏涂和细节失真",
+    "t": 58.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.2 s 右下图中桥梁左端留下碎裂白隙，深色人物呈团块，水面右侧白色断带形状和蓝灰分界轮廓与成功参考视频 59.6 s 不同；本次上部蓝色区的细小留白也更少。视频 57.0–58.2 s 的补画没有消除这些结果缺陷。",
+    "note_zh": "候选现象为“局部漏涂和细节失真”。现有接触、运动、全身等条目没有准确描述画面覆盖和笔迹细节的结果缺陷；未观测到可单独认定的失握、碰撞或整幅位姿偏移，故用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 211,
+    "evidence_zh": "推断：agent 的区域平行扫掠与笔数分配方案牺牲了图像细节。log step 211 的代码搜索将小色区合并、跨越 4.5 mm 间隙、舍弃短于 6 mm 的线段，选中 368 笔方案；其自建模型在执行前已经预测 ΔE=4.32、SSIM=0.758、边缘相关=0.514、IoU=0.931，均未达验收阈值，却在 log step 212–224 提交执行。log step 262 仅余 12 笔可补，log step 264 自检仍不达标，且视频 58.2 s 可见对应的白隙和细节失真。因此证据指向整幅笔触近似与修补余量规划不足；不是由停止本身或失败分数反推原因。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或评分器图像指标，首次蘸料时刻由井位下探与随后显色综合确定，约有 0.2 s 误差；图像节点的中途未达由全程画面推断，精确终值由评分器确认。成功参考仅能比较外观，不能充当本次状态。日志中的图像评估是 agent 自建近似，且曾在 log step 238 修正转置错误，故不用其数值替代原生指标；现有证据不能进一步量化规划近似与实际刷宽误差各自的贡献。",
+  "unmet": {
+   "painting_copied": false
+  }
+ },
+ "summary_zh": "机械臂约在视频 1.8 s 首次蘸上颜料，随后完成整幅桥水构图并补画至 380 笔，但整幅临摹节点始终未达到，终态为 1/2。断点为画作临摹：收尾仍有局部漏涂和细节失真，五项图像验收指标均失败，而笔数、总路径和扫掠规则通过；日志支持区域扫掠近似及笔数分配规划不足。无逐帧状态或图像评分，首次载料时间和中途未达依据视频综合判断。",
+ "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 约 1.8 s 与整幅临摹未达成（终局五项图像指标均未过线，视频 58.2 s 仍有白隙与轮廓偏差）均有帧与评分器字段支持；断点、现象与规划类根因（笔数上限下的区域扫掠近似，执行前自建预测已未达阈值）与日志一致，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:51:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--shyfous/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--shyfous/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0aa2c4e62421d004fc132d7c2d90f6ed9effa1ae445d00de894b219c0cc8a952",
+   "video_sha256": "952043774b7100ced620d68d9cd1449b4658a53e48b83d4952a877c207cf9f14",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--vmbzjfg.json b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--vmbzjfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d36ec9ec4b75cdae5e725e3aa381818e9a4859
--- /dev/null
+++ b/phase2/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--vmbzjfg.json
@@ -0,0 +1,369 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-suddenshower-i00-standard--vmbzjfg",
+ "taskKey": "robopaint/acrylic_suddenshower",
+ "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414",
+ "outcome": {
+  "success": 0,
+  "reward": 0.891255,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.891255,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 2.1749,
+   "de_p90": 5.3807,
+   "de_bad_frac": 0.038139,
+   "de_mean_sheet": 2.1677,
+   "ssim_L": 0.88433,
+   "paint_iou": 0.97393,
+   "paint_area_mm2": 50349.4,
+   "target_paint_area_mm2": 49584.2,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 1.4129,
+   "ssim_L_fine": 0.831523,
+   "edge_corr": 0.771982,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.971007,
+   "n_regions": 55.0,
+   "n_strokes": 371.0,
+   "n_practice_strokes": 22.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 2.1909,
+   "de_p90_unregistered": 5.4476,
+   "ssim_L_unregistered": 0.882565,
+   "edge_corr_unregistered": 0.770515,
+   "paint_iou_unregistered": 0.973497,
+   "path_mm": 18035.0,
+   "longest_stroke_mm": 212.13,
+   "max_path_mm": 40500.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2953,
+   "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": 0.891255,
+   "sim_steps": 46523,
+   "resets": 1.0,
+   "n_contacts": 393.0,
+   "samples": 232615.0,
+   "contact_samples": 52319.0,
+   "max_press_m": 0.013809,
+   "max_tilt_deg_in_contact": 3.920467,
+   "max_speed_in_contact_mps": 0.103994,
+   "handle_contact_samples": 0.0,
+   "n_dips": 350.0,
+   "dry_strokes": 0.0,
+   "n_frames": 598.0,
+   "replay_wall_s": 109.0,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 46523,
+   "physics_steps": 232615,
+   "steps": 46461,
+   "calls": 1434,
+   "elapsed_s": 1568.5,
+   "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-suddenshower-i00-standard--vmbzjfg/replay.mp4",
+  "duration_s": 59.8,
+  "fps": 10.0,
+  "frames": 598,
+  "sha256": "b379aa3c86d0aa11ee2b9b0440b49449a3949bb38a5599dcc6b2d3a3d477c3a9"
+ },
+ "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": 0.3,
+      "log_step": 16,
+      "text_zh": "推断：视频 0.2–0.4 s 侧视中机械臂固定画笔在练习纸上扫过并留下蓝色线条，视频 0.8 s 可见更宽蓝色试笔，说明干笔已首次载料；log step 16 的执行代码先调用 dip(paint06) 再试笔。首次入井未被采样帧清楚捕获，以视频约 0.2 s 为首次载料锚点，误差约 0.2 s。"
+     },
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "观察：视频 1.2–1.4 s 刷尖呈红色并在练习纸留下红色线条，视频 2.6 s 起主纸出现蓝色笔迹；评分器终局字段 n_dips=350、dry_strokes=0，佐证实际存在载料。此节点为首次载料事件，后续换色不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装的圆头刷毛进入颜料井载料，随后有色试笔可见（视频 0.2–0.8 s；log step 16）。候选接触名“蘸/浸”；现有抓握、托/舀或压/擦均不准确描述刷毛浸入液态颜料。"
+     }
+    ]
+   },
+   "painting_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.4 s 主纸为空白，机械臂在旁边练习纸试笔；视频 2.6 s 主纸首次出现蓝色斜线，视频 4–18 s 逐渐铺出上部蓝灰色、中部灰绿水面及斜向米黄桥梁，尚有大片未补齐区域。"
+     },
+     {
+      "t": 21.8,
+      "log_step": 37,
+      "text_zh": "观察：视频 21.8 s 主纸上部蓝色区新增一条红色斜笔，视频 22.8–23.2 s 又出现两块米黄色长笔，视频 28.5 s 仍有明显杂色条带；视频 30–40 s 机械臂以蓝色覆画这些区域。log step 37 的脚本相机代价在第120笔为3.33、第180笔反升至4.63，该代价是 agent 自算值，并非评分器指标。"
+     },
+     {
+      "t": 59.7,
+      "log_step": null,
+      "text_zh": "观察：视频 58.8–59.7 s 的右下主纸视图完整可见，三大色区、右上红色和下方深色细节已形成，但上部蓝色区大部分细小白色留缝缺失，中部水面留白及桥缘轮廓也与成功参考录像的视频 59.6 s 有差异；参考仅用于辨认达标画面的细节，不代表本次进度。"
+     },
+     {
+      "t": 59.7,
+      "log_step": null,
+      "text_zh": "推断：评分器终局 de_mean=2.1749>2.0、ssim_L=0.88433<0.92、edge_corr=0.771982<0.8，明确未满足整体临摹验收；de_p90=5.3807、paint_iou=0.97393、n_strokes=371、path_mm=18035、scribble_share=0 均通过各自限制，strict_ok=1、image_success=0。结合所检视频中从铺色、错笔到覆画后仍缺细节的过程，本节点未见达到，终值为假；live_matches_replay=1、deterministic=1 支持终局评分对应本视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂固定画笔的刷毛下压并扫过主纸，反复留下、覆盖有色笔迹（视频 2.6–59.7 s）；作用端为刷毛，对象为主画纸，无夹爪抓握或底盘运动。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：绘画期间机械臂反复往返颜料井换色，再在主纸压擦（视频 3–58 s；评分器 n_dips=350，log step 27 的每笔执行代码先 dip）。候选接触名“蘸/浸”；液态载料不宜归入现有抓握、托/舀或压/擦，与主纸接触依次发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "ΔE*ab",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 2.1749
+  },
+  {
+   "name": "de_p90",
+   "unit": "ΔE*ab",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 5.3807
+  },
+  {
+   "name": "ssim_L",
+   "unit": "无量纲",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.88433
+  },
+  {
+   "name": "edge_corr",
+   "unit": "无量纲",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.771982
+  },
+  {
+   "name": "paint_iou",
+   "unit": "比例",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.97393
+  },
+  {
+   "name": "n_strokes",
+   "unit": "笔",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 371.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 40500,
+   "direction": "lower_better",
+   "value": 18035.0
+  },
+  {
+   "name": "scribble_share",
+   "unit": "比例",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.891255
+  },
+  {
+   "name": "de_mean_coarse",
+   "unit": "ΔE*ab",
+   "threshold": null,
+   "direction": "lower_better",
+   "value": 1.4129
+  },
+  {
+   "name": "ssim_L_fine",
+   "unit": "无量纲",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.831523
+  },
+  {
+   "name": "region_cov_min",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "region_cov_mean",
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.971007
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "painting_copied",
+   "t": 21.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 21.8 s 蓝色区出现额外红色斜笔，视频 22.8–29 s 又出现米黄和灰色杂笔，机械臂随后反复覆画修补；视频 59.7 s 上部仍缺少成功参考中的细小白色留缝。评分器终局色差、SSIM及边缘相关均未达标，整幅临摹步骤始终未完成；断点取首次清晰杂笔的近似视频锚点。"
+  },
+  "unmet": {
+   "painting_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "错色覆画与留白缺失",
+    "t": 21.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 21.8 s 机械臂在上部蓝色区留下红色斜条，视频 22.8–29 s 同区出现粗米黄色笔迹；视频 30–40 s 以蓝色覆盖修补后，视频 58.8–59.7 s 蓝色区呈较连续色面，成功参考录像视频 59.6 s 同区清晰可见的多处小白色留缝未保留。这里描述画面中的具体缺陷，而非复述评分不达标。",
+    "note_zh": "候选现象名“错色覆画与留白缺失”：现有接触、运动、全身和汇报条目不能准确描述颜料错色与画纸留白被覆盖的图像缺陷，故归其他；视为同一绘画缺陷，不拆成两个现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志",
+    "evidence_zh": "推断：末端运动沿不良关节构型求逆解，造成蘸井和落笔执行偏离。log step 41 命令刷尖蘸 paint06，目标中心为(-0.16,0.1737)，下探到 z=0.0261 m 时实际位置约(-0.1516,0.1491)，平面误差约26 mm，大于井半径12 mm；log step 42 命令移到(-0.08,-0.11)却停在约(-0.0726,-0.0641)，误差46.5 mm；log step 43 服务读数中 joint1=-2.8973 正处下限，同一目标的逆解 ok=false。log step 47–49 改回自然构型并以固定种子做关节空间转场后，实际蘸井恢复至(-0.16054,0.17343,z=0.02644)。这些实际执行和逆解反馈支持控制问题；视频 21.8–29 s 的错色条带及随后修补与其相符，agent 在 log step 60 也自述曾漏蘸并损失白色留缝。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志或图像评分序列，首次入井发生在视频采样帧之间，约以首次有色试笔定位；终局精确验收采用评分器字段。日志的关节限位与漏蘸诊断可支持根因，但没有把每条杂笔逐一对应到控制步，不能量化早期执行偏差与后续笔触近似各自对最终图像误差的贡献；未用 agent 工作时间换算视频时间。"
+ },
+ "summary_zh": "机械臂已首次载料并完成整幅主要色块与桥梁构图，最终节点为1/2；临摹过程中视频约 21.8–29 s 出现错色杂笔，修补后仍缺上部白色留缝等细节，整体临摹未达标。日志中的关节限位、逆解失败及蘸井位置偏差支持控制·轨迹或逆解根因，终局平均ΔE、SSIM及边缘相关未过阈值，而笔数、路径和扫掠规则均通过。无逐帧状态及评分序列，首次蘸料时刻与各类偏差的定量贡献仍有不确定性。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与证据基本一致：brush_loaded 已达成、painting_copied 未达成（终局 de_mean 2.17>2.0、ssim_L 0.884<0.92、edge_corr 0.772<0.8）；断点、现象及“轨迹或逆解”根因有日志支持（agent 自述 140–190 笔间关节构型漂移、漏蘸，日志读数 joint1=-2.8973 在下限、蘸井偏差约26 mm）。未发现需要改变内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:48:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--vmbzjfg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--vmbzjfg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "40eb6c8976c011ce81f4925b08f1c557d62ac7e56798392a8091a7e99ca2786d",
+   "video_sha256": "b379aa3c86d0aa11ee2b9b0440b49449a3949bb38a5599dcc6b2d3a3d477c3a9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--pw86hma.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--pw86hma.json
new file mode 100644
index 0000000000000000000000000000000000000000..faaed50d7d66aa39f4a715b29395365017d20650
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--pw86hma.json
@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-privileged--pw86hma",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.777307,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.777307,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 4.2493,
+   "de_p90": 11.1708,
+   "de_bad_frac": 0.123162,
+   "de_mean_sheet": 4.2493,
+   "ssim_L": 0.793266,
+   "paint_iou": 0.988727,
+   "paint_area_mm2": 51412.3,
+   "target_paint_area_mm2": 51008.9,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 3.2887,
+   "ssim_L_fine": 0.706843,
+   "edge_corr": 0.345727,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.892842,
+   "n_regions": 89.0,
+   "n_strokes": 385.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 4.2704,
+   "de_p90_unregistered": 11.1768,
+   "ssim_L_unregistered": 0.792119,
+   "edge_corr_unregistered": 0.342606,
+   "paint_iou_unregistered": 0.988181,
+   "path_mm": 13353.45,
+   "longest_stroke_mm": 136.15,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.3735,
+   "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": 0.777307,
+   "sim_steps": 31305.0,
+   "resets": 1.0,
+   "n_contacts": 385.0,
+   "samples": 156525.0,
+   "contact_samples": 93714.0,
+   "max_press_m": 0.014712,
+   "max_tilt_deg_in_contact": 0.126885,
+   "max_speed_in_contact_mps": 0.033227,
+   "handle_contact_samples": 10997.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 592.0,
+   "replay_wall_s": 245.3,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 31305,
+   "video_rendered": 1,
+   "agent_sessions": 23,
+   "agent_resets": 1,
+   "agent_sim_steps": 215428,
+   "agent_records": 16,
+   "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-sunflowers-i00-privileged--pw86hma/replay.mp4",
+  "duration_s": 59.2,
+  "fps": 10.0,
+  "frames": 592,
+  "sha256": "3f04b1f4eec6343c19463068ae523a3393a2031c82aea35c09da89b89e466083"
+ },
+ "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 主纸尚未见有色笔迹；视频 0.3 s 右下无遮挡画纸读出首次出现浅黄色笔迹，此后笔迹持续增加。"
+     },
+     {
+      "t": 0.3,
+      "log_step": 207,
+      "text_zh": "推断：结合任务的干笔初态，视频 0.3 s 出现有色笔迹证实机械臂画笔此前已蘸料；以首个可见色迹作为完成上界，时间约有 0.3 s 的不确定性。log step 207 对交付文件的新进程重放报告 loaded=true、n_dips=10、dry_strokes=0，与评分器的 n_dips=10、dry_strokes=0 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选接触名：蘸取。机械臂末端固定安装画笔的刷毛接触颜料井内颜料；视频 0.3 s 的首次有色笔迹及评分器 n_dips=10 共同支持实际发生蘸料。刷毛浸入并加载颜色不能准确归为抓握、压/擦或托/舀，故用其他；不另计夹爪握笔。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.3–30.0 s，机械臂用带色画笔在主纸压画，浅黄色底及部分黄绿色色块逐渐出现，但中央和花束仍有大片空白；视频 40.0–54.0 s 赭棕色块增加，花心等位置仍未填完。"
+     },
+     {
+      "t": 58.5,
+      "log_step": null,
+      "text_zh": "观察：视频 54.0–58.5 s 每隔约 0.5 s 及视频 58.2–59.1 s 逐帧检查，机器人继续补画花心等区域，最终形成花束与下部花瓶的大体布局；右下无遮挡读出中的中下部赭棕色大块边缘圆钝、内部浅黄色细小缺口缺失，对照成功参考视频 59.8 s 同位置可见局部轮廓与细节偏差。"
+     },
+     {
+      "t": 59.1,
+      "log_step": 207,
+      "text_zh": "观察：评分器最终 de_mean=4.2493>2、de_p90=11.1708>6、ssim_L=0.793266<0.92、edge_corr=0.345727<0.8；paint_iou=0.988727 已达 0.95，但 image_success=0。log step 207 对交付文件的重放得到相同指标，log step 219 确认最终文件含 31305 个七关节动作。"
+     },
+     {
+      "t": 59.1,
+      "log_step": null,
+      "text_zh": "推断：早期画面明显不完整，末段虽补齐大色块但仍有可见的局部轮廓偏差，且终局图像指标未达标；检查到的过程中未见整幅达标后再被破坏，故本节点无成立区间，终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.3–59.1 s，固定底座机械臂以末端安装画笔的刷尖压住主画纸并扫过，反复抬笔和落笔形成浅黄、黄绿及赭棕色笔迹；右下画纸读出随动作逐步着色。实际接触为画笔刷毛与主纸的压/擦，不另重复计夹爪与笔柄。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 4.2493
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 11.1708
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.793266
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.345727
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.988727
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 385.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 13353.45
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": 58.0,
+   "log_step": 207,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.0 s 机械臂仍在补画主纸，画面已接近终形；至视频 59.1 s，中下部赭棕色区域的细小浅色缺口和轮廓仍与成功参考不同。评分器及 log step 207 的交付文件重放均给出四项图像指标未达标、n_strokes=385>380；本次失败发生在临摹步骤，视频 58.0 s 仅为末段偏差的导航锚点，不能据此确定首笔超限时刻。"
+  },
+  "unmet": {
+   "sunflowers_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "色块轮廓失真",
+    "t": 58.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.5–59.1 s 的右下画纸读出显示，中下部大块赭棕色区域近似圆滑的实心块，成功参考视频 59.8 s 相同位置具有的浅黄色小缺口与细纹在本次画面中缺失，花朵及相邻色块边界也被简化；此偏差保留到末帧。",
+    "note_zh": "候选现象：色块轮廓失真。现有接触、运动、全身、约束、汇报和没尝试条目没有直接描述已着色画面局部轮廓及细节被画错；录像未证实某次末端目标位姿落空，故不强行归为位姿不准。这里描述可见笔迹，不以相似度未达标代替现象。"
+   },
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": null,
+    "log_step": 207,
+    "evidence_zh": "观察：评分器报告主纸 n_strokes=385、max_strokes=380、stroke_count_ok=0；log step 207 对交付文件的独立重放同样报告 385 笔，超过主纸笔数上限 n_strokes_cap。视频中机器人持续进行多次落笔与抬笔，但缺少逐笔计数，无法定位第 381 笔对应的视频时刻。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": null,
+    "log_step": 201,
+    "source_zh": "日志",
+    "evidence_zh": "推断：临摹方案在规划阶段未同时满足局部形状精度和笔数要求。log step 71 的代码先将小色块并入邻色，log step 112 的规划器按连通区域生成直线扫画并跳过小区域；log step 191 的候选 (wmax=16, margin=1.2, minleft=30, min_comp=40) 已明确输出计划 384 笔，log step 201 仍选该计划录制交付，允许跳过小于 40 平方毫米的连通块及每块末尾约 30 平方毫米残余；log step 205、207 确认实际为 385 笔且图像未达标。结合视频 58.5–59.1 s 保留下来的轮廓简化，支持有损分区与扫画规划不足；至少其计划笔数本身已超过任务明示的 380 笔上限，而非由停止或预算反推根因。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或逐笔视频计数；首次蘸料仅由视频 0.3 s 的有色笔迹确定完成上界，第 381 笔的准确视频时刻无法定位。画面可判局部轮廓偏差，但不能进一步定量区分直线覆盖近似、刷宽压深误差和关节跟踪误差各自的贡献，故不另标控制子类；会话里早先已修复的重采样错误不视为交付轨迹的根因。"
+ },
+ "summary_zh": "机械臂已蘸上颜料并完成大范围着色，最终节点进度为 1/2；主画纸形成向日葵花束及花瓶，但局部色块轮廓和细节偏离成功参考，色差、结构与边缘四项指标未达标，且累计 385 笔超过 380 笔上限。日志显示交付使用了已知为 384 笔的有损分区直线覆盖计划，支持临摹规划未满足联合验收要求；交付文件独立重放与最终评分一致。没有逐帧状态日志，蘸料时刻取视频 0.3 s 的首个色迹为上界，无法精确定位首次笔数超限或分解各控制误差的贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点和两项现象基本有视频与评分器支持：brush_loaded 视频 0.3 s 首现色迹，sunflowers_copied 末帧色块轮廓与成功参考不同且 n_strokes=385>380。我没有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": "2026-10-30T22:51:27Z",
+  "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-sunflowers-i00-privileged--pw86hma/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-privileged--pw86hma/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8b4231e3c1e22a7f31dfcdbf01eb4ff658590651d21824e3a6a69fd3dff06473",
+   "video_sha256": "3f04b1f4eec6343c19463068ae523a3393a2031c82aea35c09da89b89e466083",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--q6cyjct.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--q6cyjct.json
new file mode 100644
index 0000000000000000000000000000000000000000..9708addc08bf47644e8591424e97167e1e284147
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--q6cyjct.json
@@ -0,0 +1,324 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-privileged--q6cyjct",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.69068,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.69068,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 6.1864,
+   "de_p90": 15.9496,
+   "de_bad_frac": 0.207584,
+   "de_mean_sheet": 6.1864,
+   "ssim_L": 0.73577,
+   "paint_iou": 0.940069,
+   "paint_area_mm2": 48790.6,
+   "target_paint_area_mm2": 51016.5,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 4.736,
+   "ssim_L_fine": 0.636615,
+   "edge_corr": 0.364123,
+   "region_cov_min": 0.12565,
+   "region_cov_mean": 0.803003,
+   "n_regions": 89.0,
+   "n_strokes": 380.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 6.2309,
+   "de_p90_unregistered": 16.0154,
+   "ssim_L_unregistered": 0.733108,
+   "edge_corr_unregistered": 0.356501,
+   "paint_iou_unregistered": 0.939345,
+   "path_mm": 13248.13,
+   "longest_stroke_mm": 179.09,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.3371,
+   "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": 0.69068,
+   "sim_steps": 22376.0,
+   "resets": 1.0,
+   "n_contacts": 380.0,
+   "samples": 111880.0,
+   "contact_samples": 85201.0,
+   "max_press_m": 0.012155,
+   "max_tilt_deg_in_contact": 0.203141,
+   "max_speed_in_contact_mps": 0.058524,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 590.0,
+   "replay_wall_s": 177.2,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 22376,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 5,
+   "agent_sim_steps": 92505,
+   "agent_records": 4,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-sunflowers-i00-privileged--q6cyjct/replay.mp4",
+  "duration_s": 59.0,
+  "fps": 10.0,
+  "frames": 590,
+  "sha256": "5ef53a345879a14f0161c40c82e06d0f00d0c6e08134d8b319a7c1cfc6bb1bf8"
+ },
+ "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0.1 s机械臂刷尖移到颜料井附近，视频0.2 s无遮挡画纸读出的左上边缘已有浅黄色颜料，视频0.3 s有色线条继续延长。首次有色笔迹证实已蘸料，以视频0.2 s作首次确认锚点。"
+     },
+     {
+      "t": null,
+      "log_step": 44,
+      "text_zh": "观察：log step 44是最终交付文件的评分器重放，报告loaded=true、n_dips=10、dry_strokes=0；其22376个动作及图像指标与本次reward一致。这里只用它佐证加载事实，不把agent工作时间换成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂安装画笔的刷毛进入颜料井并加载颜料；依据视频0.1 s井区动作及视频0.2–0.3 s出现的浅黄笔迹，结合log step 44最终重放的10次蘸料。候选接触名为蘸取，现有抓握、压/擦及托/舀均不能准确表示刷毛浸入颜料后加载颜色。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–58.0 s每隔2 s检查，主纸从空白逐色形成浅黄底、赭棕花束及下部花瓶；视频52.0–56.0 s密查可见中央棕色色块、花瓶及右下部仍被许多白色条缝切开。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "观察：视频57.0–58.9 s逐帧检查，机械臂补画绿色细节并抬笔，无遮挡画纸读出中的白色条缝一直保留；成功参考视频59.8 s的相应中央和下部色块更连续，没有本次这些成片白缝。参考只用于比较完成外观，不作为本次进度证据。"
+     },
+     {
+      "t": null,
+      "log_step": 44,
+      "text_zh": "观察：最终交付文件在log step 44重放的de_mean=6.1864、de_p90=15.9496、ssim_L=0.73577、edge_corr=0.364123、paint_iou=0.940069，与本次reward相同，全部未达到本节点图像阈值；image_success=0。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "推断：前段仍有大片未画区域，后段成图中又持续保留上述白缝，结合终局五项图像指标均不达标，整幅临摹节点没有达到验收状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频0.2–58.8 s机械臂反复将已安装画笔的刷尖落到主纸并沿纸面扫画，留下多种颜色的笔迹；视频52.0–56.0 s侧视画面和同步画纸读出显示刷尖接触与新增笔迹。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 6.1864
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 15.9496
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.73577
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.364123
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.940069
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 380.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 13248.13
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": 54.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频52.0–56.0 s机械臂仍在临摹，但已形成的中央花束和下部花瓶内有大量白色条缝；视频57.0–58.9 s继续补画后这些缺口仍在。log step 44最终交付重放与reward均报告image_success=0，五项图像指标不达标，笔数、路径和涂绕规则则通过。视频54.0 s仅作结果缺陷已清楚可见的导航锚点，不代表能定位到某一笔造成的不可逆失败。"
+  },
+  "unmet": {
+   "sunflowers_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "漏涂",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频54.0 s无遮挡画纸读出中，中央棕色花束及下部花瓶出现多条横斜向白缝，色块呈破碎条带状；视频58.9 s仍保留这些缺口。成功参考视频59.8 s相应色块更连续。",
+    "note_zh": "候选名为漏涂，描述画面中应连续的色块内部残留条状空白；现有接触、运动、全身、约束及汇报条目不能准确表示这种绘画结果缺陷。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": null,
+    "log_step": 43,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent采用按颜色区域铺平行带、再按面积删小笔触的生成策略，未能在笔数上限内保留所需细节和覆盖。log step 27的代码按笔触面积排序裁剪；log step 34又提高小连通块的忽略阈值；log step 41的规划输出从710条删至372条，自估损失面积约1671平方毫米，离线预测de_mean=5.4513、ssim=0.7818已不达标。log step 43沿用此方案将预算减为371条并生成最终22376动作文件，log step 44重放仍失败；这与视频54.0–58.9 s的残留白缝相符。归因于生成策略遗漏覆盖，而非把停止或预算耗尽作为原因。"
+   }
+  ],
+  "gap_zh": "观察：inputs中没有逐帧状态日志；蘸料浸入瞬间未被清楚拍出，以视频0.2 s首次颜料痕迹确认已完成。推断：终局评分足以判图像节点失败，但缺少逐笔画面评分及刷尖跟踪数据，无法定位具体哪一笔首次造成阈值偏离，也无法精确分离删减笔触与真实刷宽偏差对各处缺口的贡献。"
+ },
+ "summary_zh": "观察：机械臂在视频0.2 s前后已蘸料并开始作画，终局完成笔刷加载1/2节点，花束与花瓶虽已形成，中央及下部仍有成片白色条缝。推断：临摹步骤失败与区域铺带后删减小笔触的规划有关，最终五项图像指标全部未达标，而笔数、路径和涂绕规则通过。观察：没有逐帧状态日志，蘸料以首次笔迹确认，不能精确分解各处缺口的规划和执行贡献。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、日志一致：笔刷在约0.2 s蘸料（首个浅黄笔迹），临摹节点终局未达标，白缝在54 s画纸读出中可见；断点、现象与规划类根因有日志证据支持。",
+    "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": "2026-10-30T22:54:11Z",
+  "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-sunflowers-i00-privileged--q6cyjct/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-privileged--q6cyjct/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "560f0ef6d9347ee6c691fee5ec319dd38e508e1d52345bfe01d7b01dc21a3090",
+   "video_sha256": "5ef53a345879a14f0161c40c82e06d0f00d0c6e08134d8b319a7c1cfc6bb1bf8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--vxkddvz.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--vxkddvz.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bec3db6d25d452fe3dcb6552d08b857b0266e2b
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--vxkddvz.json
@@ -0,0 +1,310 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-privileged--vxkddvz",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.042915,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 19.1417,
+   "de_p90": 37.3676,
+   "de_bad_frac": 0.742906,
+   "de_mean_sheet": 19.1417,
+   "ssim_L": 0.482307,
+   "paint_iou": 0.989558,
+   "paint_area_mm2": 51598.7,
+   "target_paint_area_mm2": 51083.9,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 16.8722,
+   "ssim_L_fine": 0.432754,
+   "edge_corr": 0.030642,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.260366,
+   "n_regions": 89.0,
+   "n_strokes": 365.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 19.1417,
+   "de_p90_unregistered": 37.3676,
+   "ssim_L_unregistered": 0.482307,
+   "edge_corr_unregistered": 0.030642,
+   "paint_iou_unregistered": 0.989558,
+   "success": 0,
+   "final_reward": 0.042915,
+   "path_mm": 10630.7,
+   "longest_stroke_mm": 227.22,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.0941,
+   "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": 0.042915,
+   "sim_steps": 37464.0,
+   "resets": 1.0,
+   "n_contacts": 365.0,
+   "samples": 187320.0,
+   "contact_samples": 49325.0,
+   "max_press_m": 0.013202,
+   "max_tilt_deg_in_contact": 0.127999,
+   "max_speed_in_contact_mps": 0.04664,
+   "handle_contact_samples": 0.0,
+   "n_dips": 365.0,
+   "dry_strokes": 0.0,
+   "n_frames": 596.0,
+   "replay_wall_s": 203.6,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 37464,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 13,
+   "agent_resets": 13,
+   "agent_sim_steps": 81441,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-sunflowers-i00-privileged--vxkddvz/replay.mp4",
+  "duration_s": 59.6,
+  "fps": 10.0,
+  "frames": 596,
+  "sha256": "dd6478015e6e5aec1946591de109adfce9985a8128ba400b9b236e12d0f81dd7"
+ },
+ "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 主纸左边首次出现浅黄色笔迹，视频 0.3–1.5 s 机械臂继续用安装画笔铺出黄色条带。推断：依据干笔初态及有色笔迹，首次蘸料已在视频 0.2 s 前完成；以首笔可见时刻为到达锚点，精度约 0.2 s。"
+     },
+     {
+      "t": 59.5,
+      "log_step": 170,
+      "text_zh": "观察：log step 170 执行并保存 365 笔、37464 动作的轨迹，其评分与本次 reward 一致；本次评分器字段 n_dips=365、n_dry_strokes=0，视频 59.5 s 主纸已有多种有色笔迹。该事件一旦完成即保持为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂通过固定安装画笔的刷毛蘸取颜料井内颜料，再在纸面留下有色笔迹；实际加载由首笔与评分器 n_dips=365 共同证实。候选接触名为“蘸取”，属于刷毛浸入颜料加载颜色，抓握、压/擦、托/舀均不准确；首次井内接触的细节被机械臂遮挡。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.2–10.0 s 机械臂先用画笔在主纸铺浅黄色背景，主图尚无完整花束；视频约 13.0–30.0 s 加入赭棕曲线和色块，视频 40.0–58.0 s 又加入浅黄和橄榄绿色笔触。刷毛压纸扫动后实际留下并扩大色块，临摹步骤确已尝试。"
+     },
+     {
+      "t": 59.5,
+      "log_step": 170,
+      "text_zh": "观察：视频 48.0–59.5 s 主纸已覆有黄、褐、绿色笔触，色块交叠、结构难以辨认；成功参考视频 40.0–59.5 s 的花束及下部花瓶更清晰。视频 58.6–59.5 s 逐帧检查仍见上述外观差异。推断：画面尚未达到临摹节点的外观要求，但这些帧不足以独立确认花瓶落在右侧或整体行列互换；精确验收依据本次评分器指标。"
+     },
+     {
+      "t": 59.5,
+      "log_step": 170,
+      "text_zh": "观察：本次评分器 de_mean=19.1417（须≤2）、de_p90=37.3676（须≤6）、ssim_L=0.482307（须≥0.92）、edge_corr=0.030642（须≥0.8），均失败；paint_iou=0.989558 通过。log step 170 保存的最终轨迹得到完全相同的指标，区别于 log step 159 的 404 笔会话测试；本次 deterministic=1、instance_exact=1。推断：大面积覆盖并未使画面达标，结合全过程帧，节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂以固定安装圆头画笔的带颜料刷毛压在主画纸上，扫出黄色底层、赭棕曲线及绿色细节；视频 0.2–59.5 s 可见接触后的实际笔迹，评分器记录 365 次主纸有色连续笔触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 19.1417
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 37.3676
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.482307
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.030642
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.989558
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 365.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 10630.7
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": 13.0,
+   "log_step": 170,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 13.0–13.5 s 机械臂开始在黄色底上加入赭棕笔触，视频 48.0–59.5 s 主纸仍为交叠的黄、褐、绿色块；log step 170 保存的 365 笔轨迹与本次评分器字段一致，de_mean=19.1417、de_p90=37.3676、ssim_L=0.482307、edge_corr=0.030642 均未达标。推断：未修复的失败步骤为临摹向日葵；视频 13.0 s 只作开始绘制主体的粗略导航锚点，不据此确定一次坐标错误。log step 170 用于确认交付轨迹，不将 agent 时间换算为视频时间。"
+  },
+  "unmet": {
+   "sunflowers_copied": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无逐帧状态日志，首次蘸料用视频 0.2 s 的首笔反推，井内刷毛接触被遮挡。视频末段可见色块交叠和结构模糊，但未能独立确认足以支持位姿不准等具体运动或接触现象的物理缺陷；依 DECISIONS.md N10、CASES.md FAIL-15，现象层留空，不将图像指标未达标另立现象。日志中 log step 121 修改的是画笔栅格读回，log step 126 的离线朝向检验恒等 NCC=0.7082、转置=0.1023，不支持此前由函数参数顺序直接推定的执行轴交换。log step 163 单表面离线渲染的 de_mean=19.5372 接近 log step 159 的 404 笔会话评分 19.9327，而 log step 158 逐笔合成评估约为 5.1，支持离线渲染模型存在偏差；但 log step 163 的 ssim=0.7583、配准=(-23,23) 与会话评分并非完全一致，log step 164 还比较了 404 与 365 笔两种画面。这些诊断不是最终 log step 170 的 365 笔交付轨迹的独立复现，颜料累积或混色的具体机制及其对本次失败的因果贡献仍未独立确认，故根因层留空。"
+ },
+ "summary_zh": "机械臂完成首次蘸料并实际绘制 365 笔，最终完成 1/2 个节点，临摹向日葵未达标；评分器的笔数、路径和涂绕检查通过，色差、结构及边缘指标失败。删除原有的行列互换归因及位姿不准现象：视频末段虽可见色块交叠、结构模糊，但不足以独立确认所称花瓶位置或执行轴交换。日志诊断支持逐笔合成与单表面渲染存在差异，但尚未独立确认最终交付轨迹的具体颜料累积机制，现象与根因层均留空；无状态日志，首次加载时刻由视频首笔反推。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "进度节点（brush_loaded 达成、sunflowers_copied 未达成）与断点 sunflowers_copied 无误；但根因“感知·行列互换”和现象“位姿不准”被 agent 自己的日志反驳：log 显示世界映射正确、整体朝向为恒等，色差大来自颜料累积（libmypaint 非 src-over）而非布局转置。视频 59 s 帧也看不出“花瓶在右侧”的明确布局。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "brush_loaded 达成、sunflowers_copied 未达成，断点与评分器指标一致；现象/根因层留空并有 gap_zh，符合 N10 与证据纪律，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": "2026-10-30T23:07:53Z",
+  "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-sunflowers-i00-privileged--vxkddvz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-privileged--vxkddvz/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-privileged--vxkddvz/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-privileged--vxkddvz/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "af60c93ef0d5191144ad5f4769c48784d8bd9c6516d02e04b2f3ad795beb67ef",
+   "video_sha256": "dd6478015e6e5aec1946591de109adfce9985a8128ba400b9b236e12d0f81dd7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--x7ccffc.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--x7ccffc.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bf4335cb2f3b3a6d312d4e77b80854c0d72abe6
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--x7ccffc.json
@@ -0,0 +1,310 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-privileged--x7ccffc",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.83144,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 3.3712,
+   "de_p90": 9.0454,
+   "de_bad_frac": 0.086461,
+   "de_mean_sheet": 3.3712,
+   "ssim_L": 0.822321,
+   "paint_iou": 0.984813,
+   "paint_area_mm2": 51218.3,
+   "target_paint_area_mm2": 51034.3,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 1.9381,
+   "ssim_L_fine": 0.751442,
+   "edge_corr": 0.591311,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.924747,
+   "n_regions": 89.0,
+   "n_strokes": 369.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 3.3891,
+   "de_p90_unregistered": 9.1169,
+   "ssim_L_unregistered": 0.819719,
+   "edge_corr_unregistered": 0.581496,
+   "paint_iou_unregistered": 0.984629,
+   "success": 0,
+   "final_reward": 0.83144,
+   "path_mm": 13094.57,
+   "longest_stroke_mm": 153.95,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.0672,
+   "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": 0.83144,
+   "sim_steps": 30917.0,
+   "resets": 1.0,
+   "n_contacts": 369.0,
+   "samples": 154585.0,
+   "contact_samples": 41699.0,
+   "max_press_m": 0.01313,
+   "max_tilt_deg_in_contact": 0.191227,
+   "max_speed_in_contact_mps": 0.054497,
+   "handle_contact_samples": 0.0,
+   "n_dips": 275.0,
+   "dry_strokes": 0.0,
+   "n_frames": 596.0,
+   "replay_wall_s": 105.1,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 30917,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 21,
+   "agent_resets": 10,
+   "agent_sim_steps": 155493,
+   "agent_records": 1,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-sunflowers-i00-privileged--x7ccffc/replay.mp4",
+  "duration_s": 59.6,
+  "fps": 10.0,
+  "frames": 596,
+  "sha256": "72c0f55c41d5c39e21c32b0d044f3d3636a9e25da602f295f3b9fef1d2abf85a"
+ },
+ "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 主纸读出为空白，视频 0.2 s 已出现机械臂画笔留下的浅黄色短笔迹，视频 0.3 s 该线条延长；按本节点允许以首次有色笔迹证明加载的判据，首次可确认时刻为视频 0.2 s。"
+     },
+     {
+      "t": 0.2,
+      "log_step": 414,
+      "text_zh": "推断：结合视频 0.1 s 机械臂末端位于颜料井一侧、视频 0.2 s 出现有色笔迹，以及 log step 414 交付脚本先将刷尖移至颜料井中心并下降后再画纸，首次蘸料发生于视频开头约 0.0–0.2 s；这里采用可见笔迹时刻，不将 agent 工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装画笔的刷毛蘸取颜料井内的颜料；视频 0.2 s 的首次浅黄色笔迹证实已取得颜料，井内刷毛细节在小视图中不可辨。候选接触名为蘸取，刷毛浸入颜料加载颜色不属于抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.2–8.0 s 机械臂反复以画笔在主纸画出浅黄和赭色直条，视频 2.0 s 主纸大部分尚空白；视频 10.0–28.0 s 色块逐步铺开，但花束与下部花瓶仍由多条直线色带交叠组成。"
+     },
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0–32.0 s 的连续半秒采样中，机械臂继续落笔补色，主纸右下无遮挡读出可见左上花朵接近方框，中央及下部有宽直斜条和尖角色块；视频 34.0–58.0 s 后续笔触逐渐细化画面。"
+     },
+     {
+      "t": 59.5,
+      "log_step": null,
+      "text_zh": "观察：视频 58.5–59.5 s 逐帧检查，主纸读出仍有棱角状花心、直条状花瓣和破碎的花瓶边缘；成功参考录像视频 59.5 s 的对应读出具有更连贯的圆弧与色块边界，参考仅用于比较完成外观。"
+     },
+     {
+      "t": 59.5,
+      "log_step": 423,
+      "text_zh": "观察：inputs/run.json 的终局评分为 de_mean=3.3712>2、de_p90=9.0454>6、ssim_L=0.822321<0.92、edge_corr=0.591311<0.8，paint_iou=0.984813≥0.95，image_success=0；log step 423 对交付文件的官方重放输出同样报告 success=0、final_reward=0.83144、strict_ok=1。推断：图像节点始终未达成，终局失败由画面质量判据决定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂固定安装画笔的带颜料刷尖反复压到主画纸并沿纸面扫动，随后抬笔；视频 0.2–1.5 s 可见浅黄色条带随刷尖往返增长，视频 28.0–32.0 s 及 58.5–59.5 s 继续补画。实际作用链路为画笔刷毛与主纸，未另计末端与笔柄的安装。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 3.3712
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 9.0454
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.822321
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.591311
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.984813
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 369.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 13094.57
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": 30.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 28.0–32.0 s 机械臂正在主纸上补画，花束及花瓶的轮廓仍被宽直条与棱角色块替代；视频 58.5–59.5 s 的终局读出仍保留这些偏差，评分器 image_success=0。推断：未修复的失败步骤是临摹向日葵；视频 30.0 s 为绘画过程中缺陷的导航锚点，并非一次突然失效的精确时刻。"
+  },
+  "unmet": {
+   "sunflowers_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触轮廓失真",
+    "t": 30.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 28.0–32.0 s 主纸右下读出中，左上花朵呈方框形，中央花束及下部花瓶出现多条宽直斜条和尖角；视频 58.5–59.5 s 虽补上更多细小色块，花心及花瓶外缘仍呈碎块和折角。成功参考录像视频 59.5 s 同一位置的色块边界更圆滑连贯。",
+    "note_zh": "候选名为笔触轮廓失真，描述实际画面中直条近似弧形、色块边缘碎裂的缺陷；现有接触失败、全身失败和物体位姿不准等条目不能准确表示这种绘画结果缺陷，故用其他，未将未达指标本身充当现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 414,
+    "evidence_zh": "推断：log step 414 写出的交付生成器把目标按最近颜料颜色分成连通区域，以 minAreaRect 的主轴和固定压深生成起终点，并用 move_linear 从起点直扫至终点；这使原本弯曲的色块被规划成直条。log step 371 的同类三轮补画方案在不经过机械臂物理跟踪的画布模拟中已给出 de_mean≈3.428、edge_corr≈0.571；交付重放的评分器值分别为3.3712与0.591311，且视频 30.0 s 和 59.5 s 显示相应的直条与棱角残留。证据支持笔触分解和补画方案本身的几何近似不足，未证明某个关节跟踪或力控故障。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，首次蘸料只能由视频 0.2 s 的有色笔迹及相邻画面定位，不能精确到井内刷毛触液的瞬间；log step 414 的生成器中段在输入日志中已被截断。根因是由保留的直线生成代码、会话画布模拟和交付录像一致性作出的推断，缺少逐笔目标与实际轨迹对照，不能量化几何近似、压深和执行误差各自的贡献。"
+ },
+ "summary_zh": "机械臂完成首次蘸料，并在主纸绘制了覆盖大部分画面的向日葵花束，最终完成1/2个节点。临摹向日葵未达成：视频 58.5–59.5 s 仍见直条化、棱角化和破碎的色块轮廓，评分器的两项色差、结构相似度及边缘相关均未达标，而笔数369、路径13094.57毫米及涂绕占比0均符合限制。日志支持笔触分解与直线补画方案的几何近似不足；无逐帧状态日志且生成器中段被截断，根因保持为推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 brush_loaded 达成、sunflowers_copied 未达成（评分器 image_success=0，各项色差/SSIM/边缘指标未达标），视频 59.5 s 与参考录像对比可见直条化、棱角化的色块；断点、现象与推理/规划根因均有日志和评分数值支撑，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:59:41Z",
+  "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-sunflowers-i00-privileged--x7ccffc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-privileged--x7ccffc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "15d7605586b8ef134104bd056c6e36c1582a742f5763bdf6f4b5b6bb0e341b2e",
+   "video_sha256": "72c0f55c41d5c39e21c32b0d044f3d3636a9e25da602f295f3b9fef1d2abf85a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--yebbyhi.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--yebbyhi.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd40e331e87d37cdc6482d3310cb2f51624877d3
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--yebbyhi.json
@@ -0,0 +1,345 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-privileged--yebbyhi",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.895645,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.895645,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 2.0871,
+   "de_p90": 4.8972,
+   "de_bad_frac": 0.020021,
+   "de_mean_sheet": 2.087,
+   "ssim_L": 0.926704,
+   "paint_iou": 0.989939,
+   "paint_area_mm2": 51503.8,
+   "target_paint_area_mm2": 51034.3,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 1.2006,
+   "ssim_L_fine": 0.869879,
+   "edge_corr": 0.83168,
+   "region_cov_min": 0.287526,
+   "region_cov_mean": 0.989668,
+   "n_regions": 89.0,
+   "n_strokes": 380.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 2.1077,
+   "de_p90_unregistered": 4.9511,
+   "ssim_L_unregistered": 0.925446,
+   "edge_corr_unregistered": 0.827299,
+   "paint_iou_unregistered": 0.989887,
+   "path_mm": 11852.09,
+   "longest_stroke_mm": 224.24,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.1929,
+   "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": 0.895645,
+   "sim_steps": 19408.0,
+   "resets": 1.0,
+   "n_contacts": 380.0,
+   "samples": 97040.0,
+   "contact_samples": 37763.0,
+   "max_press_m": 0.01318,
+   "max_tilt_deg_in_contact": 0.279688,
+   "max_speed_in_contact_mps": 0.067546,
+   "handle_contact_samples": 0.0,
+   "n_dips": 263.0,
+   "dry_strokes": 0.0,
+   "n_frames": 590.0,
+   "replay_wall_s": 157.9,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 19408,
+   "video_rendered": 1,
+   "agent_sessions": 20,
+   "agent_resets": 19,
+   "agent_sim_steps": 218092,
+   "agent_records": 0,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.295,
+   "peak_memory_gb": 3.194,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.249,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-sunflowers-i00-privileged--yebbyhi/replay.mp4",
+  "duration_s": 59.0,
+  "fps": 10.0,
+  "frames": 590,
+  "sha256": "9ba1c088ad10235cce61b5b4a4b62b1d53b5787ba1992b92894c9ae4ab51688b"
+ },
+ "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：逐帧查看视频0.0–0.3 s，主纸先为空白，视频0.3 s右下无遮挡画纸读出首次出现浅黄色竖线；视频0.7–1.0 s又出现赭色斜线，侧视图显示机械臂末端画笔在纸面运行。"
+     },
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "推断：任务给定干笔初态，只有刷尖进入颜料井才能加载颜色；视频0.3 s的有色笔迹证实此前已蘸料，将首次可确认的完成时间记为视频0.3 s，蘸料本身发生在视频0.0–0.3 s内。评分器n_dips=263、dry_strokes=0与此一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端安装画笔的刷毛进入颜料井加载颜料，由视频0.3 s起的有色笔迹及干笔初态证实；候选接触名为“蘸取”，刷毛浸入颜料取得颜色不适合用抓握、压/擦或托/舀表示。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.3–10.0 s机械臂用多条浅黄、赭棕直线铺色，视频10.0 s仍有大片白纸和交叉长条；视频24.0 s花束、花瓶的大色块已出现，仍有直条状覆盖边界。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "观察：视频40.0 s及逐帧检查的视频57.0–58.9 s，机械臂继续补小笔触；视频58.9 s右下无遮挡读出已形成浅黄底、花束和下部花瓶，但左侧花盘内的绿色块、下部花瓶中的浅色小条与斜向色带仍显突兀。对照成功参考视频59.8 s，同部位的色块边界与形状有所不同；参考仅用于比较完成外观。"
+     },
+     {
+      "t": 58.9,
+      "log_step": 36,
+      "text_zh": "观察：log step 35列出最终候选的de_mean=2.0871、n_strokes=380，log step 36将该候选保存为交付文件；本次评分器记录相同de_mean=2.0871，高于2.0，image_success=0、deterministic=1，其余图像门槛通过。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "推断：结合早中段明显未完成的画面、末段残留色块偏差与评分器的精确图像判定，本次未确认整幅临摹达标，终态为false；未从0分或agent自述单独反推节点状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频0.3–1.0 s、10.0 s、24.0 s及57.0–58.9 s，单臂末端安装画笔的刷毛压在主画纸上扫过，留下不同宽度的有色线条，抬笔后换位再落笔；固定底座没有移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 2.0871
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 4.8972
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.926704
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.83168
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.989939
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 380.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 11852.09
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": null,
+   "log_step": 36,
+   "where": "操作中",
+   "evidence_zh": "观察：视频57.0–58.9 s机械臂仍在临摹画面上补笔，最终无遮挡读出保留局部色块形状偏差；交付的是log step 36保存的380笔候选。评分器平均色差2.0871超过2.0，其余图像阈值及过程规则通过。推断：未修复的失败步骤是整幅临摹，无法从这些渐进修色中确定一次独立的出错时刻，故断点时间留空；末段画面是残余缺陷的证据。"
+  },
+  "unmet": {
+   "sunflowers_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "其他",
+    "t": 58.9,
+    "log_step": null,
+    "evidence_zh": "观察：inputs/replay.mp4 视频58.9 s右下无遮挡画面中，左侧花盘内有多边形绿色块，下部花瓶内夹着浅色短条和斜向带状色块；对照inputs/oracle/replay.mp4 视频59.8 s，同部位的局部色块形状与边界不同。这些仅是观察到的残余外观差异，不能据此确定哪些像素造成平均色差超阈值的0.0871差距，成功参考也只用于外观比较。",
+    "note_zh": "候选现象名：局部色块形状与颜色偏差。现有接触、运动、全身等条目不能准确描述画面中残留的色块差异；依DECISIONS.md N10及CASES.md FAIL-15记录可见外观，不把色差未达标本身充当现象，也不将这些差异直接认定为误差来源。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：基于简化收益模型的逐笔贪心选笔策略不足，可能限制了整幅临摹在380笔内的修色效果。观察：inputs/run.json log step 11的脚本以圆盘宽度、单一颜料色和直线候选估计收益并逐笔选取最大值；log step 18在实际收益不足预测30%时屏蔽该区域颜色，log step 23的会话试验仍有预测372、实际-107及预测451、实际-118。log step 32调整该脚本的提前停止阈值，log step 35列出最终候选de_mean=2.0871、n_strokes=380，log step 36将该候选保存为交付文件；inputs/run.json reward记录相同终态指标。会话试验支持选笔收益模型存在偏差，但不是本次交付某笔失误的观测。",
+    "note_zh": "按docs/03_trajectory.md Step 3.3及TAXONOMY_v2.md §3的判别次序，笔触选择及有限笔数内的策略问题归推理/规划。没有足够证据证明轨迹跟踪、逆解或接触反馈异常；评分器压深、倾角及涂绕读数也不能单独证明每笔准确跟踪。agent自述“约23笔被屏蔽规则浪费、可能需要曲线笔触”位于log step 38，只作其自评，不当作已核实的浪费笔数或已验证可行的替代方案，也不以用满笔数或其“时间用完”的说法本身作为根因。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，也没有最终交付文件逐笔的实际误差收益记录；不能定位残余误差由哪一笔首次产生，或把log step 23会话试验的收益偏差逐笔映射到视频。视频右下画纸读出无遮挡，可判画面进度，精确色差依评分器字段；无法把可见绿色块、浅色条与超阈值的0.0871平均色差或region_cov_min=0.287526对应到具体区域。规划根因是结合选笔脚本、会话反馈及交付终态作出的推断，尚无逐笔证据验证其贡献，也未验证替代策略能否达标；没有证据判定控制执行异常。"
+ },
+ "summary_zh": "机械臂至迟在视频0.3 s已蘸上颜料，随后持续在主纸铺色并补画，终态完成1/2个节点，花束与花瓶已成形。最终380笔的平均色差为2.0871，略高于2.0，其余图像及过程阈值通过；可见局部色块与边界差异，脚本和会话试验支持贪心选笔及收益模型不足的规划归因。置信度降为6：没有最终交付逐笔误差记录，规划根因仍属推断，无法确定具体失误笔触或将可见差异对应到超阈值的误差来源。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE标签（蘸料0.3 s、临摹未达标、断点在sunflowers_copied、时间钟）与视频和评分器一致；问题在根因：所述机制是贪心选笔策略/预测模型偏差，按判别次序应归规划而非控制，且证据来自会话试验。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（蘸料0.3 s、临摹未达标）、断点、时钟均与视频和评分器（de_mean 2.0871>2.0）一致；第1轮的根因已改为规划并如实标注为推断，现象仅记录残余外观，无需再改。",
+    "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": "2026-10-30T23:06:27Z",
+  "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-sunflowers-i00-privileged--yebbyhi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-privileged--yebbyhi/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-privileged--yebbyhi/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-privileged--yebbyhi/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7722ec2d9dde193ac1562f3afb4a88923f0c1dcbc13010a28237587a19742ee8",
+   "video_sha256": "9ba1c088ad10235cce61b5b4a4b62b1d53b5787ba1992b92894c9ae4ab51688b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--25mmpys.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--25mmpys.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbae617c1a97336d191fbe67ee46a70a0b68a34b
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--25mmpys.json
@@ -0,0 +1,324 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-standard--25mmpys",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.32627,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.32627,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 13.4746,
+   "de_p90": 29.7569,
+   "de_bad_frac": 0.519918,
+   "de_mean_sheet": 13.4738,
+   "ssim_L": 0.469865,
+   "paint_iou": 0.961,
+   "paint_area_mm2": 49661.1,
+   "target_paint_area_mm2": 50807.2,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 10.4562,
+   "ssim_L_fine": 0.409747,
+   "edge_corr": 0.044475,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.487389,
+   "n_regions": 89.0,
+   "n_strokes": 341.0,
+   "n_practice_strokes": 18.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.6656,
+   "register_dy_mm": 0.6656,
+   "register_shift_mm": 0.9413,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 13.5335,
+   "de_p90_unregistered": 29.7844,
+   "ssim_L_unregistered": 0.467693,
+   "edge_corr_unregistered": 0.040049,
+   "paint_iou_unregistered": 0.959123,
+   "path_mm": 9543.05,
+   "longest_stroke_mm": 251.73,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2812,
+   "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": 0.32627,
+   "sim_steps": 19816,
+   "resets": 0.0,
+   "n_contacts": 359.0,
+   "samples": 99080.0,
+   "contact_samples": 24549.0,
+   "max_press_m": 0.013821,
+   "max_tilt_deg_in_contact": 0.663917,
+   "max_speed_in_contact_mps": 0.301381,
+   "handle_contact_samples": 0.0,
+   "n_dips": 141.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 19816,
+   "physics_steps": 99080,
+   "steps": 10364,
+   "calls": 143,
+   "elapsed_s": 3428.7,
+   "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-sunflowers-i00-standard--25mmpys/replay.mp4",
+  "duration_s": 58.4,
+  "fps": 10.0,
+  "frames": 584,
+  "sha256": "a167a2afc244969d39a0ef60a4085cae262e08a9d7b8fc4c23d7260a8702531b"
+ },
+ "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": 20,
+      "text_zh": "观察：视频0.0–0.3 s机械臂先移向颜料井一侧，视频0.3 s侧视中刷毛已呈黄绿色；视频0.4–0.9 s练习纸出现浅黄色线条，此后又增加深色线条。首次取得颜料取视频约0.3 s，蘸取时刻存在约0.3 s的不确定性。"
+     },
+     {
+      "t": 1.2,
+      "log_step": null,
+      "text_zh": "推断：视频0.9–1.5 s练习纸上的多条有色笔迹确认刷毛已加载；视频58.3 s仍可见主纸和练习纸的有色笔迹，事件节点保持已完成。"
+     }
+    ],
+    "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入颜料井并取得颜色，之后在练习纸留下有色笔迹；候选接触名为蘸取，刷毛浸入颜料加载颜色不适合归为抓握、压/擦或托/舀。首次井内接触部分受机械臂遮挡，结合前后帧有色刷毛及笔迹确认。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": 41,
+      "text_zh": "观察：视频0.0–4.5 s主画纸仍空白，机械臂先在旁边练习纸画线；视频5.0–10.5 s开始在主纸铺浅黄色笔迹，视频11.5–14.5 s加入多条赭棕色长斜条。"
+     },
+     {
+      "t": 58.3,
+      "log_step": 43,
+      "text_zh": "观察：通览视频并加密检查视频9.0–14.5 s及56.0–58.3 s，主纸一直由分离及交叉的直条笔迹逐渐覆盖；末段补画后，中央仍有大面积平行斜条和越过色块边界的浅色长条，花头及下部花瓶轮廓明显破碎。成功参考视频59.8 s同视角可见连贯花头、花束及花瓶色块，当前视频58.3 s没有形成该结构。"
+     },
+     {
+      "t": 58.3,
+      "log_step": null,
+      "text_zh": "观察：本次评分器reward字段image_success=0，de_mean=13.4746>2、de_p90=29.7569>6、ssim_L=0.469865<0.92、edge_corr=0.044475<0.8；paint_iou=0.961达到0.95。主纸虽大体覆盖，精确图像验收未通过，与视频末帧的轮廓偏差一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频5.0–58.3 s机械臂以末端固定画笔的带颜料刷毛压在主画纸上扫画，多次提笔换位、换色后继续绘画及补画；实际留下浅黄、赭棕及橄榄绿色笔迹。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 13.4746
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 29.7569
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.469865
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.044475
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.961
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 341.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 9543.05
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": 11.5,
+   "log_step": 41,
+   "where": "操作中",
+   "evidence_zh": "观察：视频11.5–14.5 s机械臂在主纸中央画出多条平直的赭棕斜条；视频56.0–58.3 s补画后仍保留交叉长条和破碎花束、花瓶轮廓，临摹状态没有达标。视频11.5 s取作明显几何偏差的导航锚点，不将它当作精确首次偏离时刻；评分器最终image_success=0，而strict_ok=1。"
+  },
+  "unmet": {
+   "sunflowers_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.5,
+    "log_step": 41,
+    "evidence_zh": "观察：视频11.5–14.5 s机器人画笔形成的中央赭棕笔迹是数条平行长斜条；视频58.3 s俯视中这些直条与后续浅色长条交叉，花头和下部花瓶的弯曲外轮廓没有连成目标形状。成功参考视频59.8 s相同区域呈连贯弯曲色块，当前笔迹的位置、走向及边界偏离该形状。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 41,
+    "source_zh": "日志",
+    "note_zh": "控制脚本异常：路径长度单位错误使曲线采样退化，动作分块超过服务上限后又丢弃未执行段。",
+    "evidence_zh": "推断：log step 31的分解脚本为目标生成多点曲线；log step 38给出的全部规划路径约10179毫米。log step 41执行脚本先以px2world转成米，再用n=max(2,ceil(L/15.0))实现注释所说的约15毫米重采样，因此这些短路径仅取首尾两点，曲线被直线替代，且只在端点计算的正弦补偿也为零，解释视频11.5–14.5 s及58.3 s的长直条几何失真。另在log step 41中，服务多次返回104–107行×0.1秒超过10秒上限；脚本重试同一超长块后无条件清空chunk，跳过未执行路径。log step 42据此生成补画，log step 43虽改用较小分块，仍保留同一长度单位错误；最终视频58.3 s的形状偏差没有修复。这是agent自身执行脚本的问题。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志和中途评分，不能精确定位首次图像偏差，也不能定量分离曲线采样退化、被拒绝路径及补画各自的贡献；log step 41输出本身含截断，无法逐一还原所有被拒绝块。首次蘸料的井内接触部分遮挡，依据刷毛颜色和紧随其后的练习纸有色笔迹确定，时间约有0.3秒不确定性。"
+ },
+ "summary_zh": "机械臂完成蘸料并在主纸持续绘画和补画，最终完成1/2个节点；主纸虽大体覆盖，花束和花瓶仍被交叉直条割裂，临摹节点未达标。执行脚本把以米表示的曲线路径按15.0重采样而退化为首尾直线，并曾丢弃被服务拒绝的超长动作块；评分器确认失败来自图像色差、结构和边缘相似度，实际341笔并未超过380笔上限。无逐帧状态及中途评分，各脚本缺陷的独立贡献和精确首次偏离时刻无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（蘸料已达成、临摹未达成）、断点、接触及根因（控制脚本米/毫米重采样单位错误与被拒绝分块被丢弃）均有视频与日志支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:09:35Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--25mmpys/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--25mmpys/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c54c2938ebf0308301a5d6c95604ea3766999f1de0055a7a46fd214b82a4c40b",
+   "video_sha256": "a167a2afc244969d39a0ef60a4085cae262e08a9d7b8fc4c23d7260a8702531b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--9r6e6ql.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--9r6e6ql.json
new file mode 100644
index 0000000000000000000000000000000000000000..716a67095c064d486790c95a11232e7aa78a99f7
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--9r6e6ql.json
@@ -0,0 +1,307 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-standard--9r6e6ql",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.752595,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 4.9481,
+   "de_p90": 12.7618,
+   "de_bad_frac": 0.130066,
+   "de_mean_sheet": 4.9477,
+   "ssim_L": 0.776435,
+   "paint_iou": 0.973937,
+   "paint_area_mm2": 50481.3,
+   "target_paint_area_mm2": 51083.9,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 3.963,
+   "ssim_L_fine": 0.696503,
+   "edge_corr": 0.467888,
+   "region_cov_min": 0.003484,
+   "region_cov_mean": 0.878764,
+   "n_regions": 89.0,
+   "n_strokes": 376.0,
+   "n_practice_strokes": 5.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 4.9481,
+   "de_p90_unregistered": 12.7618,
+   "ssim_L_unregistered": 0.776435,
+   "edge_corr_unregistered": 0.467888,
+   "paint_iou_unregistered": 0.973937,
+   "success": 0,
+   "final_reward": 0.752595,
+   "path_mm": 15145.06,
+   "longest_stroke_mm": 220.68,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.4505,
+   "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": 0.752595,
+   "sim_steps": 31310,
+   "resets": 1.0,
+   "n_contacts": 381.0,
+   "samples": 156550.0,
+   "contact_samples": 35718.0,
+   "max_press_m": 0.011223,
+   "max_tilt_deg_in_contact": 0.316815,
+   "max_speed_in_contact_mps": 0.113357,
+   "handle_contact_samples": 0.0,
+   "n_dips": 250.0,
+   "dry_strokes": 0.0,
+   "n_frames": 592.0,
+   "replay_wall_s": 138.34,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 31310,
+   "physics_steps": 156550,
+   "steps": 23422,
+   "calls": 145,
+   "elapsed_s": 2928.9,
+   "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,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-sunflowers-i00-standard--9r6e6ql/replay.mp4",
+  "duration_s": 59.2,
+  "fps": 10.0,
+  "frames": 592,
+  "sha256": "e7987501aad3b635801c524cca2fa098a30550f026bb6c66cdae22a19ec190fb"
+ },
+ "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": 51,
+      "text_zh": "观察：视频 0.1 s 机械臂安装的画笔在颜料井处下降，视频 0.2 s 移开后刷尖已有黄绿色；视频 0.5–0.7 s 侧视图可见练习纸上的黄色笔迹，视频 0.9 s 起主纸也出现黄色笔迹。首次加载约在视频 0.1–0.2 s，取视频 0.2 s 为到达锚点；log step 51 的蘸料后练习划线与此顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端已安装画笔的刷毛下降进入颜料井，随后带色移到纸上；候选接触名为“蘸取”。这不是夹持或从下方承托，现有接触条目不能准确表示刷毛浸入颜料并加载颜色。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.9 s 主纸开始出现黄色底色，视频 2–8 s 机械臂继续刷底色并画出下部花瓶；视频 10–36 s 陆续出现绿色枝叶和棕色花束，视频 38–59.1 s 继续补笔。初期主纸大幅空白，后期仍有花朵与花瓶色块内部的浅黄色缝隙，所查画面均未呈现成功参考中连贯、饱满的色块。"
+     },
+     {
+      "t": 59.1,
+      "log_step": null,
+      "text_zh": "观察：视频 58.0–59.1 s 每隔视频 0.1 s 检查末段帧，右下角无遮挡画面读出仍显示上部棕色花朵和下部花瓶内多条浅黄色缝隙；成功参考视频 59.8 s 相应区域主要为连续填实的色块。该次评分器 reward 报告 de_mean=4.9481（要求≤2）、de_p90=12.7618（要求≤6）、ssim_L=0.776435（要求≥0.92）、edge_corr=0.467888（要求≥0.8），而 paint_iou=0.973937 达到≥0.95。图像目标终态为未完成，不能由覆盖交并比达标替代整幅图像验收。"
+     },
+     {
+      "t": null,
+      "log_step": 340,
+      "text_zh": "观察：log step 337 将最终贪心笔触文件复制为执行输入，log step 338 编写画笔轨迹生成与提交脚本，log step 340–342 执行该脚本。该次 reward 的 n_strokes=376、n_practice_strokes=5、n_dips=250 与练习后临摹的录像顺序相符；deterministic=1、live_matches_replay=1、finalized=1，infra_error=0、grader_error=0。离线候选图片和 agent 自行计算的相机照片分数不作为本节点评分值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂以已安装画笔的带色刷毛压在主画纸上并沿纸面扫动，先铺黄色底层，再叠画花瓶、枝叶、花朵和补色笔触；视频 0.9–59.1 s 可见笔尖触纸及新色痕形成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 4.9481
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 12.7618
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.776435
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.467888
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.973937
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 376.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 15145.06
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": 58.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.0 s 机械臂仍在临摹补笔，右下角画面读出中的棕色花朵与花瓶内部仍有多条浅黄色缝隙；持续检查至视频 59.1 s，缺口未被补成成功参考的连续色块。该次 reward 的 image_success=0，四项颜色、结构与边缘指标未过阈值，而 strict_ok=1；失败落在临摹画面这一步。视频 58.0 s 仅为末段缺陷的导航锚点，不表示此刻发生了不可逆事件。"
+  },
+  "unmet": {
+   "sunflowers_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "色块内露底",
+    "t": 58.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.0–59.1 s 右下角无遮挡的画面读出中，上部棕色花朵内部留下多条浅黄色带状缝隙，下部花瓶也有横向浅色缝隙，形成细条叠绕的外观；成功参考视频 59.8 s 的同一部位是较连贯、填实的棕色色块。",
+    "note_zh": "候选现象“色块内露底”描述实际可见的绘画缺陷。现有条目没有对应的材料沉积或涂画缺陷；画笔已能接触并留色，不能据此改称没建立接触、没保持住或未经证实的末端位姿误差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": null,
+    "log_step": 312,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的整幅笔触覆盖方案不足以重建目标色块，而不是仅在执行结束时才出现未知的偏差。log step 303 的生成代码以区域骨架路径、每笔固定半径和贪心残差补笔构造最终376笔；log step 312 对仅将背景按颜色归组的这一最终候选自行离线评估，已得到 mean_de=4.0512、p90_de=8.4887、ssim=0.8354、edge_corr=0.5560，均未达 DAG 所列阈值。log step 337 仍选用该笔触文件，log step 338、340–342 将此方案生成轨迹并执行；视频 58.0–59.1 s 的色块内露底与这一覆盖不足相符。上述分数属于 agent 离线估计，只用于说明所选规划本身已有不足，不替代该次评分器指标。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，无法精确分离实际刷毛笔宽、压深跟踪与 agent 离线笔触渲染假设对最终误差的各自贡献；因此不另推断控制子类。首次蘸料只按视频 0.1–0.2 s 的井边动作、随后带色刷尖及练习笔迹定位，不能恢复更细的接触时刻。"
+ },
+ "summary_zh": "机械臂约在视频 0.2 s 蘸上颜料，随后完成练习划线并在主纸绘制黄色背景、花束和花瓶，节点终态为1/2。临摹画面始终未达标：视频 58.0–59.1 s 仍有明显色块内露底，评分器的色差、结构和边缘指标不合格；日志表明最终执行的笔触规划在离线评估时也已有同类不足。无逐帧状态日志，无法进一步分离笔触规划误差与实际刷毛沉积误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "brush_loaded 约视频 0.2 s 达成、sunflowers_copied 未达成（评分器 de_mean/ssim/edge 均未过阈值，视频末帧仍有色块内露底），断点与现象、根因均有证据支撑，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:54:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--9r6e6ql/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--9r6e6ql/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fcfe9698a2afa04e19d533f55c7f8fd920bbc0d6762023ec02adc806ea5b4fda",
+   "video_sha256": "e7987501aad3b635801c524cca2fa098a30550f026bb6c66cdae22a19ec190fb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--crew4on.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--crew4on.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c79c6cec7df21fb70aab27056f79ccfbc1afc20
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--crew4on.json
@@ -0,0 +1,336 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-standard--crew4on",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.844627,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.844627,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 2.9741,
+   "de_p90": 6.9585,
+   "de_bad_frac": 0.051107,
+   "de_mean_sheet": 2.9739,
+   "ssim_L": 0.886805,
+   "paint_iou": 0.987994,
+   "paint_area_mm2": 51256.2,
+   "target_paint_area_mm2": 51034.3,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 1.7995,
+   "ssim_L_fine": 0.820391,
+   "edge_corr": 0.685121,
+   "region_cov_min": 0.027875,
+   "region_cov_mean": 0.959776,
+   "n_regions": 89.0,
+   "n_strokes": 383.0,
+   "n_practice_strokes": 11.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 2.9726,
+   "de_p90_unregistered": 6.9423,
+   "ssim_L_unregistered": 0.886557,
+   "edge_corr_unregistered": 0.685168,
+   "paint_iou_unregistered": 0.987916,
+   "path_mm": 9430.65,
+   "longest_stroke_mm": 183.26,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.8901,
+   "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": 0.844627,
+   "sim_steps": 11451,
+   "resets": 0.0,
+   "n_contacts": 394.0,
+   "samples": 57255.0,
+   "contact_samples": 21624.0,
+   "max_press_m": 0.014886,
+   "max_tilt_deg_in_contact": 0.35588,
+   "max_speed_in_contact_mps": 0.236816,
+   "handle_contact_samples": 751.0,
+   "n_dips": 41.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 11451,
+   "physics_steps": 57255,
+   "steps": 11070,
+   "calls": 93,
+   "elapsed_s": 3521.5,
+   "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-sunflowers-i00-standard--crew4on/replay.mp4",
+  "duration_s": 57.4,
+  "fps": 10.0,
+  "frames": 574,
+  "sha256": "3b84f6df14df36f4600dfbf442ff545a9f03cee751c669a1fcb806c0cacdbfe8"
+ },
+ "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": 0.3,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.3 s 的场景视角中，机械臂将已安装画笔移到颜料井处，随后离开井区；视频 0.5–0.7 s 的侧视图可见带绿色颜料的刷尖在练习纸上移动，并留下细有色线条。log step 13 记录该次练习纸标定动作。"
+     },
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "推断：视频约 0.6 s 的首次有色练习笔迹证实刷毛此前已经加载颜料，按节点判据在此锁存；首次蘸入井内的瞬间受机械臂和低分辨率遮挡，到达时刻约有 0.3 s 不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.3–0.7 s，机械臂末端安装的画笔先到颜料井再在练习纸留下绿色线条；推断：刷毛实际浸入井中加载颜料。候选接触名为“蘸取”，刷毛加载颜料不属于抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": 73,
+      "text_zh": "观察：视频 0–2 s 主纸空白，机械臂在旁边练习纸留下多条标定线；视频 4–8 s 主纸出现浅黄色底色，视频 10–24 s 逐步增加赭棕花束、下部花瓶和绿色细节，视频 26–56 s 继续叠色补画。log step 73、76、80、97、104 依次记录主纸底层、后续色层和补画操作；本录像是一段连续绘画过程，reward 中 resets=0、resumes=0、graded_by_live=1。"
+     },
+     {
+      "t": 44.0,
+      "log_step": 85,
+      "text_zh": "观察：视频 42–44.5 s 的无遮挡画面读出已呈现花束和花瓶，但左下绿色叶片与花瓶左缘之间、花束内部色块交界及纸面右侧仍有白色细缝和碎小缺口。log step 85 中 agent 自己对首遍实画的图像估计为 mean_de=4.6904、ssim=0.8697、edge_corr=0.6617，并报告 11158 个未涂像素；这是 agent 的近似图像分析，不代替评分器终值。"
+     },
+     {
+      "t": 57.3,
+      "log_step": 104,
+      "text_zh": "观察：视频 56.4–57.3 s 逐帧检查显示最后补画后机械臂抬起，花瓶左缘附近及上方花朵与枝叶交界仍有零散白缝，部分色块边缘碎裂；成功参照视频 59.8 s 的相同视角显示这些区域较连续，仅用于比较完成外观。该次评分器终值 de_mean=2.9741>2、de_p90=6.9585>6、ssim_L=0.886805<0.92、edge_corr=0.685121<0.8，paint_iou=0.987994 达标而 image_success=0，故末态临摹图像未达标。"
+     },
+     {
+      "t": 57.3,
+      "log_step": null,
+      "text_zh": "推断：全程粗检及视频 42–44.5 s、56.4–57.3 s 的加密检查中，早期画面缺少大片色块，后期虽补画仍保留局部缺口，未见曾经完整达标而后又被覆盖破坏的阶段；结合评分器终值，将本节点判为未达到，而非将花束大体成形计作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4–56.9 s 的俯视、场景及侧视图显示单臂末端安装的画笔刷毛多次降到主纸、沿纸面移动并留下有宽度的浅黄、赭棕和绿色笔触，期间抬笔换位置并补画；作用端为刷毛，对象为主画纸。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 2.9741
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 6.9585
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.886805
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.685121
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.987994
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 383.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 9430.65
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": 44.0,
+   "log_step": 85,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 44 s 机械臂正在主纸上继续临摹，已有的花束和花瓶色块之间仍可见白缝、局部轮廓缺口；视频 56.4–57.3 s 的最后补画没有全部消除这些缺陷。评分器终局四项图像指标未达标，且主纸 n_strokes=383 超过上限380；断点为临摹步骤，视频 44 s 只作为成形后残留缺陷的导航锚点，不代表精确首次偏离时刻。"
+  },
+  "unmet": {
+   "sunflowers_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部漏涂与色块边缘缺口",
+    "t": 44.0,
+    "log_step": 85,
+    "evidence_zh": "观察：视频 44 s 的画面读出中，花瓶左侧与绿色叶片相邻的区域、花束色块交界及画纸右侧可见细白缝和碎小空隙；视频 57.3 s 仍残留零散白缝和破碎边缘。成功参照视频 59.8 s 的对应区域更连续；本次 log step 85 和103 的实画图像分析也报告未涂像素。",
+    "note_zh": "候选现象为“局部漏涂与色块边缘缺口”：描述已画结果中的可见材料覆盖缺陷；已有接触、运动、全身等条目不能准确表达，不能仅因相似度低而虚构失握、碰撞或接触力异常。"
+   },
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": null,
+    "log_step": null,
+    "evidence_zh": "观察：inputs/run.json 的评分器 reward 报告主纸 n_strokes=383、max_strokes=380、stroke_count_ok=0；这是 n_strokes_cap 的实际超限，练习纸另计 n_practice_strokes=11。视频 57.3 s 为该次连续绘画的末态，但缺少逐笔计数日志，不能定位第381个实际接触笔触出现在哪一帧。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 44.0,
+    "log_step": 97,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的笔触覆盖模型与机械臂实际落笔效果不一致，导致细色块覆盖和轮廓复现不足。log step 70 的局部笔触渲染预测 mean_de=1.3447、ssim=0.9823、edge_corr=0.9608，实际执行后 log step 85 的相机分析明显变差；log step 90–91 又将特定色区的不足覆盖对应到已执行的计划笔触，log step 97 因而将补画笔触半径乘1.22再加1像素来补足实心覆盖。视频 44 s 至57.3 s 可见虽补画仍留缺口；这些证据支持笔触执行与接触覆盖控制不足，但不足以唯一分解为压力标定、轨迹采样或跟踪反馈子类。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态或在线逐笔评分记录，不能精确确定首次图像偏差与第381个主纸笔触的时刻，也不能逐帧复算图像阈值。log step 106 的 agent 自述计划合计379笔，而评分器实际计383笔；多出的4次连续接触如何产生，现有视频分辨率和日志不足以定位，不将计划条目数视为实际笔数，也不据此追加规划或交付根因。笔触覆盖偏差的控制子类仍不能唯一确定。"
+ },
+ "summary_zh": "机械臂在视频约0.6 s 已通过练习纸有色笔迹证实蘸料完成，随后在主纸画出向日葵花束和花瓶并多次补画，最终达到1/2个节点。临摹步骤在视频约44 s 可见色块之间的漏涂与边缘缺口，补画后仍有残留，评分器四项图像指标未达标，且实际383笔超过380笔上限；日志支持笔触模型与实际覆盖控制不一致。没有逐帧状态和逐笔计数，首次偏离、超笔数时刻及具体控制子类不能精确确定。",
+ "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、时间与接触与视频一致：蘸料约视频 0.6 s 首次出现有色练习笔迹，临摹图在视频 57.3 s 末态仍有白缝与边缘缺口，评分器四项图像指标未达标，final 判 false 合理；断点、现象（漏涂缺口、违反笔数上限）与控制类根因有证据支持，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": "2026-10-30T22:54:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--crew4on/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--crew4on/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "08671653494e86b63d9c207dc21c2b8a044c781227ad11e522ccf025b694ca84",
+   "video_sha256": "3b84f6df14df36f4600dfbf442ff545a9f03cee751c669a1fcb806c0cacdbfe8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--cwk7zqp.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--cwk7zqp.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6317bbcae5232ca1eaa0690981bbef27c3a00de
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--cwk7zqp.json
@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-standard--cwk7zqp",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.859478,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 1.9962,
+   "de_p90": 4.1739,
+   "de_bad_frac": 0.032214,
+   "de_mean_sheet": 1.9962,
+   "ssim_L": 0.949789,
+   "paint_iou": 0.989721,
+   "paint_area_mm2": 51608.5,
+   "target_paint_area_mm2": 51083.9,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 1.4415,
+   "ssim_L_fine": 0.912096,
+   "edge_corr": 0.897717,
+   "region_cov_min": 0.005807,
+   "region_cov_mean": 0.978424,
+   "n_regions": 89.0,
+   "n_strokes": 398.0,
+   "n_practice_strokes": 8.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 1.9962,
+   "de_p90_unregistered": 4.1739,
+   "ssim_L_unregistered": 0.949789,
+   "edge_corr_unregistered": 0.897717,
+   "paint_iou_unregistered": 0.989721,
+   "success": 0,
+   "final_reward": 0.859478,
+   "path_mm": 15512.86,
+   "longest_stroke_mm": 229.14,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.9756,
+   "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": 0.859478,
+   "sim_steps": 66149,
+   "resets": 1.0,
+   "n_contacts": 406.0,
+   "samples": 330745.0,
+   "contact_samples": 122586.0,
+   "max_press_m": 0.014553,
+   "max_tilt_deg_in_contact": 0.228127,
+   "max_speed_in_contact_mps": 0.042029,
+   "handle_contact_samples": 455.0,
+   "n_dips": 327.0,
+   "dry_strokes": 0.0,
+   "n_frames": 597.0,
+   "replay_wall_s": 179.95,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 66149,
+   "physics_steps": 330745,
+   "steps": 66148,
+   "calls": 552,
+   "elapsed_s": 2827.8,
+   "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-sunflowers-i00-standard--cwk7zqp/replay.mp4",
+  "duration_s": 59.7,
+  "fps": 10.0,
+  "frames": 597,
+  "sha256": "5db0495f21676fc51348b425365e158e5559cc71e8beee25ab64483ef1664a91"
+ },
+ "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": 12,
+      "text_zh": "观察：视频 0.2–0.7 s 的侧视及练习纸视图中，机械臂安装画笔在练习纸留下浅黄色笔迹；视频 1.3–1.9 s 开始在主纸留下同色宽条。log step 12 的校准脚本先将刷尖降入颜料井，再画练习线，首次有色笔迹证实画笔已加载；到达时间取视频约 0.3 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装画笔的刷毛蘸取颜料井内颜料；视频 0.3 s 起练习纸出现有色线条，结合 log step 12 的入井动作确认。候选接触名为“蘸取”，刷毛浸入并加载颜色不属于抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 59.6,
+      "log_step": 107,
+      "text_zh": "观察：视频 0–3 s 主纸由空白变为浅黄底，视频 6–24 s 逐步形成赭棕花束和绿色细节，视频 54–59.6 s 仍有修补笔触，视频 59.6 s 机械臂移开后的主纸呈现完整花束与下部花瓶；参考成功录像的相同视图呈现相近布局。评分器 reward 报告 de_mean=1.9962≤2、de_p90=4.1739≤6、ssim_L=0.949789≥0.92、edge_corr=0.897717≥0.8、paint_iou=0.989721≥0.95，全部画面阈值满足。"
+     },
+     {
+      "t": 59.6,
+      "log_step": 104,
+      "text_zh": "推断：DAG 将画面状态与笔数约束分开，故虽然评分器 success=0、image_success=0，且 stroke_count_ok=0，临摹画面节点终值仍为真。无中途评分，视频 59.6 s 仅作最终画面达标的保守确认锚点，首次跨过全部图像阈值的时间不确定，可能更早。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 1.3–59.4 s，机械臂使固定安装画笔的带色刷毛下降接触并扫过主画纸，依次铺浅黄底色、赭棕花束、绿色细节及修补已有色块，留下宽度随压入程度变化的笔迹。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 1.9962
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 4.1739
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.949789
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.897717
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.989721
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 398.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 15512.86
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": null,
+   "log_step": 104,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54–59.4 s 机械臂仍在主纸追加修补笔触，视频 59.6 s 停笔移开。评分器记录主纸 n_strokes=398、max_strokes=380、stroke_count_ok=0，success=0；五项画面指标全部达标，path_budget_ok=1、scribble_ok=1。log step 104 仅按计划列表统计为372次扫笔。推断：失败发生在临摹操作累计超过主纸笔数上限时；没有逐笔计数与视频对应，无法定位第381笔的可靠视频时刻，故时间留空。"
+  },
+  "phenomena": [
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": null,
+    "log_step": 104,
+    "evidence_zh": "观察：评分器 reward 报告主纸含颜料笔触398笔，超过任务与DAG约束 n_strokes_cap 的380笔上限18笔，stroke_count_ok=0；视频 54–59.4 s 可见机器人继续追加修补后于视频 59.6 s 停笔。推断：累计笔数超限无法由后续画面改善修复；具体越限时刻无逐笔日志可定位。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 有本次和成功参考视频、完整运行日志，但没有逐帧状态或逐笔评分日志。log step 104、108 的372次扫笔是agent计划计数，评分器实际计为398笔；现有材料未明确解释多出的26笔如何产生，不能据此区分规划计数问题、额外接触或控制执行问题，根因留空。无中途图像评分，画面节点首次达标的时间无法精确恢复，区间起点用视频59.6 s的终态确认，可能晚于实际到达；第381笔的视频时刻同样未知。",
+  "unmet": {
+   "sunflowers_copied": true
+  }
+ },
+ "summary_zh": "机械臂先蘸料并在练习纸留下有色线条，再在主纸完成浅黄底、赭棕向日葵花束、绿色细节和花瓶；终局五项画面指标均达标，两个节点最终均为真。失败断在临摹操作中的主纸笔数超限：评分器计398笔，超过380笔上限，路径预算和涂绕占比均通过。日志按计划仅统计372次扫笔，多出26笔的机制、确切越限时刻及图像首次达标时刻缺乏直接证据，未进一步归因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点终值为真与评分器五项画面指标一致；失败断点落在临摹步骤、现象为违反约束（398笔>380笔上限，评分器字段支持）合理；根因留空并写明 gap_zh，因多出26笔的机制没有证据，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:00:50Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--cwk7zqp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--cwk7zqp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5ae44c9db9f7e4646dcbe0ca4ae008a4092d32581d29f40f8265a997741585cc",
+   "video_sha256": "5db0495f21676fc51348b425365e158e5559cc71e8beee25ab64483ef1664a91",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--othjdnb.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--othjdnb.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c68c6eaf9763a5702a444f3945bf7cf8dda7fa
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--othjdnb.json
@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-standard--othjdnb",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 1,
+  "reward": 0.913775,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "final_reward": 0.913775,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 1.7245,
+   "de_p90": 3.5834,
+   "de_bad_frac": 0.015855,
+   "de_mean_sheet": 1.7245,
+   "ssim_L": 0.959113,
+   "paint_iou": 0.989983,
+   "paint_area_mm2": 51577.5,
+   "target_paint_area_mm2": 51083.9,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 1.0801,
+   "ssim_L_fine": 0.923956,
+   "edge_corr": 0.91547,
+   "region_cov_min": 0.080573,
+   "region_cov_mean": 0.992521,
+   "n_regions": 89.0,
+   "n_strokes": 377.0,
+   "n_practice_strokes": 22.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 1.7245,
+   "de_p90_unregistered": 3.5834,
+   "ssim_L_unregistered": 0.959113,
+   "edge_corr_unregistered": 0.91547,
+   "paint_iou_unregistered": 0.989983,
+   "path_mm": 15846.53,
+   "longest_stroke_mm": 165.16,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.8682,
+   "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": 0.913775,
+   "sim_steps": 33471,
+   "resets": 1.0,
+   "n_contacts": 399.0,
+   "samples": 167355.0,
+   "contact_samples": 70730.0,
+   "max_press_m": 0.013821,
+   "max_tilt_deg_in_contact": 0.161677,
+   "max_speed_in_contact_mps": 0.124039,
+   "handle_contact_samples": 0.0,
+   "n_dips": 343.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 99.56,
+   "replay_success": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 33471,
+   "physics_steps": 167355,
+   "steps": 33462,
+   "calls": 412,
+   "elapsed_s": 1630.9,
+   "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": 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-sunflowers-i00-standard--othjdnb/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "bb7e6b72663a907bdd5d67687adc3aa895fdaa90ad83fce367980d952c82e1bd"
+ },
+ "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": 13,
+      "text_zh": "观察：视频 0.2 s 的场景视角中机械臂末端位于颜料井处，随后移向练习纸；视频 0.5–0.7 s 的侧视图可见安装画笔贴着练习纸划出橄榄绿色线条。log step 13 的脚本先执行蘸取 paint09，再画练习线。"
+     },
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "推断：结合初始干笔规则与视频 0.5–0.7 s 新增的有色笔迹，刷毛此前已加载颜料；将首次蘸料近似标在视频 0.2 s 的颜料井动作处，刷尖入液的瞬间不清晰，时间约有 0.3 s 不确定性。评分器 reward 还记录 n_dips=343、n_dry_strokes=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装画笔的刷毛蘸入颜料井加载颜色，依据视频 0.2 s 的井处动作及视频 0.5–0.7 s 练习纸有色线条；候选接触名为“蘸取”，刷毛浸入颜料不属于抓握、压/擦或从下方承托的托/舀。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": 31,
+      "text_zh": "观察：视频 2.6 s 主纸尚空白，视频 2.8–3.7 s 机械臂用安装画笔接触主纸并扫出赭棕色弯曲笔迹；随后视频全程的粗采样显示底色、花束与下部花瓶逐步形成，视频 57.0–59.7 s 机械臂仍在主纸处补画细节。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 41,
+      "text_zh": "观察：视频 59.8 s 机械臂移开，俯视图和无遮挡画面读出均呈现浅黄背景、赭棕花束、橄榄绿细节及下部花瓶；log step 41 记录最后一批绘画结束。inputs/run.json 的 reward 给出 image_success=1、success=1、replay_success=1、live_matches_replay=1，且 de_mean=1.7245、de_p90=3.5834、ssim_L=0.959113、edge_corr=0.91547、paint_iou=0.989983，全部达到 DAG 图像阈值。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 46,
+      "text_zh": "推断：由终局图像和评分器通过判定，临摹节点终态为真；将视频 59.8 s 作为可确认达标的保守时间锚点。没有逐帧评分或状态日志，首次跨过全部阈值可能更早，无法从外观精确定位。agent 在 log step 46 自述估计平均色差约 2.6、可能未成功，这是相机估计而非评分器结果，不据此判为失败。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 2.8–3.7 s 及后续绘画帧中，机械臂末端固定安装的画笔以带颜料刷尖贴压主画纸并沿曲线扫动，纸上随即出现并累积有色笔迹；工具与纸面的接触按压/擦记录。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 1.7245
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 3.5834
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.959113
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.91547
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.989983
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 377.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 15846.53
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：该次评分轨迹先蘸料并在练习纸试画，再在主纸完成向日葵临摹，终态两节点均完成；评分器 success=1、live_matches_replay=1，五项图像指标及笔数377、路径15846.53毫米、涂绕占比0均通过。观察：agent 在 log step 46 自述估计色差可能未达标，但实际评分器色差均值为1.7245，成功判定以该次评分为准。推断：没有逐帧状态或评分，首次蘸料约在视频 0.2 s，临摹达标仅能保守锚定于视频 59.8 s 的终局，可能更早；本次运行本身也是所提供的成功参考，不能作为独立对照。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点终态为真，与视频和评分器（success=1，各图像指标达标）一致；时间锚点保守且已在证据中说明，无失败，故无断点。接触标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:56:27Z",
+  "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-sunflowers-i00-standard--othjdnb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--othjdnb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9723280b0b6dd8da83bc13a8c02658f159e2c6b4a510cd6cc7f3aadcbb48f1db",
+   "video_sha256": "bb7e6b72663a907bdd5d67687adc3aa895fdaa90ad83fce367980d952c82e1bd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--rkwsa9v.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--rkwsa9v.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc564f4014c7cb3099bfb0100357f257f5cab5bc
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--rkwsa9v.json
@@ -0,0 +1,321 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-standard--rkwsa9v",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6659,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 6.682,
+   "de_p90": 17.6019,
+   "de_bad_frac": 0.249304,
+   "de_mean_sheet": 6.682,
+   "ssim_L": 0.687525,
+   "paint_iou": 0.983164,
+   "paint_area_mm2": 51105.1,
+   "target_paint_area_mm2": 51013.4,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 5.2838,
+   "ssim_L_fine": 0.60843,
+   "edge_corr": 0.17232,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.76287,
+   "n_regions": 89.0,
+   "n_strokes": 379.0,
+   "n_practice_strokes": 24.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 6.6995,
+   "de_p90_unregistered": 17.6196,
+   "ssim_L_unregistered": 0.686834,
+   "edge_corr_unregistered": 0.169337,
+   "paint_iou_unregistered": 0.982588,
+   "success": 0,
+   "final_reward": 0.6659,
+   "path_mm": 10478.05,
+   "longest_stroke_mm": 158.31,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.4535,
+   "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": 0.6659,
+   "sim_steps": 12747,
+   "resets": 1.0,
+   "n_contacts": 403.0,
+   "samples": 63735.0,
+   "contact_samples": 20654.0,
+   "max_press_m": 0.014016,
+   "max_tilt_deg_in_contact": 0.481382,
+   "max_speed_in_contact_mps": 0.143094,
+   "handle_contact_samples": 0.0,
+   "n_dips": 37.0,
+   "dry_strokes": 0.0,
+   "n_frames": 581.0,
+   "replay_wall_s": 103.69,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 12747,
+   "physics_steps": 63735,
+   "steps": 12618,
+   "calls": 598,
+   "elapsed_s": 4452.2,
+   "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,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-sunflowers-i00-standard--rkwsa9v/replay.mp4",
+  "duration_s": 58.1,
+  "fps": 10.0,
+  "frames": 581,
+  "sha256": "433c55f520768af1a673c47b5090feed8b06d55c60d4b6d92ba14caae5c4aca9"
+ },
+ "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": 30,
+      "text_zh": "观察：视频0.5–0.7 s的全景中，机械臂将安装画笔移到颜料井处并下探，随后离开；log step 30的机器人调用明确执行蘸取paint06。"
+     },
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–2.4 s的侧视中刷尖已呈绿色，视频2.4 s练习纸上出现绿色线条，视频2.5–3.0 s线条继续增加。"
+     },
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "推断：结合视频0.5–0.7 s的井处下探和随后练习纸有色笔迹，首次加载记为视频约0.6 s，时刻误差约0.3 s；这是已发生事件，后续换色不使节点失去。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂安装画笔的刷尖在颜料井处下探并加载颜色，随后练习纸留下绿色笔迹；候选接触名为蘸取，现有抓握、压/擦、托/舀均不能准确表示刷毛浸入颜料后带色。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频0–13.5 s主纸仍为空白，机械臂主要在旁边练习纸工作；视频14.0–14.5 s主纸开始出现浅黄色宽笔触，随后逐色铺画。"
+     },
+     {
+      "t": 58.0,
+      "log_step": null,
+      "text_zh": "观察：视频56.0–58.0 s及末帧的无遮挡画面读出显示，主纸已大体铺满黄、棕、绿色，但中央花束被多条粗斜棕色笔触连成片，花朵的弧形轮廓和内部浅色分隔明显缺失；成功参考视频59.8 s的相同视图可见这些分隔和较清楚的花朵轮廓。"
+     },
+     {
+      "t": 58.0,
+      "log_step": null,
+      "text_zh": "观察：本次run.json的reward报告de_mean=6.682、de_p90=17.6019、ssim_L=0.687525、edge_corr=0.17232，分别未满足≤2、≤6、≥0.92、≥0.8；paint_iou=0.983164达标，image_success=0，live_matches_replay=1。"
+     },
+     {
+      "t": 58.0,
+      "log_step": null,
+      "text_zh": "推断：视频中前段主纸空白，中段仍缺大量目标色块，末段虽覆盖但形状持续失真，结合评分器图像指标，临摹达标状态从未建立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频14.0–57.6 s，机械臂用安装画笔的带色刷尖下压并扫过主画纸，留下浅黄底及后续棕、绿色笔触；侧视可见刷尖压纸与抬笔交替，画面读出同步增加色块。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 6.682
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 17.6019
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.687525
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.17232
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.983164
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 379.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 10478.05
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": 56.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频56.0–57.6 s机械臂仍在主纸上补画，无遮挡读出中的棕色宽条已使花束中央多个细轮廓糊并；到视频58.0 s停止运动后仍未修复。评分器最终图像色差、结构与边缘指标均未达标，而n_strokes=379、path_mm=10478.05、scribble_share=0均在规定范围内，失败步骤是整幅临摹。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔触形状失真",
+    "t": 56.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频56.0–58.0 s的无遮挡画面读出中，花束中央及上部以粗斜棕色条块相连，花朵内部的浅色弧线、相邻色块间的细分隔没有保留下来；成功参考视频59.8 s相同视图可见更清楚的弧形轮廓和色块分隔。",
+    "note_zh": "候选现象为笔触形状失真；已有接触类或运动类条目不能准确表达已成功上色但画面笔触形状与细节失真的结果，因此使用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 162,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent在log step 162选择以较宽扫掠笔触覆盖色区并裁减为378笔；同一步自己的离线渲染检查已给出平均色差7.9699、结构相似度0.6185、边缘相关0.1817，明显低于任务要求，log step 163仍执行该方案，log step 167确认执行完毕。视频56.0–58.0 s的条块化结果与该方案一致，说明用于整幅重建的笔触分解方案本身未能保留目标结构；此归因依据执行前已经显露的方案误差，不把agent自述时间不足当作根因。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，首次蘸料时刻由井处动作与后续有色笔迹联合推断；图像精确指标仅有终局评分。agent在log step 176、179自述实际深压笔宽大于练习标定，但缺少独立的逐笔宽度对照，故不进一步添加控制子类根因。",
+  "unmet": {
+   "sunflowers_copied": false
+  }
+ },
+ "summary_zh": "机械臂完成了蘸料，并在练习后逐色画满主纸，最终节点完成1/2；整幅向日葵临摹始终未达标。视频56.0–58.0 s仍可见粗条块覆盖细轮廓，日志显示agent在离线检查已预测不达标后仍执行该笔触分解方案，最终色差、结构和边缘指标失败。无逐帧状态日志，首次蘸料时间为近似推断，不能进一步量化笔宽标定误差的贡献。",
+ "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（蘸料达成、临摹未达成）、断点和根因与视频及日志一致：agent 在 log step 162 明知离线评分远低于阈值仍选定宽扫掠笔触方案，视频末段粗条块遮盖细轮廓。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": "2026-10-30T22:54:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--rkwsa9v/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--rkwsa9v/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "82eb254776a0f275dffb5c25ae4d3ffaa1d6f07593ca7c3aa58545b54594bd28",
+   "video_sha256": "433c55f520768af1a673c47b5090feed8b06d55c60d4b6d92ba14caae5c4aca9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--xa3yrzb.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--xa3yrzb.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fdc975dd8632670a863ca04f3ac0e68fc1c6fbe
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--xa3yrzb.json
@@ -0,0 +1,323 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-standard--xa3yrzb",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.181696,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.181696,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 16.2035,
+   "de_p90": 44.8861,
+   "de_bad_frac": 0.480917,
+   "de_mean_sheet": 16.2035,
+   "ssim_L": 0.465688,
+   "paint_iou": 0.744533,
+   "paint_area_mm2": 38675.8,
+   "target_paint_area_mm2": 51000.9,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 14.7838,
+   "ssim_L_fine": 0.389205,
+   "edge_corr": 0.222463,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.529663,
+   "n_regions": 89.0,
+   "n_strokes": 397.0,
+   "n_practice_strokes": 3.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "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": 16.197,
+   "de_p90_unregistered": 44.9003,
+   "ssim_L_unregistered": 0.464766,
+   "edge_corr_unregistered": 0.222696,
+   "paint_iou_unregistered": 0.744493,
+   "path_mm": 8648.13,
+   "longest_stroke_mm": 55.79,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.1418,
+   "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": 0.181696,
+   "sim_steps": 21856,
+   "resets": 0.0,
+   "n_contacts": 400.0,
+   "samples": 109280.0,
+   "contact_samples": 28198.0,
+   "max_press_m": 0.012115,
+   "max_tilt_deg_in_contact": 0.105484,
+   "max_speed_in_contact_mps": 0.077637,
+   "handle_contact_samples": 0.0,
+   "n_dips": 17.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 21856,
+   "physics_steps": 109280,
+   "steps": 21853,
+   "calls": 136,
+   "elapsed_s": 1679.4,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.186,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.842,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-sunflowers-i00-standard--xa3yrzb/replay.mp4",
+  "duration_s": 59.2,
+  "fps": 10.0,
+  "frames": 592,
+  "sha256": "b10d279049fd72d345709244db79858d16d33df5f1007c0806a8943d4eba7b9d"
+ },
+ "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 刷尖未带明显颜色，视频 0.4 s 侧视图中机械臂已安装画笔的刷毛呈橄榄色，视频 0.8 s 练习纸上出现同色短线；视频 1.4 s 又可见浅黄色练习笔迹。首次加载以视频 0.4 s 为近似锚点，精度约 0.2 s。"
+     },
+     {
+      "t": 0.8,
+      "log_step": 24,
+      "text_zh": "推断：视频 0.4 s 的带色刷毛及视频 0.8 s 的有色练习笔迹证实机械臂已完成首次蘸料；log step 24 执行的校准脚本先将刷尖降入颜料井，再到练习纸划线，与该顺序一致。此节点为首次蘸料事件，后续换色不使其失去。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端固定安装画笔的刷毛进入颜料井并加载颜料，依据视频 0.4 s 已带色刷毛和视频 0.8 s 练习纸有色线条。候选接触名为蘸取；刷毛浸入颜料井不适合归为抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.4 s 主纸基本空白；视频 1.8 s 主纸已有浅黄色细线，随后机械臂逐批绘制黄色、橄榄色和赭棕色笔迹。已逐段检查视频全程，未见画面形成达标的完整色块。"
+     },
+     {
+      "t": 53.0,
+      "log_step": 93,
+      "text_zh": "观察：视频 53.0 s 无遮挡的右下画面中，背景、花束及下部花瓶均有大量白纸缝隙，主要由细长分散笔迹构成；视频 55.2 s、58.2 s 及终帧视频 59.1 s 仍有这些缺口。log step 93 中 agent 也自述笔迹之间有空白，随后追加补画；成功参考视频 59.5 s 的相同视角呈现连续的花束及花瓶色块，仅用于比较完成外观。"
+     },
+     {
+      "t": 59.1,
+      "log_step": null,
+      "text_zh": "观察：本次评分器 reward 给出 image_success=0，de_mean=16.2035（要求≤2）、de_p90=44.8861（要求≤6）、ssim_L=0.465688（要求≥0.92）、edge_corr=0.222463（要求≥0.8）、paint_iou=0.744533（要求≥0.95），与视频 59.1 s 可见的大量漏涂一致；整幅临摹终态未达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 1.8–58.7 s 机械臂以固定安装画笔的带色刷毛按压并扫过主画纸，抬笔后留下细长有色笔迹；侧视图显示刷尖反复落纸、划动和抬起，右下画面显示对应新增颜色。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 16.2035
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 44.8861
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.465688
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.222463
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.744533
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 397.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 8648.13
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": 53.0,
+   "log_step": 93,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 53.0 s 机械臂绘制的主纸仍有贯穿背景、花束及花瓶的大量白色缝隙，后续补画到视频 58.7 s 仍未消除，视频 59.1 s 终帧保留缺口；log step 93 记录 agent 在主轮绘制后发现空白并准备补画。本次评分器 image_success=0，另有 n_strokes=397 超过上限380；失败步骤为整幅临摹，视频 53.0 s 是未修复缺陷的导航锚点。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔迹间漏涂",
+    "t": 53.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 53.0 s、55.2 s、58.2 s 和59.1 s 的右下画面显示，机械臂留下的黄色与赭棕色长条笔迹之间有密集白纸空隙，花束及花瓶的应有色块被切成分散线条；补画后这些空隙仍然明显。",
+    "note_zh": "候选现象为笔迹间漏涂，描述可见的绘画缺陷。现有接触、运动、全身、约束和汇报条目均不能准确表达这种已接触并留下颜料、但区域覆盖零碎的结果，故采用其他；不是只复述图像评分未达标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 93,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的整幅绘画路径和笔数分配未充分覆盖目标区域：log steps 67–70 的最终366笔规划输出已为各颜色保留大量 remaining 像素（如第7色2517/9439、第10色1238/7043）；log step 90 的绘后图像分析仍检出各色未涂区域，log step 93 明确认出笔迹间空白，却以只剩14笔的规划计数安排修补，log steps 101、104–105 按380个计划接触结束。视频 53.0–59.1 s 显示这些缺口始终存在，评分器实际记录397笔。证据支持覆盖路径与笔数预算规划不足，不能把零逆解失败等同于画面已被正确复制。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志；已查看本次及成功参考视频，节点与断点可判断，但首次蘸料时刻只定位至约视频 0.4 s，不能精确恢复每笔接触。日志只保留380个计划接触的统计，评分器实际为397笔，缺少逐笔计数变化，无法确定多出的17笔分别如何产生；也不足以进一步区分漏涂中的刷宽建模误差与实际刷毛跟踪误差。",
+  "unmet": {
+   "sunflowers_copied": false
+  }
+ },
+ "summary_zh": "本次机械臂完成首次蘸料并持续在主纸绘画，最终完成1/2个节点；临摹向日葵始终未达标，视频 53.0–59.1 s 可见花束、花瓶和背景由分散窄笔迹构成并留有大量白纸缝隙。日志支持覆盖路径及笔数分配不足，后续补画未修复缺口；评分器的五项图像指标均未通过，主纸实际397笔也超过380笔上限。无逐帧状态日志，首次蘸料时间及多出的17笔的具体来源不能精确定位。",
+ "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 约0.4 s达成、sunflowers_copied 未达成（grader五项图像指标均未过，终帧大量白缝）、断点与现象/根因均有证据支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:02:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--xa3yrzb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--xa3yrzb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4fee0ba7b21f7eb6da7b0d87d66c473ffa1390c15cbd22198e9521c60644a74c",
+   "video_sha256": "b10d279049fd72d345709244db79858d16d33df5f1007c0806a8943d4eba7b9d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--ydtzlqp.json b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--ydtzlqp.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a0f962fb4baf89f18f09a1872516e79d23a57cd
--- /dev/null
+++ b/phase2/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--ydtzlqp.json
@@ -0,0 +1,351 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-sunflowers-i00-standard--ydtzlqp",
+ "taskKey": "robopaint/acrylic_sunflowers",
+ "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443",
+ "outcome": {
+  "success": 0,
+  "reward": 0.402529,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.402529,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 9.3224,
+   "de_p90": 23.4342,
+   "de_bad_frac": 0.347885,
+   "de_mean_sheet": 9.3224,
+   "ssim_L": 0.506374,
+   "paint_iou": 0.921534,
+   "paint_area_mm2": 47529.9,
+   "target_paint_area_mm2": 50864.0,
+   "n_target_strokes": 292.0,
+   "de_mean_coarse": 7.3903,
+   "ssim_L_fine": 0.403815,
+   "edge_corr": 0.168475,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.66152,
+   "n_regions": 89.0,
+   "n_strokes": 504.0,
+   "n_practice_strokes": 47.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 380.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": -0.6656,
+   "register_dy_mm": -0.6656,
+   "register_shift_mm": 0.9413,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 9.445,
+   "de_p90_unregistered": 23.6699,
+   "ssim_L_unregistered": 0.502664,
+   "edge_corr_unregistered": 0.154879,
+   "paint_iou_unregistered": 0.919403,
+   "path_mm": 22260.15,
+   "longest_stroke_mm": 228.65,
+   "max_path_mm": 41700.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.0629,
+   "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": 0.402529,
+   "sim_steps": 26702,
+   "resets": 1.0,
+   "n_contacts": 551.0,
+   "samples": 133510.0,
+   "contact_samples": 29495.0,
+   "max_press_m": 0.014894,
+   "max_tilt_deg_in_contact": 3.075233,
+   "max_speed_in_contact_mps": 0.161019,
+   "handle_contact_samples": 21.0,
+   "n_dips": 41.0,
+   "dry_strokes": 0.0,
+   "n_frames": 595.0,
+   "replay_wall_s": 143.02,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 26702,
+   "physics_steps": 133510,
+   "steps": 22548,
+   "calls": 915,
+   "elapsed_s": 3204.4,
+   "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,
+   "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-sunflowers-i00-standard--ydtzlqp/replay.mp4",
+  "duration_s": 59.5,
+  "fps": 10.0,
+  "frames": 595,
+  "sha256": "8cf62104a141124b71fa5313f2a8202a6a6d084986767608739c2c05549063d7"
+ },
+ "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": 40,
+      "text_zh": "观察：视频0.2 s机械臂刷尖位于调色盘一侧，视频0.4 s刷尖已带赭棕色并移向练习纸，视频0.9 s练习纸留下小段棕色笔迹；log step 39–40的脚本及执行输出记录机械臂先蘸第8号颜料井再试画。"
+     },
+     {
+      "t": 0.9,
+      "log_step": null,
+      "text_zh": "推断：由蘸井动作、随后带色刷尖及练习纸有色笔迹，将首次加载锚定在视频约0.3 s，精度约0.2 s；这是首次取得颜料的锁存事件，后续换色不使它失效。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端安装画笔的刷毛进入颜料井，随后刷尖带色并在练习纸留下棕色笔迹；候选接触名为蘸取，现有抓握、压/擦、托/舀不能准确表示刷毛浸入颜料后加载颜色。"
+     }
+    ]
+   },
+   "sunflowers_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.9,
+      "log_step": null,
+      "text_zh": "观察：视频0.9 s主画纸为空白；视频6.5–13.0 s机械臂以画笔逐行铺浅黄色底，笔触间保留密集浅色横缝。"
+     },
+     {
+      "t": 34.0,
+      "log_step": 103,
+      "text_zh": "观察：视频约14–40 s机械臂逐步画出赭棕花束、绿色细节及下部花瓶，但色块内部由间隔开的平行线构成，未形成参考成功画面那样的连续宽色块；log step 103记录主画阶段执行结束。"
+     },
+     {
+      "t": 59.4,
+      "log_step": 160,
+      "text_zh": "观察：视频42–59.2 s机械臂继续补画；视频58.5–59.4 s各帧和视频59.4 s无遮挡终帧仍显示底色、花朵及花瓶中的大量浅色缝隙。对照成功参考视频59.4 s右下无遮挡视图，其相应区域呈连续色块。"
+     },
+     {
+      "t": 59.4,
+      "log_step": null,
+      "text_zh": "观察：本次run.json的reward报告de_mean=9.3224、de_p90=23.4342、ssim_L=0.506374、edge_corr=0.168475、paint_iou=0.921534，分别未达到≤2、≤6、≥0.92、≥0.8、≥0.95，image_success=0，live_matches_replay=1。"
+     },
+     {
+      "t": 59.4,
+      "log_step": null,
+      "text_zh": "推断：结合全程由空白到条纹画面再到局部补画的帧序列及终局正式图像指标，整幅临摹未出现达标区间；这不是仅从总成功值为0反推未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频6.5–59.2 s机械臂以末端安装画笔的带色刷毛按压、扫过主画纸，先铺浅黄底，再画赭棕及绿色色块，随后补画；可见接触后留下连续线形颜料痕迹。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "CIELAB",
+   "threshold": 2.0,
+   "direction": "lower_better",
+   "value": 9.3224
+  },
+  {
+   "name": "de_p90",
+   "unit": "CIELAB",
+   "threshold": 6.0,
+   "direction": "lower_better",
+   "value": 23.4342
+  },
+  {
+   "name": "ssim_L",
+   "unit": "1",
+   "threshold": 0.92,
+   "direction": "higher_better",
+   "value": 0.506374
+  },
+  {
+   "name": "edge_corr",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.168475
+  },
+  {
+   "name": "paint_iou",
+   "unit": "1",
+   "threshold": 0.95,
+   "direction": "higher_better",
+   "value": 0.921534
+  },
+  {
+   "name": "n_strokes",
+   "unit": "strokes",
+   "threshold": 380,
+   "direction": "lower_better",
+   "value": 504.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 41700.0,
+   "direction": "lower_better",
+   "value": 22260.15
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sunflowers_copied",
+   "t": 12.0,
+   "log_step": 103,
+   "where": "操作中",
+   "evidence_zh": "观察：视频11.5–12.5 s机械臂铺底过程中，主纸已出现贯穿底色的密集浅色横缝；视频约34 s花束色块同样呈条纹状，视频59.4 s补画后的终态仍有大量缝隙，正式图像评分未通过。推断：失败发生在临摹步骤的覆盖操作中，视频12.0 s为早期可清楚看见这一未修复缺陷的导航锚点。"
+  },
+  "unmet": {
+   "sunflowers_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "条纹状漏涂",
+    "t": 12.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频11.5–12.5 s浅黄底由分离的细线组成，视频34 s及视频58.5–59.4 s花束和花瓶内部仍穿插大量浅色平行缝；成功参考视频59.4 s对应区域是连续宽色块。",
+    "note_zh": "候选现象为条纹状漏涂，描述实际画面中的覆盖缺陷；现有接触、运动、全身、约束、汇报条目不能准确表达这一材料绘制结果，不能由这些缝隙断言画笔从未接触或发生滑脱。"
+   },
+   {
+    "cat": "约束",
+    "item": "违反约束",
+    "t": null,
+    "log_step": 149,
+    "evidence_zh": "观察：本次run.json的reward报告主纸n_strokes=504、max_strokes=380、stroke_count_ok=0；视频59.4 s为该次绘画的终态。log step 103记录主画计划378笔，log step 149和log step 160又分别执行88笔和40笔补画。推断：累计主纸笔数超过n_strokes_cap上限；现有证据未定位越过第380笔的精确视频时刻，因此t留空。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志 / 视频",
+    "log_step": 94,
+    "evidence_zh": "观察：log step 94将规划器的笔宽设为w_mm=6.0，并裁至378笔；log step 91的执行器以PRESS=0.0065和V_SWEEP=0.15生成压纸扫线。视频11.5–12.5 s已铺底区域中相邻笔迹未连接，视频59.4 s花束及底色仍有大量平行缝。推断：主画笔触布局采用的间距相对实际沉积笔宽过大，压深与扫线布局未形成所需的连续覆盖；这是具体画笔接触布局的不适配。",
+    "note_zh": "agent在log step 177自述原先按约6毫米笔宽规划、实际约3.9毫米；精确的3.9毫米未由独立状态日志核实，归因只依赖代码中的布局设定和视频可见的分离笔迹，未验证一种能在380笔内完成全部验收的替代布局。"
+   },
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 评分器字段",
+    "log_step": 149,
+    "evidence_zh": "观察：log step 84明确知道必须少于380笔，log step 94生成378笔主画；log step 144的补画方案评估用380/N折扣比较超过上限的方案，log step 147生成88笔并在log step 149执行，log step 160又执行40笔。评分器最终报告n_strokes=504>380。推断：agent在主画已接近上限时选择通过额外多轮补画改善连续分数，计划未保留成功所必需的总笔数约束；这与笔迹间距导致漏涂是独立证据支持的失败原因。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志或中途正式图像评分，首次蘸料时间为视频近似值，无法逐笔对齐主纸计数或定位笔数首次超限的精确视频时刻。agent在log step 172、176–177汇总506笔及自测图像分数，与评分器正式的504笔和ssim_L=0.506374不同；原生指标采用评分器字段，agent的3.9毫米笔宽仅为其自述，不能据此核实误差的全部物理来源。"
+ },
+ "summary_zh": "机械臂在视频约0.3 s蘸上颜料，随后从空白主纸画出向日葵花束和花瓶，并继续补画，最终完成1/2节点。临摹步骤在铺底时即出现条纹状漏涂，视频59.4 s仍有大量平行缝，五项正式图像指标均未达标；接近笔数上限后继续补画又使正式计数达到504笔，超过380笔。日志与画面支持笔触间距和实际覆盖不匹配及补画预算策略失当，但缺少逐帧状态和中途正式评分，精确笔宽及超限时刻未独立核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、接触、断点与现象/根因均有帧与评分器字段支持；视频12 s为条纹底色，59.4 s终帧仍有大量缝隙，评分器504>380笔，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": "2026-10-30T22:49:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--ydtzlqp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--ydtzlqp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "261085cb903f8c698ed6c1777c4dba75e7d5fa1a92950c13567ca10dd33c1196",
+   "video_sha256": "8cf62104a141124b71fa5313f2a8202a6a6d084986767608739c2c05549063d7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--pqlt9oa.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--pqlt9oa.json
new file mode 100644
index 0000000000000000000000000000000000000000..3db438e43964fbbd5a513f4afb5cb4d7c3bd676a
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--pqlt9oa.json
@@ -0,0 +1,376 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-privileged--pqlt9oa",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.776919,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.776919,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.776919,
+   "boundary_precision": 0.915707,
+   "boundary_recall": 0.916029,
+   "boundary_f": 0.915868,
+   "ink_precision": 0.862429,
+   "ink_recall": 0.886824,
+   "min_stroke_coverage": 0.750163,
+   "mean_stroke_coverage": 0.894377,
+   "stray_frac": 0.030486,
+   "missing_frac": 0.016568,
+   "ink_area_mm2": 1680.19,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.933201,
+   "stroke_coverage_02": 0.932331,
+   "stroke_coverage_03": 0.872796,
+   "stroke_coverage_04": 0.8551,
+   "stroke_coverage_05": 0.862293,
+   "stroke_coverage_06": 0.952614,
+   "stroke_coverage_07": 0.909831,
+   "stroke_coverage_08": 0.841545,
+   "stroke_coverage_09": 0.849323,
+   "stroke_coverage_10": 0.869006,
+   "stroke_coverage_11": 0.852489,
+   "stroke_coverage_12": 0.871058,
+   "stroke_coverage_13": 0.909326,
+   "stroke_coverage_14": 0.897712,
+   "stroke_coverage_15": 0.882808,
+   "stroke_coverage_16": 0.750163,
+   "stroke_coverage_17": 0.933582,
+   "stroke_coverage_18": 0.812174,
+   "stroke_coverage_19": 0.967375,
+   "stroke_coverage_20": 0.928571,
+   "stroke_coverage_21": 0.946725,
+   "stroke_coverage_22": 0.903433,
+   "stroke_coverage_23": 0.951005,
+   "stroke_coverage_24": 0.945161,
+   "stroke_coverage_25": 0.840426,
+   "stroke_coverage_26": 0.975113,
+   "stroke_coverage_27": 0.90303,
+   "n_strokes": 12.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.84375,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 10.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.776919,
+   "boundary_f_unregistered": 0.915868,
+   "min_stroke_coverage_unregistered": 0.750163,
+   "stray_frac_unregistered": 0.030486,
+   "path_mm": 901.5,
+   "longest_stroke_mm": 171.09,
+   "mark_width_mm": 2.0,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "n_marked_pieces": 12.0,
+   "n_strokes_counted": 12.0,
+   "max_stroke_path_mm": 860.0,
+   "longest_counted_stroke_mm": 171.02,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 3.5201,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.776919,
+   "sim_steps": 5530.0,
+   "resets": 1.0,
+   "n_contacts": 12.0,
+   "samples": 27650.0,
+   "contact_samples": 14041.0,
+   "max_press_m": 0.006491,
+   "max_tilt_deg_in_contact": 0.034605,
+   "max_speed_in_contact_mps": 0.009014,
+   "handle_contact_samples": 0.0,
+   "n_dips": 12.0,
+   "dry_strokes": 0.0,
+   "n_frames": 554.0,
+   "replay_wall_s": 100.9,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 5530,
+   "video_rendered": 1,
+   "agent_sessions": 72,
+   "agent_resets": 40,
+   "agent_sim_steps": 359255,
+   "agent_records": 29,
+   "agent_replays": 40,
+   "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": 0.797,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.841,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-caoshu-beiquelindanshui-i00-privileged--pqlt9oa/replay.mp4",
+  "duration_s": 55.4,
+  "fps": 10.0,
+  "frames": 554,
+  "sha256": "09809f4cbadd6d8f1ada702cda428d7fa26437cb212b7772a164a481ee1fb042"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.5 s 笔尖向砚台下降，视频 0.7 s 侧视中机械臂固定毛笔的笔尖到达黑色砚台墨面，随后抬起；到达时间约有0.2秒误差。"
+     },
+     {
+      "t": 2.2,
+      "log_step": null,
+      "text_zh": "观察：视频 2.2 s 起右下画布出现第一处黑色墨迹，此后机器人持续书写，佐证此前已载墨。"
+     },
+     {
+      "t": 55.3,
+      "log_step": 242,
+      "text_zh": "观察：log step 242 对最终交付文件的新进程回放报告 loaded=true、n_dips=12、dry_strokes=0，且其指标和评分器记录一致；视频 55.3 s 主纸保留整列墨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.7 s 机械臂末端固定安装的毛笔笔尖进入砚台墨面，随后返回纸面书写。候选接触为“浸蘸”：笔毫接触墨液载墨，现有压/擦或托/舀均不能准确表达，故用其他。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗采样显示机器人从上至下陆续写字；视频约 24.0 s 仍主要写到上半列，纸张下部尚未写全。"
+     },
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 46.0–55.3 s 右下无遮挡画布逐渐形成完整五字单列，视频约 53.5–55.0 s 机器人还在补写上部竖折笔。最终上部粗笔和下部环形的粗细、轮廓与成功参考视频 57.8 s 有差异，尤其下部环形右下收口较尖且有细小空隙。"
+     },
+     {
+      "t": 55.3,
+      "log_step": 242,
+      "text_zh": "观察：评分器记录以及 log step 240、242 的最终文件回放均给出 iou=0.776919、min_stroke_coverage=0.750163，低于各自0.80阈值；boundary_f=0.915868、stray_frac=0.030486、原始及分段计笔数均为12、strict_ok=1。"
+     },
+     {
+      "t": 55.3,
+      "log_step": null,
+      "text_zh": "推断：本次完成了整列书写但未满足整幅墨形的联合验收，终值为假；前段仍缺下部字形，后段补写至结束仍保留局部欠墨和轮廓偏差，未见达到后再失去的阶段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 2.2 s 起，机械臂以固定安装的毛笔笔毫接触主纸并沿笔画滑动、反复起落，右下画布随之留下黑色墨迹；视频约 53.5–55.0 s 再补上部笔画。实际接触链为毛笔笔毫压擦主纸，不另标不存在的夹爪握笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.776919
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.915868
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.750163
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.030486
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 12.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 12.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better",
+   "value": 901.5
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": 2.0
+  },
+  {
+   "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": 0.776919
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 54.0,
+   "log_step": 242,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 54.0 s 机器人正在主纸上补写上部粗笔，至视频 55.3 s 仍留有局部粗细和轮廓差异；最终文件的 log step 242 回放及评分器记录均确认交并比0.776919、最低区域覆盖0.750163未达标。推断：失败步骤是整幅临摹，视频 54.0 s 仅作为最后补写仍未修复墨形的导航锚点，不声称此时首次发生数值不达标。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部欠墨与轮廓变形",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0–55.3 s 的画布中，上部第二组竖折粗笔的宽度变化不均，下部环形右侧较直、右下收口尖且留下细小空隙；对照成功参考视频 57.8 s，同处粗笔更饱满、下部圆弧和收口更连续。这里记录本次成品的可见形状差异，参考仅用于比较。",
+    "note_zh": "候选现象为“局部欠墨与轮廓变形”，指纸面成品的笔宽、弧线和收口偏差；现有接触、运动等条目没有准确对应的画写成品现象，且未观测到夹持丢失、阻挡或明确的末端目标位姿失准，故用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 238,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：控制脚本将目标骨架转成12条书写路径（log step 37），随后用实际笔迹样本构建局部分段墨形并优化路径平移（log step 178），最后一次局部优化仍只有模型交并比约0.7878（log step 236）；最终生成记录为5530个动作、ik_failures=0，实际交并比0.776919（log step 238）。结合视频 54.0–55.3 s 的笔宽及圆弧残差，书写运动已执行，但路径与压深组合仍未使笔毫生成所需墨形，归于控制；现有证据不足以确定更细子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧原生评分，不能精确定位第一次未达阈值的时刻，也不能将评分器第16目标区域的覆盖率0.750163对应到某条可见笔画。视频可确认蘸墨及成品形状，蘸墨时间约有0.2秒误差；控制根因由脚本和回放记录推断，无法进一步区分路径、压深与笔毫模型补偿的贡献。"
+ },
+ "summary_zh": "机械臂在视频约 0.7 s 蘸墨，随后用12笔写出“北阙临丹水”整列，完成1/2个节点。整幅临摹因局部欠墨与轮廓变形未达标，最终交并比0.776919、最低区域覆盖0.750163均低于0.80，笔数及过程规则通过；日志支持控制层面的墨形调节不足。无状态日志和逐帧评分，无法定位首次数值不达标时刻或细分控制根因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "brush_inked 在约0.7 s达成、exemplar_copied 终值为假（评分器iou 0.777、最小覆盖0.750均低于0.80），与帧和评分记录一致；断点、现象、根因（控制，未细分）有证据且未过度声称。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:40:30Z",
+  "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-caoshu-beiquelindanshui-i00-privileged--pqlt9oa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--pqlt9oa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a619c96e974cc559a36d0b6fc57cc66e44ac3bad57c6a55b0a7cf007ff715ea8",
+   "video_sha256": "09809f4cbadd6d8f1ada702cda428d7fa26437cb212b7772a164a481ee1fb042",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--qszz5zy.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--qszz5zy.json
new file mode 100644
index 0000000000000000000000000000000000000000..d765581461a2f09edc830ffd652728b9927077be
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--qszz5zy.json
@@ -0,0 +1,343 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-privileged--qszz5zy",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.421398,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.421398,
+   "boundary_precision": 0.632436,
+   "boundary_recall": 0.508799,
+   "boundary_f": 0.56392,
+   "ink_precision": 0.537888,
+   "ink_recall": 0.660531,
+   "min_stroke_coverage": 0.108675,
+   "mean_stroke_coverage": 0.680941,
+   "stray_frac": 0.222467,
+   "missing_frac": 0.195626,
+   "ink_area_mm2": 2006.53,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.36045,
+   "stroke_coverage_02": 0.688722,
+   "stroke_coverage_03": 0.589421,
+   "stroke_coverage_04": 0.108675,
+   "stroke_coverage_05": 0.483778,
+   "stroke_coverage_06": 0.767157,
+   "stroke_coverage_07": 0.956794,
+   "stroke_coverage_08": 0.632299,
+   "stroke_coverage_09": 0.527958,
+   "stroke_coverage_10": 0.636257,
+   "stroke_coverage_11": 0.689593,
+   "stroke_coverage_12": 0.64564,
+   "stroke_coverage_13": 0.865285,
+   "stroke_coverage_14": 0.678331,
+   "stroke_coverage_15": 0.535102,
+   "stroke_coverage_16": 0.489237,
+   "stroke_coverage_17": 0.694776,
+   "stroke_coverage_18": 0.793913,
+   "stroke_coverage_19": 0.908194,
+   "stroke_coverage_20": 0.859244,
+   "stroke_coverage_21": 0.891703,
+   "stroke_coverage_22": 0.703863,
+   "stroke_coverage_23": 0.932161,
+   "stroke_coverage_24": 0.712903,
+   "stroke_coverage_25": 0.741641,
+   "stroke_coverage_26": 0.748869,
+   "stroke_coverage_27": 0.743434,
+   "n_strokes": 7.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.333333,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 7.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.419842,
+   "boundary_f_unregistered": 0.567151,
+   "min_stroke_coverage_unregistered": 0.108675,
+   "stray_frac_unregistered": 0.224033,
+   "success": 0,
+   "final_reward": 0.421398,
+   "path_mm": 1154.75,
+   "longest_stroke_mm": 482.5,
+   "mark_width_mm": 1.7423,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "scribble_max": 6.6317,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.421398,
+   "sim_steps": 4207.0,
+   "resets": 1.0,
+   "n_contacts": 7.0,
+   "samples": 21035.0,
+   "contact_samples": 16710.0,
+   "max_press_m": 0.006537,
+   "max_tilt_deg_in_contact": 0.023553,
+   "max_speed_in_contact_mps": 0.011866,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 527.0,
+   "replay_wall_s": 95.3,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 4207,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 44,
+   "agent_resets": 79,
+   "agent_sim_steps": 169185,
+   "agent_records": 2,
+   "agent_replays": 23,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--qszz5zy/replay.mp4",
+  "duration_s": 52.7,
+  "fps": 10.0,
+  "frames": 527,
+  "sha256": "c538cee1d83548a371769ad486b96ce2760079b784d286b2678348b15a7de45c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.2 s，机械臂将固定安装的毛笔移向机器人左侧砚台，侧视中笔尖在视频约 0.8–1.0 s 降到砚台圆盘处，然后抬起离开。载墨时刻取视频约 0.8 s，误差约 0.2 s。"
+     },
+     {
+      "t": 2.4,
+      "log_step": 161,
+      "text_zh": "推断：视频 2.4–3.8 s，右下画布视图出现并延长黑色墨迹；结合此前蘸墨动作、初态干笔和评分器 n_dips=1、dry_strokes=0，可确认已载墨。log step 161 对最终 4207 动作文件的回放也报告 n_dips=1；不把此前练习会话的蘸墨计入本次。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端固定安装的毛笔笔毫进入左侧砚台墨液载墨（视频约 0.8–1.0 s，后续主纸墨迹及评分器 n_dips=1 佐证）；候选方式“浸蘸”，现有压/擦、托/舀均不准确表示这一载墨接触。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–12.5 s，机械臂以毛笔在主纸上形成上中部墨迹；视频 8.0–12.5 s 的右下无遮挡画布中，回转处形成粗重墨块和短折线。视频 18–39 s 再写中下部，视频 42–51 s 补写上方及中段，始终可见大段空白或与参考不同的墨形，未出现完整达标字帖。"
+     },
+     {
+      "t": 52.6,
+      "log_step": 161,
+      "text_zh": "观察：视频 51.7、52.0、52.3、52.6 s 的右下画布结果一致；与成功参考视频 57.8 s 相比，本次上中部折转收缩成较粗墨块，中段细长的曲折连笔明显缩短、缺失，下方环形左侧更厚。评分器报告 iou=0.421398<0.80、boundary_f=0.56392<0.75、min_stroke_coverage=0.108675<0.80、stray_frac=0.222467>0.04，image_success=0；log step 161 保存并验证的最终 4207 动作与这些指标吻合。"
+     },
+     {
+      "t": 52.6,
+      "log_step": null,
+      "text_zh": "推断：前半段画布仍缺大片目标笔画，后半段已写部分的墨形偏差保留到视频 52.6 s，结合最终图像评分，可判整幅临摹从未达标，而非先达标后失去。原始有墨接触 7 笔且 strict_ok=1，最终失败来自图像匹配，不能归为超笔数或禁止填涂规则失败。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频 2.4–51 s，机械臂以固定毛笔的柔性笔毫压在主纸上移动并留下墨迹，期间多次抬笔换位；评分器记录 7 次主纸有墨接触，无练习纸笔画。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "value": 0.421398,
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "boundary_f",
+   "value": 0.56392,
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better"
+  },
+  {
+   "name": "min_stroke_coverage",
+   "value": 0.108675,
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stray_frac",
+   "value": 0.222467,
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes",
+   "value": 7.0,
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes_counted",
+   "value": null,
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "path_mm",
+   "value": 1154.75,
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better"
+  },
+  {
+   "name": "mark_width_mm",
+   "value": 1.7423,
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better"
+  },
+  {
+   "name": "scribble_share",
+   "value": null,
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "final_reward",
+   "value": 0.421398,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 10.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 10.0 s，机械臂已在主纸上书写，上中部墨迹的回转处粗重且折线形状与成功参考视频 20–24 s 的对应墨形不同；此后虽继续补写，上中部变形仍保留到视频 52.6 s，中段连笔也未补成参考形状。失败步骤为整幅临摹；视频约 10.0 s 是早期可见墨形偏差的导航锚点，不表示已知评分指标首次越界时刻。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 10.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 8.0–12.5 s，毛笔留下的上中部回转墨线挤成较粗短的折转和墨块；到视频 52.6 s，与成功参考视频 57.8 s 相比，中段应有的细长曲折连笔缩短、留白较大，下方环形左侧墨迹堆厚。笔迹的落点、转弯形状及粗细未贴合字帖，这些可见偏差在后续书写中没有修复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 142,
+    "evidence_zh": "推断：笔尖轨迹到实际笔毫墨迹的补偿不足导致局部转折漏画和墨形变形。log step 135–136 的会话诊断代码只取有墨样本，报告两条主要笔毫路径分别仅 243/360 mm、342/500 mm，而最近路径偏差均值约 0.66–0.69 mm；agent 据此自述弧长超前的割线构造会跳过细小转折（log step 137）。log step 142 明确恢复该割线构造，log step 145 撤销额外平滑，log step 158–161 仅再减速并保存、验证最终文件，最终图像指标仍不合格，与视频 10.0–52.6 s 的持续墨形偏差一致。诊断属会话证据，支持控制层归因；不能据此确认关节跟踪、逆解或单个压深参数是唯一原因。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，蘸墨触发时刻仅由视频动作和后续着墨估计；无法从视频精确重算逐帧图像指标或分离笔毫动态与机械臂跟踪误差。log step 135–136 为最终减速前的会话诊断，不作为本次回放的状态轨迹，故根因停在控制大类。评分记录未报告 n_strokes_counted 和 scribble_share，两个原生指标保留 null；按本次评分器已报告的 strict_ok=1 和 image_success=0 解释失败，不推定新增过程字段的值。"
+ },
+ "summary_zh": "本次回放完成毛笔蘸墨并以 7 笔在主纸上尝试整幅书写，最终完成 1/2 个节点，整幅临摹始终未达标。断点为临摹操作中的持续墨形偏差：转折墨迹堆厚、中段连笔缩短缺失，最终 IoU 为 0.421398、最低区域覆盖率为 0.108675；已报告过程规则通过，日志支持笔迹控制补偿不足。无状态日志，具体控制机制仅由会话诊断辅助推断，新增分段计笔数和涂绕占比未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点、时间、接触与断点均与视频和评分器数值一致（蘸墨约0.8 s，整幅临摹未达标）；根因停在“控制”有日志证据支持，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": "2026-10-30T22:40:14Z",
+  "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-caoshu-beiquelindanshui-i00-privileged--qszz5zy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--qszz5zy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e277ec4c2727120eefa91442118d2d7cd21231be8577b901dc4b9ea9cb02fbfb",
+   "video_sha256": "c538cee1d83548a371769ad486b96ce2760079b784d286b2678348b15a7de45c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--sdcavap.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--sdcavap.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f049ad47b25fdf740b715c6396a0564a69ae47b
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--sdcavap.json
@@ -0,0 +1,357 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-privileged--sdcavap",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.690978,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.690978,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.690978,
+   "boundary_precision": 0.884791,
+   "boundary_recall": 0.884086,
+   "boundary_f": 0.884438,
+   "ink_precision": 0.803077,
+   "ink_recall": 0.831938,
+   "min_stroke_coverage": 0.670588,
+   "mean_stroke_coverage": 0.827236,
+   "stray_frac": 0.037203,
+   "missing_frac": 0.034251,
+   "ink_area_mm2": 1692.69,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.885582,
+   "stroke_coverage_02": 0.794737,
+   "stroke_coverage_03": 0.724181,
+   "stroke_coverage_04": 0.751192,
+   "stroke_coverage_05": 0.853641,
+   "stroke_coverage_06": 0.836601,
+   "stroke_coverage_07": 0.819036,
+   "stroke_coverage_08": 0.930961,
+   "stroke_coverage_09": 0.711006,
+   "stroke_coverage_10": 0.74269,
+   "stroke_coverage_11": 0.670588,
+   "stroke_coverage_12": 0.878479,
+   "stroke_coverage_13": 0.830311,
+   "stroke_coverage_14": 0.749664,
+   "stroke_coverage_15": 0.872858,
+   "stroke_coverage_16": 0.721461,
+   "stroke_coverage_17": 0.859701,
+   "stroke_coverage_18": 0.915652,
+   "stroke_coverage_19": 0.947648,
+   "stroke_coverage_20": 0.938025,
+   "stroke_coverage_21": 0.931004,
+   "stroke_coverage_22": 0.809013,
+   "stroke_coverage_23": 0.948492,
+   "stroke_coverage_24": 0.867742,
+   "stroke_coverage_25": 0.677812,
+   "stroke_coverage_26": 0.835973,
+   "stroke_coverage_27": 0.831313,
+   "n_strokes": 12.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.446154,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 11.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.687768,
+   "boundary_f_unregistered": 0.875435,
+   "min_stroke_coverage_unregistered": 0.683343,
+   "stray_frac_unregistered": 0.042867,
+   "path_mm": 1000.13,
+   "longest_stroke_mm": 330.32,
+   "mark_width_mm": 1.8926,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "scribble_max": 6.0277,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.690978,
+   "sim_steps": 3211.0,
+   "resets": 1.0,
+   "n_contacts": 12.0,
+   "samples": 16055.0,
+   "contact_samples": 7998.0,
+   "max_press_m": 0.006146,
+   "max_tilt_deg_in_contact": 0.08533,
+   "max_speed_in_contact_mps": 0.070864,
+   "handle_contact_samples": 0.0,
+   "n_dips": 12.0,
+   "dry_strokes": 0.0,
+   "n_frames": 537.0,
+   "replay_wall_s": 68.5,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 3211,
+   "video_rendered": 1,
+   "agent_sessions": 11,
+   "agent_resets": 4,
+   "agent_sim_steps": 13413,
+   "agent_records": 2,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--sdcavap/replay.mp4",
+  "duration_s": 53.7,
+  "fps": 10.0,
+  "frames": 537,
+  "sha256": "618fc13abdf79d0c5114388e7cbfb9ac5e03b7e527ba1b1bdb64a9afa3d273b7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.9,
+      "log_step": null,
+      "text_zh": "观察：视频0.6–1.1 s，机械臂将固定毛笔降到场景视图中主纸旁黑色圆形砚台处（机器人的左侧），侧视笔尖降至墨面；视频2.8 s起右下画布视图出现墨迹。推断：首次载墨约在视频0.9 s完成，时刻误差约0.3 s。"
+     },
+     {
+      "t": 53.6,
+      "log_step": 185,
+      "text_zh": "观察：视频53.6 s纸上保留整列墨迹；log step 185对交付文件的官方回放返回loaded=true、n_dips=12、dry_strokes=0。首次蘸墨后仍多次返回砚台。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频0.6–1.1 s机械臂末端固定毛笔的笔尖降入主纸旁砚台，之后纸上出现墨迹。候选接触为“浸蘸”；笔毫与墨液接触载墨，现有压/擦、托/舀均不能准确表达该交互。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频2.8–25.0 s机械臂用毛笔在主纸逐步写出中下部及上部部分连笔，视频24.0–26.4 s可见下部环形笔画右下方留下断口；之后机械臂继续补写其他笔画。"
+     },
+     {
+      "t": 53.6,
+      "log_step": 189,
+      "text_zh": "观察：视频52.6–53.6 s的无遮挡画布已有五字单列的大体结构，但下部环形笔画右下方仍有白色断口；与成功参考视频57.8 s相比，上半部粗笔的宽度、下端墨点和末尾横向收笔形状也不同。log step 189最终交付回放与run.json评分一致：iou=0.690978<0.80，min_stroke_coverage=0.670588<0.80，image_success=0；boundary_f=0.884438、stray_frac=0.037203、n_strokes=12及strict_ok=1通过相应验收。"
+     },
+     {
+      "t": 53.6,
+      "log_step": 189,
+      "text_zh": "推断：此前画布尚缺后续才补写的笔画，最后也仍存在未补全区域，未观察到整幅临帖达标的时段；结合交付回放的两项图像验收失败，整幅临摹节点全程未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频2.8–53.1 s机械臂通过末端固定毛笔在主纸落笔、压笔并沿路径拖动，画布随之出现连笔及粗细墨迹；笔画间抬笔并多次返回砚台。作用端为笔毫，对象为主纸。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "value": 0.690978,
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "boundary_f",
+   "value": 0.884438,
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better"
+  },
+  {
+   "name": "min_stroke_coverage",
+   "value": 0.670588,
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stray_frac",
+   "value": 0.037203,
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes",
+   "value": 12.0,
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes_counted",
+   "value": null,
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "path_mm",
+   "value": 1000.13,
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better"
+  },
+  {
+   "name": "mark_width_mm",
+   "value": 1.8926,
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better"
+  },
+  {
+   "name": "scribble_share",
+   "value": null,
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "final_reward",
+   "value": 0.690978,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 25.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频24.0–26.4 s，机械臂书写下部环形区域后，右下画布的环形笔画右下方仍有断口；视频52.6–53.6 s该缺口仍在，整列虽已补齐大体结构，墨形仍与成功参考视频57.8 s有局部差异。log step 189交付回放确认交并比和最低区域覆盖率未达标。推断：失败发生在整幅临摹的书写操作中，视频25.0 s仅作局部缺口的导航锚点，不表示此时已有实时评分或不可逆判负。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部墨形偏差",
+    "t": 25.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频24.8–26.4 s及52.6–53.6 s，主纸下部环形笔画右下方有细小白色断口；最终字形与成功参考视频57.8 s相比，上半部粗笔较瘦、下端墨点较细长，末尾横向收笔较长。整列的主要笔画已写出，但这些局部轮廓和粗细没有被后续书写修复。",
+    "note_zh": "候选“局部墨形偏差”：所见为落墨后字形的断口和粗细、收笔轮廓差异；现有接触或运动条目不足以准确表示这类图像结果，视频也不足以把它等同于某一笔尖位姿误差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent的书写路径与笔宽/压深生成未达到局部墨形所需精度。log step 130和187的脚本将目标骨架平滑后生成毛笔路径并设定压深；log step 170执行前自建笔毫模型已预测iou=0.6986、最低覆盖率0.6147，实际执行返回iou=0.690978且IK失败计数为0，log step 189最终交付回放重现该结果。因此主要偏差已存在于所生成的落墨方案，证据不支持将失败归于IK无解或交付回放异常。",
+    "note_zh": "保留控制大类；现有证据不能进一步唯一分离路径平滑、局部笔宽/压深选择与笔毫模型近似的贡献。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧原生图像评分，蘸墨时刻依据侧视下降与随后着墨估计；视频25.0 s只定位可见墨形缺口，不能定位各像素首次不匹配的精确时刻。录像分辨率不足以逐一核验27个区域，最终数值采用评分器及交付回放；n_strokes_counted和scribble_share未报告，原生指标保留null，不能用原始笔数替代。根因可支持控制层面，但不足以确定具体控制子类。"
+ },
+ "summary_zh": "机械臂约在视频0.9 s完成蘸墨，随后以12笔写出五字单列的大体结构，最终完成1/2个节点。整幅临摹始终未达标：下部环形笔画留有断口，局部粗细和收笔轮廓存在偏差，最终交并比0.690978、最低区域覆盖率0.670588均低于0.80；日志支持书写控制精度不足，笔数及过程规则通过。无状态日志或逐帧评分，蘸墨时刻为近似值，且不能进一步区分路径、压深和笔毫模型误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "蘸墨约0.9 s与笔毫变黑、整幅临摹未达标（iou 0.691、最低覆盖0.671，评分器与交付回放一致）、断点exemplar_copied、其他·局部墨形偏差（可见断口，符合FAIL-15）及停在“控制”大类的根因均有证据支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:38:41Z",
+  "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-caoshu-beiquelindanshui-i00-privileged--sdcavap/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--sdcavap/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0e15b9460d623fb5486606804df3f6606578648928e4d145c5426f9fdfd3cfb7",
+   "video_sha256": "618fc13abdf79d0c5114388e7cbfb9ac5e03b7e527ba1b1bdb64a9afa3d273b7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--vgpwcrx.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--vgpwcrx.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e1a10f4b2fcc574e3474fc3bb4f260c2b2d0ffa
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--vgpwcrx.json
@@ -0,0 +1,328 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-privileged--vgpwcrx",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 1,
+  "reward": 0.856503,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.856503,
+   "boundary_precision": 0.976874,
+   "boundary_recall": 0.985654,
+   "boundary_f": 0.981245,
+   "ink_precision": 0.891636,
+   "ink_recall": 0.956019,
+   "min_stroke_coverage": 0.921218,
+   "mean_stroke_coverage": 0.953004,
+   "stray_frac": 0.010363,
+   "missing_frac": 0.0,
+   "ink_area_mm2": 1751.95,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.962963,
+   "stroke_coverage_02": 0.946617,
+   "stroke_coverage_03": 0.940806,
+   "stroke_coverage_04": 0.975214,
+   "stroke_coverage_05": 0.954578,
+   "stroke_coverage_06": 0.953431,
+   "stroke_coverage_07": 0.971196,
+   "stroke_coverage_08": 0.989051,
+   "stroke_coverage_09": 0.949971,
+   "stroke_coverage_10": 0.952047,
+   "stroke_coverage_11": 0.951131,
+   "stroke_coverage_12": 0.955473,
+   "stroke_coverage_13": 0.971503,
+   "stroke_coverage_14": 0.938089,
+   "stroke_coverage_15": 0.971255,
+   "stroke_coverage_16": 0.940639,
+   "stroke_coverage_17": 0.941791,
+   "stroke_coverage_18": 0.961739,
+   "stroke_coverage_19": 0.959788,
+   "stroke_coverage_20": 0.921218,
+   "stroke_coverage_21": 0.948472,
+   "stroke_coverage_22": 0.957082,
+   "stroke_coverage_23": 0.93593,
+   "stroke_coverage_24": 0.972043,
+   "stroke_coverage_25": 0.93465,
+   "stroke_coverage_26": 0.930995,
+   "stroke_coverage_27": 0.943434,
+   "n_strokes": 11.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.944444,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 10.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.856503,
+   "boundary_f_unregistered": 0.981245,
+   "min_stroke_coverage_unregistered": 0.921218,
+   "stray_frac_unregistered": 0.010363,
+   "success": 1,
+   "final_reward": 0.856503,
+   "path_mm": 1469.87,
+   "longest_stroke_mm": 271.11,
+   "mark_width_mm": 1.3614,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "scribble_max": 4.8377,
+   "strict_ok": 1.0,
+   "image_success": 1.0,
+   "image_final_reward": 0.856503,
+   "sim_steps": 6925.0,
+   "resets": 1.0,
+   "n_contacts": 11.0,
+   "samples": 34625.0,
+   "contact_samples": 30045.0,
+   "max_press_m": 0.005678,
+   "max_tilt_deg_in_contact": 0.010889,
+   "max_speed_in_contact_mps": 0.007587,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 579.0,
+   "replay_wall_s": 122.6,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 6925,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 4,
+   "agent_sim_steps": 30707,
+   "agent_records": 2,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--vgpwcrx/replay.mp4",
+  "duration_s": 57.9,
+  "fps": 10.0,
+  "frames": 579,
+  "sha256": "6ee0c47698159f22416de62224b1dcb3df147cfbbd911cc527b4f799fb225368"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "观察：视频0.2–0.7 s，机器人将固定安装的毛笔移到场景视图中主纸左侧的小黑圆砚台处并下探，随后抬起移回主纸；视频1.4 s起，右下画布视图开始出现墨迹。"
+     },
+     {
+      "t": 0.4,
+      "log_step": 35,
+      "text_zh": "推断：结合视频0.3–0.7 s的下探动作、视频1.4 s起实际着墨，以及交付文件的新进程回放输出loaded=true、n_dips=1、dry_strokes=0（log step 35），毛笔已完成一次浸墨；起点取视频约0.4 s，低分辨率视图不能精确辨认笔尖跨越墨面的帧，估计误差约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机器人末端固定毛笔的笔毫在砚台内浸入墨液，视频0.3–0.7 s的下探及随后着墨、评分器n_dips=1共同支持该接触。候选名称“浸蘸”；此接触用于载墨，压/擦、托/舀均不能准确表示。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      56.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "观察：机器人毛笔在视频1.4 s起于主纸上落墨；视频2–52 s的连续抽帧显示墨形从上向下逐渐形成，右下无遮挡画布显示连笔和粗细变化，视频53–56.8 s继续补写最下方字的尾部。"
+     },
+     {
+      "t": 56.5,
+      "log_step": null,
+      "text_zh": "推断：视频56.4–56.8 s最下部末笔已基本形成，整体五字单列接近视频57.8 s的最终墨形，据此将首次达标估计在视频约56.5 s；评分记录只提供终局指标，不能逐帧核定首次同时跨过所有图像阈值的时刻，该起点约有1 s不确定性。"
+     },
+     {
+      "t": 57.8,
+      "log_step": null,
+      "text_zh": "观察：视频56.8–57.8 s右下画布保留完整的单列字迹，未见追加墨迹破坏结果；inputs/run.json的评分器终局字段为success=1、image_success=1、strict_ok=1、iou=0.856503、boundary_f=0.981245、min_stroke_coverage=0.921218、stray_frac=0.010363、n_strokes=11，满足本次运行的验收规则。"
+     },
+     {
+      "t": null,
+      "log_step": 35,
+      "text_zh": "观察：log step 35的交付文件新进程回放输出success=1、n_actions=6925、n_contacts=11、pen_down=false，图像与过程指标和最终评分记录一致；log step 36的核对脚本输出两次回放均成功且末态哈希相同。"
+     },
+     {
+      "t": 57.8,
+      "log_step": null,
+      "text_zh": "推断：按本次运行的评分版本认定终态达标（P19）；DAG也注明当前版本新增分段计笔n_strokes_counted和涂绕占比scribble_share，但本次评分记录未报告这两项，不能由原始11笔或strict_ok=1推定新增规则的具体数值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频1.4–56.8 s，机器人通过末端固定毛笔的笔毫在主纸表面按压、拖动并留下永久墨迹，落笔、移笔与画布上新增墨线相对应；只标毛笔与主纸的接触链路。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.856503
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.981245
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.921218
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.010363
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 11.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better",
+   "value": 1469.87
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": 1.3614
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.856503
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人先于视频约0.4 s蘸墨，随后自上而下书写，视频约56.5 s整幅临摹基本形成，末态完成2/2节点；评分器以11笔、交并比0.856503及strict_ok=1判定成功。log step 35–36的交付文件回放核对与评分结果一致，视频最后一秒未见墨形被破坏。无状态日志，首次图像达标时刻为视觉估计；按P19沿用本次运行规则，当前DAG新增的n_strokes_counted、scribble_share未报告，不能据此核验新增判据，所给oracle与本次运行同一runId，未作独立参照。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两节点（蘸墨、临摹完成）与视频一致：约0.7–1.0 s笔尖在砚台处变黑，1.4 s后落墨，56 s左右五字基本成形、57.8 s无破坏；评分器成功字段支持终态。接触标注合理，无失败层，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:39:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--vgpwcrx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--vgpwcrx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "967faec60d40bcdcae6094b770c9c3acefd28c26682c0f6b6d282c80324a4036",
+   "video_sha256": "6ee0c47698159f22416de62224b1dcb3df147cfbbd911cc527b4f799fb225368",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--vuuxski.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--vuuxski.json
new file mode 100644
index 0000000000000000000000000000000000000000..d474b6838c9d58068729bd6a222da45cee052087
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--vuuxski.json
@@ -0,0 +1,348 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-privileged--vuuxski",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.736963,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.736963,
+   "boundary_precision": 0.894807,
+   "boundary_recall": 0.89824,
+   "boundary_f": 0.89652,
+   "ink_precision": 0.827249,
+   "ink_recall": 0.871009,
+   "min_stroke_coverage": 0.801484,
+   "mean_stroke_coverage": 0.872311,
+   "stray_frac": 0.037715,
+   "missing_frac": 0.016388,
+   "ink_area_mm2": 1720.4,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.815476,
+   "stroke_coverage_02": 0.858647,
+   "stroke_coverage_03": 0.855164,
+   "stroke_coverage_04": 0.803622,
+   "stroke_coverage_05": 0.924297,
+   "stroke_coverage_06": 0.920752,
+   "stroke_coverage_07": 0.903569,
+   "stroke_coverage_08": 0.89629,
+   "stroke_coverage_09": 0.875221,
+   "stroke_coverage_10": 0.840936,
+   "stroke_coverage_11": 0.811765,
+   "stroke_coverage_12": 0.801484,
+   "stroke_coverage_13": 0.943005,
+   "stroke_coverage_14": 0.868102,
+   "stroke_coverage_15": 0.887783,
+   "stroke_coverage_16": 0.804958,
+   "stroke_coverage_17": 0.870149,
+   "stroke_coverage_18": 0.807826,
+   "stroke_coverage_19": 0.927921,
+   "stroke_coverage_20": 0.865546,
+   "stroke_coverage_21": 0.889956,
+   "stroke_coverage_22": 0.873391,
+   "stroke_coverage_23": 0.957286,
+   "stroke_coverage_24": 0.883871,
+   "stroke_coverage_25": 0.823708,
+   "stroke_coverage_26": 0.917421,
+   "stroke_coverage_27": 0.924242,
+   "n_strokes": 12.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.954545,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 12.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.736963,
+   "boundary_f_unregistered": 0.89652,
+   "min_stroke_coverage_unregistered": 0.801484,
+   "stray_frac_unregistered": 0.037715,
+   "success": 0,
+   "final_reward": 0.736963,
+   "path_mm": 909.34,
+   "longest_stroke_mm": 234.53,
+   "mark_width_mm": 1.9956,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "scribble_max": 3.1138,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.736963,
+   "sim_steps": 1486.0,
+   "resets": 1.0,
+   "n_contacts": 12.0,
+   "samples": 7430.0,
+   "contact_samples": 5580.0,
+   "max_press_m": 0.00601,
+   "max_tilt_deg_in_contact": 0.092176,
+   "max_speed_in_contact_mps": 0.031752,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 497.0,
+   "replay_wall_s": 83.3,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1486,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 95,
+   "agent_resets": 124,
+   "agent_sim_steps": 164566,
+   "agent_records": 89,
+   "agent_replays": 32,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--vuuxski/replay.mp4",
+  "duration_s": 49.7,
+  "fps": 10.0,
+  "frames": 497,
+  "sha256": "e183484e9338095053660a5fde32af6d4d2ef80efd1fe507ebe997e8373b9acc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "观察：视频1.6–2.3 s侧视中，机械臂固定毛笔的笔尖下降到砚台黑色小圆处并停留，视频2.4 s开始抬离；视频4.5 s右下画布已出现第一笔黑墨。"
+     },
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "推断：结合视频中的入砚动作、随后持续出墨及评分器n_dips=1、dry_strokes=0，蘸墨约在视频1.8 s完成，时刻误差约0.3 s；笔毫颜色变化在当前分辨率下不清晰。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端固定毛笔的笔毫进入砚台墨液载墨；候选接触为“浸蘸”，现有压/擦或托/舀不能准确表示该接触。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频4.5 s右下画布出现墨迹；视频8、16、24、32、40、48 s显示机械臂依次向下书写，主纸由上方短笔逐渐形成完整五字单列。侧视可见笔毫压到纸面并横向移动。"
+     },
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "观察：视频21.4–23.0 s机械臂补写第二字左侧斜竖，形成较宽且边缘凸起的墨带；与视频49.6 s左上目标及成功参考视频57.8 s右下成品比较，本次第二字的左侧粗笔和右侧折弯局部更膨大、轮廓不一致。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频48.6–49.6 s逐帧可见整列已写出，墨形不再变化。inputs/run.json评分器报告iou=0.736963<0.80、image_success=0；boundary_f=0.896520、min_stroke_coverage=0.801484、stray_frac=0.037715及n_strokes=12均在各自门槛内，strict_ok=1。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "推断：全幅图像未达到IoU门槛，因此临摹节点最终为假；前段下部仍为空白，最后补齐下部后仍有上述墨形偏差，没有可认定达标的中间区间。按本次评分规则解释strict_ok=1；未报告的n_strokes_counted和scribble_share不由原始笔数或scribble_max代推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频4.5–48 s机械臂通过末端固定毛笔的笔毫压在主纸上沿笔画移动，连续留下墨迹，并在各笔间抬笔转移；底座保持固定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.736963
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.89652
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.801484
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.037715
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 12.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better",
+   "value": 909.34
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": 1.9956
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.736963
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 22.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频21.4–23.0 s机械臂正在写第二字左侧粗笔，留下边缘膨大的墨带；视频49.6 s该处和相邻折笔的轮廓偏差仍在。评分器最终IoU=0.736963低于0.80，整幅临摹未达标。视频22.0 s用于定位可见偏差的书写动作，并非精确的指标首次失败时刻。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 22.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频21.4–23.0 s写出的第二字左侧墨带边缘呈凸起，视频49.6 s右下成品的该粗笔及右侧折弯比左上目标局部更宽、更圆钝，局部墨迹轮廓越过目标轮廓；成功参考视频57.8 s对应区域贴合较好。本次墨形偏差保留至末帧。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 715,
+    "evidence_zh": "推断：log step 715的最终生成脚本以目标图骨架生成路径，将目标宽度映射到压深并施加切向前置补偿，再逐点求逆解和执行关节命令；该执行循环没有根据实际墨迹修正路径或压深。结合视频21.4–23.0 s及49.6 s局部轮廓、粗细的持续偏差和评分器确定性回放deterministic=1，支持书写控制未准确实现目标墨形；证据不足以区分接触模型补偿、路径近似或实际跟踪各自的贡献，故保留在控制层。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有状态日志或中途逐帧图像评分，不能精确定位IoU首次不可恢复的时刻，也不能把墨形偏差进一步归因到某一控制参数、逆解或跟踪误差。砚台处笔毫颜色变化不清晰，蘸墨时刻结合上下文约定到视频1.8 s。评分记录未报告当前DAG列出的n_strokes_counted与scribble_share，保持其原生指标为null，按本次评分器已有strict_ok解释过程验收。"
+ },
+ "summary_zh": "机械臂约在视频1.8 s完成蘸墨，并在主纸上从上到下写完整幅五字单列，最终节点进度为1/2。临摹步骤的局部粗笔和折弯墨形偏离目标，终局IoU为0.736963，低于0.80；其余已报告的图像门槛及过程验收通过，失败归于书写控制未准确实现墨形。没有状态日志和中途图像评分，无法细分控制根因；分段计笔与涂绕占比字段未报告，依该运行当时规则标注。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "蘸墨节点约1.8 s、临摹节点未达标（IoU 0.737<0.80）、断点与现象/根因与视频和评分器字段一致，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:41:13Z",
+  "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-caoshu-beiquelindanshui-i00-privileged--vuuxski/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--vuuxski/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "eaba11f9d04fc127a9fa0c303eca63f49588ce0be064df1832faaa2da80027c9",
+   "video_sha256": "e183484e9338095053660a5fde32af6d4d2ef80efd1fe507ebe997e8373b9acc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--yyp6faa.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--yyp6faa.json
new file mode 100644
index 0000000000000000000000000000000000000000..76f9b03af29342e984b9cb0bc1ae70a5d35c2800
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--yyp6faa.json
@@ -0,0 +1,352 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-privileged--yyp6faa",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.909164,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.909164,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.909164,
+   "boundary_precision": 0.991714,
+   "boundary_recall": 0.996174,
+   "boundary_f": 0.993939,
+   "ink_precision": 0.945257,
+   "ink_recall": 0.959694,
+   "min_stroke_coverage": 0.896075,
+   "mean_stroke_coverage": 0.960457,
+   "stray_frac": 0.00247,
+   "missing_frac": 0.001657,
+   "ink_area_mm2": 1658.92,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.965608,
+   "stroke_coverage_02": 0.975188,
+   "stroke_coverage_03": 0.952141,
+   "stroke_coverage_04": 0.908484,
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+   "stroke_coverage_06": 0.981209,
+   "stroke_coverage_07": 0.977458,
+   "stroke_coverage_08": 0.974148,
+   "stroke_coverage_09": 0.928193,
+   "stroke_coverage_10": 0.95731,
+   "stroke_coverage_11": 0.974661,
+   "stroke_coverage_12": 0.949907,
+   "stroke_coverage_13": 0.975389,
+   "stroke_coverage_14": 0.912517,
+   "stroke_coverage_15": 0.896075,
+   "stroke_coverage_16": 0.940639,
+   "stroke_coverage_17": 0.970896,
+   "stroke_coverage_18": 0.981739,
+   "stroke_coverage_19": 0.986343,
+   "stroke_coverage_20": 0.970588,
+   "stroke_coverage_21": 0.981659,
+   "stroke_coverage_22": 0.973176,
+   "stroke_coverage_23": 0.981156,
+   "stroke_coverage_24": 0.964516,
+   "stroke_coverage_25": 0.962006,
+   "stroke_coverage_26": 0.959276,
+   "stroke_coverage_27": 0.966667,
+   "n_strokes": 10.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.955556,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 10.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.909164,
+   "boundary_f_unregistered": 0.993939,
+   "min_stroke_coverage_unregistered": 0.896075,
+   "stray_frac_unregistered": 0.00247,
+   "path_mm": 1208.96,
+   "longest_stroke_mm": 259.29,
+   "mark_width_mm": 1.4327,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "scribble_max": 3.9021,
+   "strict_ok": 1.0,
+   "image_success": 1.0,
+   "image_final_reward": 0.909164,
+   "sim_steps": 1596.0,
+   "resets": 1.0,
+   "n_contacts": 10.0,
+   "samples": 7980.0,
+   "contact_samples": 5994.0,
+   "max_press_m": 0.00707,
+   "max_tilt_deg_in_contact": 0.090526,
+   "max_speed_in_contact_mps": 0.131533,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 533.0,
+   "replay_wall_s": 100.4,
+   "all_success": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1596,
+   "video_rendered": 1,
+   "agent_sessions": 11,
+   "agent_resets": 82,
+   "agent_sim_steps": 126342,
+   "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": 0.037,
+   "peak_memory_gb": 0.744,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.255,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "regrade_0130": {
+    "tag": "robopaint-247",
+    "old": 1,
+    "new": 0,
+    "why": "#247 counted strokes: strokes_counted_ok",
+    "at": "2026-10-15 13:59:31"
+   }
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--yyp6faa/replay.mp4",
+  "duration_s": 53.3,
+  "fps": 10.0,
+  "frames": 533,
+  "sha256": "b86f734501735eb4b9007d5b159634c73b143baf66024b95b5d98ac81881fb0e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.3–2.8 s，场景及侧视画面中机械臂将固定毛笔垂直降至砚台黑色圆面，随后提笔离开；视频5.5 s右下画布出现第一处黑墨。蘸墨时刻约为视频2.5 s，误差约0.3 s，纸上墨迹佐证载墨。"
+     },
+     {
+      "t": 53.2,
+      "log_step": 45,
+      "text_zh": "观察：log step 45对最终交付的1596行动轨迹在两个新进程中回放，服务均报告loaded=true、n_dips=1、dry_strokes=0；评分记录也有n_dips=1。视频53.2 s主纸仍保留整幅墨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频2.3–2.8 s，机械臂固定安装的毛笔笔毫降入砚台墨液。候选接触为“浸蘸”；载墨不属于压/擦或托/舀，故用其他，不另记握持。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频5.5 s开始在主纸留下黑墨，此后由上至下书写；视频24.0 s仍仅有上部文字，视频38.0 s下部弧线尚未写全，视频50.0–51.5 s补完最下端笔画后抬笔，视频52.3–53.2 s画布不再变化。"
+     },
+     {
+      "t": 53.2,
+      "log_step": 45,
+      "text_zh": "观察：视频53.2 s右下无遮挡画布可见五字单列及粗细变化，与成功参考视频57.8 s的整体布局相近；log step 45的最终交付回放及本次reward均报告iou=0.909164、boundary_f=0.993939、min_stroke_coverage=0.896075、stray_frac=0.00247，四项图像阈值均通过，原始n_strokes=10也小于12。"
+     },
+     {
+      "t": null,
+      "log_step": 48,
+      "text_zh": "观察：inputs/run.json的reward.regrade_0130记载old=1、new=0，原因“#247 counted strokes: strokes_counted_ok”；agent在log step 48自述将多个有墨片段用压深0.18毫米、不留墨的移动连接为10次连续接触。当前记录未给n_strokes_counted的具体数值。"
+     },
+     {
+      "t": 53.2,
+      "log_step": null,
+      "text_zh": "推断：本次采用目录改判的success=0及其明确的分段计笔否决，不能用旧image_success=1、strict_ok=1或10次原始接触替代新增的分段计笔验收。整幅墨形在末段才完成，而交付的分段计笔未通过，故临摹整幅字帖节点终态为false，无可确认的达标区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频5.5–51.5 s，机械臂末端固定毛笔笔毫压在主纸上移动，逐渐写出五字墨迹；侧视可见书写与间歇提笔，右下画布显示实际落墨。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.909164
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.993939
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.896075
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.00247
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 10.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better",
+   "value": 1208.96
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": 1.4327
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.909164
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 51.5,
+   "log_step": 45,
+   "where": "终态验收",
+   "evidence_zh": "观察：视频51.5–53.2 s机械臂抬笔，主纸已呈现完整五字；log step 45交付并两次回放验证的同一轨迹原报告success=1、原始笔数10。inputs/run.json的reward.regrade_0130随后以“#247 counted strokes: strokes_counted_ok”将结果从1改为0，失败落在整幅临摹步骤的分段计笔验收；视频51.5 s只是成品完成的导航锚点，并非已知首次计笔超限时刻。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "任务设计问题：inputs/run.json的task_text明说“一次连续接触纸面算一笔”，log step 45两次最终回放均按10次接触通过；目录却由reward.regrade_0130新增的strokes_counted_ok将其改判失败。log step 46的交付生成代码和log step 48说明多片段用不留墨的浅压移动相连，这解释了两种计笔定义可能不同，但不能据新规则倒推原任务下的控制或认知故障，故现象和根因均留空。没有状态日志，也未报告n_strokes_counted、scribble_share及分段时序，不能给出分段计笔的具体失败值或首次超限视频时刻；画面不足以测量0.1毫米着墨宽度或5毫米无墨行程。"
+ },
+ "summary_zh": "机械臂约在视频2.5 s蘸墨，并在视频51.5 s前后完成整幅五字，图像四项指标及原始10笔均通过；按本次目录改判，整幅临摹的分段计笔验收失败，最终完成1/2节点。任务设计问题：原任务定义连续接触为一笔，最终两次回放通过后又因新增strokes_counted_ok从成功改判失败，故不虚构机器人现象或根因。缺少分段计笔具体数值与时序，无法确定首次超限的视频时刻。",
+ "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、时间、断点与空现象/根因均有证据支持：成品完整，图像指标和原始10笔均达标，目录改判的strokes_counted_ok与任务文本“一次连续接触算一笔”不一致，按任务设计问题处理合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:37:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--yyp6faa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--yyp6faa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "868aad736dc2fde650d08d21569ff74ad090ef60960013cfeeeafc6f456b4589",
+   "video_sha256": "b86f734501735eb4b9007d5b159634c73b143baf66024b95b5d98ac81881fb0e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--7guty72.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--7guty72.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad03e6ed46208b1e6f693436f5bb0aa35833339f
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--7guty72.json
@@ -0,0 +1,376 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-standard--7guty72",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.320809,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.320809,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.320809,
+   "boundary_precision": 0.702564,
+   "boundary_recall": 0.619166,
+   "boundary_f": 0.658234,
+   "ink_precision": 0.858331,
+   "ink_recall": 0.338746,
+   "min_stroke_coverage": 0.019355,
+   "mean_stroke_coverage": 0.3446,
+   "stray_frac": 0.012532,
+   "missing_frac": 0.211652,
+   "ink_area_mm2": 644.85,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.25,
+   "stroke_coverage_02": 0.215789,
+   "stroke_coverage_03": 0.515113,
+   "stroke_coverage_04": 0.344137,
+   "stroke_coverage_05": 0.442682,
+   "stroke_coverage_06": 0.309641,
+   "stroke_coverage_07": 0.409518,
+   "stroke_coverage_08": 0.390511,
+   "stroke_coverage_09": 0.183049,
+   "stroke_coverage_10": 0.30117,
+   "stroke_coverage_11": 0.329412,
+   "stroke_coverage_12": 0.321892,
+   "stroke_coverage_13": 0.323834,
+   "stroke_coverage_14": 0.51817,
+   "stroke_coverage_15": 0.376451,
+   "stroke_coverage_16": 0.372472,
+   "stroke_coverage_17": 0.38209,
+   "stroke_coverage_18": 0.569565,
+   "stroke_coverage_19": 0.310319,
+   "stroke_coverage_20": 0.335084,
+   "stroke_coverage_21": 0.272489,
+   "stroke_coverage_22": 0.362661,
+   "stroke_coverage_23": 0.415829,
+   "stroke_coverage_24": 0.019355,
+   "stroke_coverage_25": 0.541033,
+   "stroke_coverage_26": 0.245475,
+   "stroke_coverage_27": 0.246465,
+   "n_strokes": 12.0,
+   "n_practice_strokes": 11.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.923077,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 11.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.318289,
+   "boundary_f_unregistered": 0.653263,
+   "min_stroke_coverage_unregistered": 0.023656,
+   "stray_frac_unregistered": 0.012592,
+   "path_mm": 717.87,
+   "longest_stroke_mm": 112.76,
+   "mark_width_mm": 0.9678,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "n_marked_pieces": 12.0,
+   "n_strokes_counted": 12.0,
+   "max_stroke_path_mm": 860.0,
+   "longest_counted_stroke_mm": 112.19,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 2.5002,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.320809,
+   "sim_steps": 4000,
+   "resets": 0.0,
+   "n_contacts": 23.0,
+   "samples": 20000.0,
+   "contact_samples": 11275.0,
+   "max_press_m": 0.005002,
+   "max_tilt_deg_in_contact": 0.561613,
+   "max_speed_in_contact_mps": 0.070005,
+   "handle_contact_samples": 0.0,
+   "n_dips": 3.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 4000,
+   "physics_steps": 20000,
+   "steps": 2280,
+   "calls": 100,
+   "elapsed_s": 1588.9,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.432,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.9,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-caoshu-beiquelindanshui-i00-standard--7guty72/replay.mp4",
+  "duration_s": 57.3,
+  "fps": 10.0,
+  "frames": 573,
+  "sha256": "6af31d56880ccbaf00019f2151f92fd15861340c3f292c6aaf8f89ac6183f105"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.4,
+      "log_step": 23,
+      "text_zh": "观察：本次视频 1.1–1.8 s，机械臂将固定安装毛笔移到砚台圆内并下降，侧视中笔尖在约视频 1.4 s 到达黑色墨面；log step 23 的脚本也命令笔尖进入砚台后下降。首次载墨时间按画面估计，误差约 0.3 s。"
+     },
+     {
+      "t": 6.0,
+      "log_step": 28,
+      "text_zh": "观察：本次视频 6.0 s，侧视及场景视图的练习纸上已有黑色短线，主纸仍为空白；随后本次视频 16.0 s 起主纸也出现黑墨。推断：结合初始干笔且只能蘸墨载入的条件，早先蘸墨已成功；评分器 reward.n_dips=3、n_dry_strokes=0 亦支持载墨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：本次视频 1.4–3.4 s，机械臂末端固定安装毛笔的笔尖反复下降到砚台墨面。候选接触“浸蘸”；这是笔毫浸墨载入，现有抓握、压/擦、托/舀等均不能准确表达，故用其他。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": 76,
+      "text_zh": "观察：本次视频 13.0–14.5 s 主纸为空，机械臂此前在旁边练习纸试笔；本次视频 16.0 s 主纸上方出现第一条短墨迹，视频 17.5 s 已有两条；本次视频 29.0–30.5 s 继续写上方弯折，视频 31.0–32.5 s 回描上方短笔。主纸书写接触确实发生，但这些阶段均只有局部字形。"
+     },
+     {
+      "t": 55.0,
+      "log_step": 111,
+      "text_zh": "观察：本次视频 33.0–55.0 s，右下无遮挡画布视图显示机械臂逐段从上向下添写，形成整列字形轮廓；多条笔画始终纤细，中部粗笔区域留白，下部出现细线围出的空心圈。成功参考视频 57.8 s 的相同视图在这些区域有明显更饱满的墨块，仅作形态对照。"
+     },
+     {
+      "t": 57.2,
+      "log_step": 119,
+      "text_zh": "观察：本次视频 56.3–57.2 s 末段未再补齐这些缺墨区域，视频 57.2 s 主纸仍呈稀疏细线；agent 在 log step 119 亦自述墨迹比字帖更细、更稀疏，并未声称达标。评分器 reward.image_success=0，iou=0.320809<0.80、boundary_f=0.658234<0.75、min_stroke_coverage=0.019355<0.80；n_strokes=n_strokes_counted=12、stray_frac=0.012532、strict_ok=1。"
+     },
+     {
+      "t": 57.2,
+      "log_step": null,
+      "text_zh": "推断：结合从空纸逐步成字的画面、全程仍可见的细笔缺墨及评分器的图像验收结果，整幅临摹在本次视频内未达到过节点判据；失败来自墨形覆盖不足，并非单凭总成功值为零判定未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：本次视频 16.0–56.3 s，机械臂末端固定安装毛笔的笔毫在主纸上接触、拖行并留墨，期间抬笔换到下一段及回描上方短笔；同一现场轨迹还在旁边练习纸压笔划线。固定安装工具，无额外夹爪抓握动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.320809
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.658234
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.019355
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.012532
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 12.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 12.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better",
+   "value": 717.87
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": 0.9678
+  },
+  {
+   "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": 0.320809
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 29.5,
+   "log_step": 102,
+   "where": "操作中",
+   "evidence_zh": "观察：本次视频 29.0–30.5 s，机械臂正在主纸上写上方长弯折，留下的墨线明显偏细；本次视频 33.0–55.0 s 继续向下书写后，中部粗笔和下部环形笔画仍有大块留白，视频 57.2 s 也未修复。该整幅临摹步骤始终未达标；视频 29.5 s 是可见偏差的导航锚点。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔画过细及缺墨",
+    "t": 29.5,
+    "log_step": null,
+    "evidence_zh": "观察：本次视频 29.5–30.5 s 的上方长弯折仅留下细线，视频 39.0 s 的中部右侧笔画也纤细；视频 48.0–57.2 s，下部笔画围出大块空白，完成后仍只有少量粗墨。成功参考视频 57.8 s 的相同视图在对应位置有更宽、更饱满的笔画。",
+    "note_zh": "候选“笔画过细及缺墨”，描述实际墨迹形态。现有位姿不准不能准确概括线宽和着墨覆盖缺陷，也没有接触力传感证据可直接标接触力异常，故用其他；不把连续评分指标未过线本身当现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 75,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的书写脚本未能把目标笔画宽度转化为实际足够的着墨宽度。log step 75 用目标局部厚度计算压深，按其自建标定把 2.2–8.6 毫米目标线宽映射为 0.7–5.0 毫米压深；但 log step 89 对主纸前两笔的图像测量约为 1.0–1.14 毫米，log step 91 对首笔目标线宽估计约 3.55 毫米。log step 101 将采样间距从 1 毫米降到 0.5 毫米以减速，log step 107 又将压深下限升到 1 毫米，之后本次视频 33.0–57.2 s 的墨迹仍普遍偏细，评分器 ink_recall=0.338746。上述图像测量是 agent 自己的诊断，视频中的细笔结果与之相符；证据支持控制层归因，不能确定更细子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或笔毫形变、接触力的时序记录，不能区分压深与速度标定、笔毫动态响应和末端跟踪误差各自的贡献，因此根因停在“控制”。视频为四视图低分辨率画面，首次载墨时间约有 0.3 s 不确定性；精确覆盖率、笔数与过程统计采用评分器字段，不由画面估算。日志中的 agent 时间未转换为视频时间。"
+ },
+ "summary_zh": "机械臂已蘸墨，并在练习纸试笔后以12次主纸有墨接触写出整列草书轮廓，节点最终完成1/2。断在“临摹整幅字帖”的操作中：笔画普遍过细、局部缺墨，交并比0.320809、边界F值0.658234及最低区域覆盖0.019355均未达标，笔数与禁填涂过程规则通过。日志支持线宽与着墨控制未奏效，但缺少笔毫形变和力的时序证据，不能锁定具体控制子因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 brush_inked 已达成、exemplar_copied 未达成，与视频末帧（细线字形、IoU 0.32）及评分器字段一致；断点、现象（其他·笔画过细）和根因（控制，已标明不能锁定子类）有证据支持，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": "2026-10-30T23:05:54Z",
+  "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-caoshu-beiquelindanshui-i00-standard--7guty72/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--7guty72/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "78ab5cab5bd717abaea7faa9d8f8dee4b6ac5e571a3f4aa3ef0051a294b42501",
+   "video_sha256": "6af31d56880ccbaf00019f2151f92fd15861340c3f292c6aaf8f89ac6183f105",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--abxznr9.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--abxznr9.json
new file mode 100644
index 0000000000000000000000000000000000000000..e23e666853d74c0a40b43c5b7efd33ea43f2ed39
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--abxznr9.json
@@ -0,0 +1,359 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-standard--abxznr9",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.471002,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.471002,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.588752,
+   "boundary_precision": 0.767716,
+   "boundary_recall": 0.810252,
+   "boundary_f": 0.788411,
+   "ink_precision": 0.699521,
+   "ink_recall": 0.788047,
+   "min_stroke_coverage": 0.0,
+   "mean_stroke_coverage": 0.76455,
+   "stray_frac": 0.203458,
+   "missing_frac": 0.109712,
+   "ink_area_mm2": 1840.75,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.911376,
+   "stroke_coverage_02": 0.897744,
+   "stroke_coverage_03": 0.755668,
+   "stroke_coverage_04": 0.001907,
+   "stroke_coverage_05": 0.922855,
+   "stroke_coverage_06": 0.897059,
+   "stroke_coverage_07": 0.896055,
+   "stroke_coverage_08": 0.88747,
+   "stroke_coverage_09": 0.845203,
+   "stroke_coverage_10": 0.850292,
+   "stroke_coverage_11": 0.733032,
+   "stroke_coverage_12": 0.926716,
+   "stroke_coverage_13": 0.963731,
+   "stroke_coverage_14": 0.0,
+   "stroke_coverage_15": 0.935323,
+   "stroke_coverage_16": 0.855838,
+   "stroke_coverage_17": 0.129851,
+   "stroke_coverage_18": 0.905217,
+   "stroke_coverage_19": 0.930197,
+   "stroke_coverage_20": 0.903361,
+   "stroke_coverage_21": 0.919651,
+   "stroke_coverage_22": 0.896996,
+   "stroke_coverage_23": 0.925879,
+   "stroke_coverage_24": 0.863441,
+   "stroke_coverage_25": 0.778116,
+   "stroke_coverage_26": 0.299774,
+   "stroke_coverage_27": 0.810101,
+   "n_strokes": 15.0,
+   "n_practice_strokes": 31.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.204545,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 9.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.588752,
+   "boundary_f_unregistered": 0.788411,
+   "min_stroke_coverage_unregistered": 0.0,
+   "stray_frac_unregistered": 0.203458,
+   "path_mm": 1032.47,
+   "longest_stroke_mm": 246.45,
+   "mark_width_mm": 1.8874,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "scribble_max": 3.2548,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.471002,
+   "sim_steps": 11958,
+   "resets": 1.0,
+   "n_contacts": 46.0,
+   "samples": 59790.0,
+   "contact_samples": 16915.0,
+   "max_press_m": 0.007106,
+   "max_tilt_deg_in_contact": 5.421338,
+   "max_speed_in_contact_mps": 0.023445,
+   "handle_contact_samples": 0.0,
+   "n_dips": 42.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 87.61,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 11958,
+   "physics_steps": 59790,
+   "steps": 11844,
+   "calls": 279,
+   "elapsed_s": 3437.0,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.336,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.274,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-caoshu-beiquelindanshui-i00-standard--abxznr9/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "0fad28cfc9d7d32177f49e726d66d9833ff0769e8c16e3c8efd3bd474397f0c0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": 11,
+      "text_zh": "观察：视频 0.2–0.6 s 机械臂将固定毛笔下降至场景视图中的黑色圆形砚台，侧视笔尖接入墨面后抬起，笔毫转黑；视频 1.2–3.0 s 练习纸上连续出现黑线，佐证已经载墨。首次蘸墨约在视频 0.4 s，画面采样带来约 0.2 s 不确定性；log step 11 的脚本执行下降蘸墨，log step 13 的 agent 也自述笔毫变黑。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.3–0.5 s 机械臂末端固定安装的毛笔笔毫进入砚台墨液，随后带墨书写；候选接触“浸蘸”，表示笔毫浸入墨液载墨，现有压/擦、托/舀均不准确。不虚构夹爪握笔动作。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 41.8,
+      "log_step": 91,
+      "text_zh": "观察：视频 0.0–30.0 s 主纸右下画布视图为空白，侧视与场景视图可见墨迹主要在旁边练习纸；视频 33.0–41.0 s 机械臂已在主纸区域运动，主纸仍无完整字形；视频 41.5–44.0 s 首轮只在主纸下部形成一簇短曲线和横向墨迹，整幅上部仍空白。log step 91 的脚本输出虽逐项声称 wrote S1 至 S12，不能据此认定这些笔画已落纸。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 104,
+      "text_zh": "观察：视频 48.0–59.8 s 补写后主纸出现纵列主要字形，但视频 59.8 s 右下无遮挡画布仍在字列左下方留有分离的曲线、粗横尾与墨点，上端左侧点画、中段短笔和下部内钩等细部缺失；成功参考视频 57.8 s 的相同画布视图则有这些细部且没有左下偏出的墨簇。本次视频 58.8–59.8 s 已逐帧检查，结束时这些缺口和偏墨仍在。log step 104 记录只补写 S4、S9、S5、S3、S12、S2，之前 log step 101 补写 S7。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "观察：本次评分器 reward 报告 iou=0.588752（要求≥0.80）、boundary_f=0.788411（要求≥0.75）、min_stroke_coverage=0（要求≥0.80）、stray_frac=0.203458（要求≤0.04）、n_strokes=15（要求≤12）、stroke_count_ok=0、image_success=0、strict_ok=1，且 live_matches_replay=1、deterministic=1。推断：结合全程先空白、再局部错墨、最后仍缺笔的画面，整幅临摹节点从未成立；失败不能归为禁填涂过程规则未通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 41.5–44.0 s 及视频 48.0–59.4 s，机械臂末端安装的毛笔笔毫压到主纸并沿曲线路径移动，留下首轮偏位墨迹和后续补写字形；工具与主纸的接触标为压/擦。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.588752
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.788411
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.203458
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 15.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better",
+   "value": 1032.47
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": 1.8874
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.471002
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 41.5,
+   "log_step": 91,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 41.5–44.0 s，首轮主纸书写只留下位于纸下部的偏位短线和墨簇，主纸上部仍为空白；视频 48.0–59.8 s 虽补写出主要字形，左下旧墨和若干缺笔仍保留。log step 91 是首轮主纸执行，log step 94 的 agent 随后自述只看到纸下部小簇墨迹；本次 reward 的 iou=0.588752、min_stroke_coverage=0、stray_frac=0.203458、n_strokes=15 均未满足整幅验收。推断：断点为临摹整幅字帖的操作，视频 41.5 s 用作首次可见偏墨的导航锚点，后续关节恢复未修复纸上结果。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 41.5,
+    "log_step": 91,
+    "evidence_zh": "观察：视频 41.5–44.0 s 主纸上的首轮墨迹集中在下部，未形成目标纵列字形；视频 59.8 s 最终画布的左下侧仍多出一簇弯曲墨迹和粗尾，与成功参考视频 57.8 s 的紧凑字列明显不同，并仍缺上端左点及下部内钩等细笔。推断：首轮刷尖的落笔位置偏离应写区域，留下不能擦去的偏墨；这是实际书写位置不准的可见后果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "t": 41.5,
+    "log_step": 97,
+    "source_zh": "日志 / 视频 / agent 自述",
+    "evidence_zh": "推断：首轮 ee_pose 执行中的末端轨迹／逆解偏差导致漏写和偏位落墨。log step 73 的脚本向主纸目标坐标发送路径，但仅在整轮结束后拍照核对；log step 95 的服务本体读数显示第二关节为 -1.763 rad，log step 97 再将笔尖命令到（-0.100,0,0.080）m，服务却返回实际（-0.1043,0.0079,0.0855）m、第二关节仍为 -1.763 rad，且报告 ik failures=0。log step 98–101 以良好初始构型重求逆解、恢复关节位置，并改用检查误差、连续性和关节余量的 joint_position 轨迹；视频 48.0–59.8 s 随后确实写出了位于目标字列附近的主要笔画。agent 在 log step 106、108 将首轮问题解释为停靠后关节限位与逆解截断；限位附近读数及控制方式切换后的改善支持该归因，具体内部截断机制仍未逐点核实。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志；评分器未报告 n_strokes_counted 或 scribble_share，故对应原生指标留 null，不从原始笔数或 scribble_max 代填。推断：视频与服务位置反馈足以确定偏墨、缺笔及控制执行偏差，但没有首轮每个命令点对应的实测轨迹或逆解内部日志，无法逐点确定关节限位、逆解截断与跟踪误差各自的贡献；蘸墨首次时刻约有 0.2 s 视觉不确定性。"
+ },
+ "summary_zh": "已完成毛笔蘸墨，整幅临摹始终未达标，最终节点为 1/2。首轮主纸执行留下偏位墨迹，改用经检查的关节轨迹后补写出主要字形，但左下杂墨和缺笔未修复，评分器还报告 15 笔超过 12 笔上限；日志反馈支持控制中的轨迹或逆解偏差。无状态日志，具体逆解内部机制及未报告的分段计笔、涂绕占比无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、日志一致：蘸墨视频约0.4 s达成；视频44 s首轮主纸只有下部偏位墨簇，59.8 s仍有左下杂墨和缺笔，整幅未达成；断点、位姿不准与轨迹或逆解根因有 log step 94-101 和评分器读数支持。",
+    "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": "2026-10-30T22:40:48Z",
+  "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-caoshu-beiquelindanshui-i00-standard--abxznr9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--abxznr9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5b59355298155cd72c70a499d3f2198693141cc9aa0080a65f9910d4547484b6",
+   "video_sha256": "0fad28cfc9d7d32177f49e726d66d9833ff0769e8c16e3c8efd3bd474397f0c0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--bm3pcbg.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--bm3pcbg.json
new file mode 100644
index 0000000000000000000000000000000000000000..a06bddc0aea1a219574a3f895cd3ea42df81cbe3
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--bm3pcbg.json
@@ -0,0 +1,354 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-standard--bm3pcbg",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.348501,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.66796,
+   "boundary_precision": 0.769034,
+   "boundary_recall": 0.961744,
+   "boundary_f": 0.854661,
+   "ink_precision": 0.6957,
+   "ink_recall": 0.943668,
+   "min_stroke_coverage": 0.892206,
+   "mean_stroke_coverage": 0.941657,
+   "stray_frac": 0.232106,
+   "missing_frac": 0.000512,
+   "ink_area_mm2": 2216.36,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.92791,
+   "stroke_coverage_02": 0.960902,
+   "stroke_coverage_03": 0.896725,
+   "stroke_coverage_04": 0.895138,
+   "stroke_coverage_05": 0.966114,
+   "stroke_coverage_06": 0.971405,
+   "stroke_coverage_07": 0.974327,
+   "stroke_coverage_08": 0.967153,
+   "stroke_coverage_09": 0.952913,
+   "stroke_coverage_10": 0.951462,
+   "stroke_coverage_11": 0.933032,
+   "stroke_coverage_12": 0.946197,
+   "stroke_coverage_13": 0.950777,
+   "stroke_coverage_14": 0.920592,
+   "stroke_coverage_15": 0.892206,
+   "stroke_coverage_16": 0.940639,
+   "stroke_coverage_17": 0.947761,
+   "stroke_coverage_18": 0.985217,
+   "stroke_coverage_19": 0.935508,
+   "stroke_coverage_20": 0.946429,
+   "stroke_coverage_21": 0.935371,
+   "stroke_coverage_22": 0.968884,
+   "stroke_coverage_23": 0.933417,
+   "stroke_coverage_24": 0.927957,
+   "stroke_coverage_25": 0.931611,
+   "stroke_coverage_26": 0.957014,
+   "stroke_coverage_27": 0.908081,
+   "n_strokes": 23.0,
+   "n_practice_strokes": 31.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.869565,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 12.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.66796,
+   "boundary_f_unregistered": 0.854661,
+   "min_stroke_coverage_unregistered": 0.892206,
+   "stray_frac_unregistered": 0.232106,
+   "success": 0,
+   "final_reward": 0.348501,
+   "path_mm": 1586.43,
+   "longest_stroke_mm": 671.86,
+   "mark_width_mm": 1.4408,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "scribble_max": 6.0056,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.348501,
+   "sim_steps": 26637,
+   "resets": 1.0,
+   "n_contacts": 54.0,
+   "samples": 133185.0,
+   "contact_samples": 67728.0,
+   "max_press_m": 0.015798,
+   "max_tilt_deg_in_contact": 4.670449,
+   "max_speed_in_contact_mps": 0.108979,
+   "handle_contact_samples": 0.0,
+   "n_dips": 28.0,
+   "dry_strokes": 0.0,
+   "n_frames": 593.0,
+   "replay_wall_s": 139.48,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 26637,
+   "physics_steps": 133185,
+   "steps": 26631,
+   "calls": 694,
+   "elapsed_s": 2774.0,
+   "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-caoshu-beiquelindanshui-i00-standard--bm3pcbg/replay.mp4",
+  "duration_s": 59.3,
+  "fps": 10.0,
+  "frames": 593,
+  "sha256": "0303377d9a5958f1b31acbd56e7a66d553290764a45febfedab3be16bdb7d551"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.6–0.7 s 场景视角中，机械臂将固定毛笔笔尖降到画面右侧的黑色圆形砚台内，随后移向练习纸；视频 1.8 s 侧视图已见练习纸上的墨线。log step 13 的服务返回笔尖位置约为（-0.1000，0.1480，0.0241）米，与蘸墨条件相符；首次载墨时间取视频约 0.6 s。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "观察：视频 39.5–59.2 s 主纸持续出现新增墨迹，末帧已形成五字字列；评分器记录 n_dips=28、n_dry_strokes=0，支持毛笔已载墨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.6–0.7 s，机械臂末端固定毛笔的笔毫进入砚台墨液。候选接触为“浸蘸”，现有压/擦、托/舀不能准确表达该载墨接触，故用其他。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43.4,
+      "log_step": 75,
+      "text_zh": "观察：视频 0.0–39.0 s 主纸画布为空，机械臂主要在邻侧练习纸试写；视频 39.5–42.0 s 主纸上方出现起始笔画，视频 42.6–44.2 s 下方只留下零散、断续墨段，尚无整幅字列。"
+     },
+     {
+      "t": 59.2,
+      "log_step": 96,
+      "text_zh": "观察：视频 51.0–59.2 s 机械臂补写中下部，末帧五字字列基本形成，但下部左侧及底端有额外叉状笔画和粗墨团；参考成功录像的视频 57.8 s 同一画布视图中，下部轮廓更集中，没有这组左侧墨团。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "观察：本次评分器报告 iou=0.667960（要求≥0.80）、stray_frac=0.232106（要求≤0.04）、n_strokes=23（要求≤12）、stroke_count_ok=0、image_success=0；boundary_f=0.854661 和 min_stroke_coverage=0.892206 已过各自阈值。deterministic=1、live_matches_replay=1，评分记录与本次回放一致。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "推断：从主纸空白到局部笔画阶段，整幅图始终未形成；后续虽补齐大部分目标墨迹，原有偏移杂墨仍保留，原始笔数亦已超过上限，结合终局图像与评分器字段，整幅临帖节点未在本次视频中达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 39.5–50.0 s 及 51.0–59.0 s，机械臂用末端固定毛笔笔毫压住主纸并沿纸面移动留下墨迹，后段补写中下部；此前在邻侧练习纸也有同类试写接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.66796
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.854661
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.892206
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.232106
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 23.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better",
+   "value": 1586.43
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": 1.4408
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.348501
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 43.0,
+   "log_step": 75,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 43.0–44.2 s，机械臂正在主纸书写长连笔，但画布上新增的是分离的小墨段；视频 47.5–50.0 s 又在下部偏左留下墨迹。视频 51.0 s 后补写虽形成字列，至视频 59.2 s 仍保留下部额外墨团，评分器最终报告 23 笔及杂墨比例 0.232106，整幅临帖未修复到达标。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 43.0,
+    "log_step": 75,
+    "evidence_zh": "观察：视频 42.6–44.2 s，主纸长连笔位置只出现稀疏的断续墨段；视频 47.5–50.0 s 的下部墨迹偏向字列左侧。视频 59.2 s 补写后的字列下端仍有左侧伸出的分叉和粗墨团，对比成功参考视频 57.8 s 的下部轮廓可见多余笔画，后续补写没有消除这些错墨。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "log_step": 78,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 75、78 中，机械臂执行 ee_pose 长连笔时，服务返回的笔尖高度在应持续书写的段落升到纸面以上；log step 78 的服务本体读数中第二关节为 -1.7628003 rad，速度近零、驱动力矩估计约 -81.50，agent 随后自述“drifted toward a joint limit”（log step 79）。log step 83 的脚本把逐段 ee_pose 改为固定规范种子、较紧容差预解 IK 后提交 joint_position，log step 87 返回修正段连续接触一次、第二关节约 0.420–0.458 rad；视频 51.0–59.2 s 也显示缺失的字形随后被连续补出。结合前段断续及偏移墨迹，支持原来的逆解构型漂移和轨迹跟踪偏差导致错墨及多次离纸，而不是目标本身不可达。"
+   }
+  ],
+  "gap_zh": "无状态日志，视频为加速采样，不能逐控制周期复核所有离纸事件或精确定位首次跟踪偏差；断点取可见断续墨迹的视频约 43.0 s。根因结合服务本体读数、控制代码修改及后续结果推断，不能进一步区分逆解器与跟踪环的各自贡献。评分器未报告 DAG 新增的 n_strokes_counted、scribble_share，原生指标保留 null，不用原始笔数或 scribble_max 替代；已报告的图像指标及原始笔数足以确定整幅临帖终态为假。"
+ },
+ "summary_zh": "机械臂在视频约 0.6 s 完成蘸墨，先在练习纸试写，再于视频约 39.5 s 开始主纸，最终完成 1/2 个节点。整幅临帖在长连笔书写中出现断续和位置偏移，修正逆解方式后虽补齐大部分字形，下部多余墨迹仍保留，最终交并比 0.667960、杂墨比例 0.232106、原始笔数 23，未达验收。没有状态日志，首次偏差时间和控制机制依视频及日志综合判断，分段计笔与涂绕占比字段未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（brush_inked 达成、exemplar_copied 未达成）、断点（exemplar_copied，视频约 43 s）、终态指标均与视频和评分器字段一致；根因“轨迹或逆解”有 log step 78 关节2 读数（-1.7628 rad，即 Panda 关节限位）、step 83/87 的修正证据支持。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": "2026-10-30T22:43:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--bm3pcbg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--bm3pcbg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3945daabf6ee758d7810f6ca2a1ad1e214378af59961e624cbd80f27a6d4512d",
+   "video_sha256": "0303377d9a5958f1b31acbd56e7a66d553290764a45febfedab3be16bdb7d551",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--okzrejt.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--okzrejt.json
new file mode 100644
index 0000000000000000000000000000000000000000..011e4fb8e3bffe4a6b7ee6c2931b8547a61aaf6b
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--okzrejt.json
@@ -0,0 +1,372 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-standard--okzrejt",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.720046,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.720046,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.720046,
+   "boundary_precision": 0.894453,
+   "boundary_recall": 0.921767,
+   "boundary_f": 0.907905,
+   "ink_precision": 0.848534,
+   "ink_recall": 0.826244,
+   "min_stroke_coverage": 0.696854,
+   "mean_stroke_coverage": 0.832199,
+   "stray_frac": 0.022201,
+   "missing_frac": 0.018135,
+   "ink_area_mm2": 1591.05,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.837963,
+   "stroke_coverage_02": 0.742857,
+   "stroke_coverage_03": 0.872796,
+   "stroke_coverage_04": 0.696854,
+   "stroke_coverage_05": 0.84571,
+   "stroke_coverage_06": 0.89134,
+   "stroke_coverage_07": 0.863494,
+   "stroke_coverage_08": 0.797141,
+   "stroke_coverage_09": 0.847557,
+   "stroke_coverage_10": 0.731579,
+   "stroke_coverage_11": 0.769231,
+   "stroke_coverage_12": 0.929499,
+   "stroke_coverage_13": 0.878238,
+   "stroke_coverage_14": 0.780619,
+   "stroke_coverage_15": 0.841902,
+   "stroke_coverage_16": 0.779517,
+   "stroke_coverage_17": 0.761194,
+   "stroke_coverage_18": 0.863478,
+   "stroke_coverage_19": 0.955235,
+   "stroke_coverage_20": 0.869748,
+   "stroke_coverage_21": 0.943231,
+   "stroke_coverage_22": 0.817597,
+   "stroke_coverage_23": 0.929648,
+   "stroke_coverage_24": 0.712903,
+   "stroke_coverage_25": 0.861702,
+   "stroke_coverage_26": 0.866516,
+   "stroke_coverage_27": 0.781818,
+   "n_strokes": 12.0,
+   "n_practice_strokes": 13.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.861538,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 11.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.720046,
+   "boundary_f_unregistered": 0.907905,
+   "min_stroke_coverage_unregistered": 0.696854,
+   "stray_frac_unregistered": 0.022201,
+   "path_mm": 921.05,
+   "longest_stroke_mm": 154.8,
+   "mark_width_mm": 1.8997,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "n_marked_pieces": 12.0,
+   "n_strokes_counted": 12.0,
+   "max_stroke_path_mm": 860.0,
+   "longest_counted_stroke_mm": 154.38,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 3.0179,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.720046,
+   "sim_steps": 2346,
+   "resets": 1.0,
+   "n_contacts": 25.0,
+   "samples": 11730.0,
+   "contact_samples": 7883.0,
+   "max_press_m": 0.011993,
+   "max_tilt_deg_in_contact": 0.331334,
+   "max_speed_in_contact_mps": 0.106399,
+   "handle_contact_samples": 0.0,
+   "n_dips": 3.0,
+   "dry_strokes": 0.0,
+   "n_frames": 588.0,
+   "replay_wall_s": 81.94,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 2346,
+   "physics_steps": 11730,
+   "steps": 1642,
+   "calls": 44,
+   "elapsed_s": 3608.4,
+   "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,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.354,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.369,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-caoshu-beiquelindanshui-i00-standard--okzrejt/replay.mp4",
+  "duration_s": 58.8,
+  "fps": 10.0,
+  "frames": 588,
+  "sha256": "62455617ce86198626ecd793705f8f1c2454b0bf9f4319c0d47281677625d0bd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": 11,
+      "text_zh": "观察：视频1.4–1.7 s，机械臂将固定毛笔垂直下探至场景视图中的黑色圆形砚台，侧视图可见笔尖进入墨面；随后练习纸出现黑色测试线。log step 11记录该次蘸墨命令，评分器n_dips=3、n_dry_strokes=0也支持载墨成功；首次达到时间约为视频1.5 s，误差约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频1.4–1.7 s机械臂末端安装毛笔的笔尖浸入砚台墨液；候选“浸蘸”，现有压/擦、托/舀不能准确描述该接触。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.5,
+      "log_step": 109,
+      "text_zh": "观察：视频0–24.5 s主纸空白，机械臂主要在旁边练习纸画测试线和字形；视频25.5 s起主纸顶部出现墨迹，此后沿单列向下书写。log step 109启动主纸书写脚本，与本次视频中先练习后写主纸的顺序一致；练习纸笔画不计入本节点。"
+     },
+     {
+      "t": 55.0,
+      "log_step": 112,
+      "text_zh": "观察：视频55.0–55.5 s主纸已出现整列“北阙临丹水”的墨形，但对照成功参考视频57.8 s，第二字左侧粗笔画明显较窄、下端墨团不足，上部小笔画也较瘦；本次视频56.5–58.2 s机械臂又在第二字和下部补墨。log step 112中agent自己的图像检查报告初稿IoU约0.71，并列出第二字左侧及下部的缺墨区域；这只是agent检查结果，非原生评分。"
+     },
+     {
+      "t": 58.7,
+      "log_step": 116,
+      "text_zh": "观察：已逐帧检查视频57.0–58.7 s；补笔后机械臂抬离，右下画布视图仍保留局部偏细及缺墨，未出现成功参考中第二字左下较饱满的墨团。评分器最终iou=0.720046<0.80、min_stroke_coverage=0.696854<0.80，boundary_f=0.907905、stray_frac=0.022201、原始及分段笔数均为12、strict_ok=1、image_success=0；live_matches_replay=1、infra_error=0。"
+     },
+     {
+      "t": 58.7,
+      "log_step": null,
+      "text_zh": "推断：结合全程由上而下逐步添墨、写完后仅作局部补笔且最终仍有局部覆盖不足，本节点从未同时满足整幅验收条件；此前下部尚空白也不成立，故无达成区间。最终失败依据是图像判据，不能把12笔和过程规则通过当作整幅临摹完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频25.5–55.0 s机械臂用末端固定毛笔的笔毫压在主纸上移动，形成连写墨迹；视频56.5–58.2 s再次落笔补墨。侧视图的接纸与画布新增墨迹共同支持实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.720046
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.907905
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.696854
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.022201
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 12.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 12.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better",
+   "value": 921.05
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": 1.8997
+  },
+  {
+   "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": 0.720046
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 55.0,
+   "log_step": 112,
+   "where": "操作中",
+   "evidence_zh": "观察：视频55.0 s整列初稿已写出，第二字左侧粗笔画等局部仍偏细、缺墨；log step 112的agent图像检查也定位到这些漏墨区域。机械臂随后补写两笔，但视频58.7 s仍未恢复到验收要求，评分器iou=0.720046和min_stroke_coverage=0.696854均未达阈值。视频55.0 s为初稿缺陷可整体检查的粗略导航锚点，不表示此前曾达标。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部笔画缺墨",
+    "t": 55.0,
+    "log_step": 112,
+    "evidence_zh": "观察：本次视频55.0 s及58.7 s右下无遮挡画布中，第二字左侧粗笔画和下端墨团较成功参考视频57.8 s明显瘦削，部分应连成厚墨的区域仍留白；补笔后仍有此差异，整列大体布局已形成。log step 112另报告第二字左侧底部和下部笔画的漏墨区域，原生评分最低区域覆盖率0.696854支持局部覆盖不足。",
+    "note_zh": "候选“局部笔画缺墨”：直接可见的是写成后的墨迹宽度和局部覆盖不足；现有位姿不准不能完整表述笔画墨形，且没有力传感证据足以判接触力异常，因此用其他。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 108中的agent脚本按目标骨架生成位置和压深，并以近似笔宽及笔毫拖尾模型补偿；log step 107的自建模型预测IoU=0.8216，实际主纸执行后log step 112的图像检查仅约0.71，log step 114追加局部补笔后log step 116仍约0.72。视频25.5–58.7 s显示机器人确已按目标布局落笔并补墨，最终原生评分仍有局部覆盖不足；这些证据支持毛笔书写控制未准确实现预期墨形。无法单独验证某个模型参数或跟踪环节，故不细分控制子类。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有状态日志，视频分辨率不足以逐像素重算27个目标区域覆盖率或逐时验收数值，因此精确数值采用评分器终值。缺少实际笔毫形变、逐时压深和轨迹误差的独立记录，无法区分压深模型、笔毫动态与轨迹跟踪各自的贡献；根因仅保留控制大类。视频时间均来自所检帧，未由agent工作时间换算。",
+  "unmet": {
+   "exemplar_copied": false
+  }
+ },
+ "summary_zh": "机械臂约在视频1.5 s完成蘸墨，先在练习纸测试，再于视频25.5 s起书写主纸，最终写出整列字并补两笔，节点最终完成1/2。整幅临摹断在局部笔画偏细、缺墨：笔数及过程规则通过，但最终交并比0.720046和最低区域覆盖率0.696854未达标，证据支持书写控制未实现预期墨形。没有状态日志，无法进一步分清笔毫模型与实际轨迹跟踪误差。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点、时间、断点与现象/根因与视频和评分器字段一致：蘸墨约1.5 s（笔尖在1.8 s变黑）、整幅临摹未达成（iou 0.72<0.8，min覆盖0.697<0.8），其他·局部笔画缺墨与控制根因有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:40:24Z",
+  "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-caoshu-beiquelindanshui-i00-standard--okzrejt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--okzrejt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5322563f25716b67d65f9e31d4bdfeb73d6a3fe49e5c56ea8eeb2fcccbc7478b",
+   "video_sha256": "62455617ce86198626ecd793705f8f1c2454b0bf9f4319c0d47281677625d0bd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--rkb2exn.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--rkb2exn.json
new file mode 100644
index 0000000000000000000000000000000000000000..426049b3fffc80c8da41888448b823ba9c13ae9a
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--rkb2exn.json
@@ -0,0 +1,354 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-standard--rkb2exn",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.105799,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.467277,
+   "boundary_precision": 0.535636,
+   "boundary_recall": 0.536917,
+   "boundary_f": 0.536275,
+   "ink_precision": 0.488124,
+   "ink_recall": 0.916255,
+   "min_stroke_coverage": 0.722635,
+   "mean_stroke_coverage": 0.924518,
+   "stray_frac": 0.429299,
+   "missing_frac": 0.006326,
+   "ink_area_mm2": 3067.11,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.988757,
+   "stroke_coverage_02": 0.953383,
+   "stroke_coverage_03": 0.833753,
+   "stroke_coverage_04": 0.968541,
+   "stroke_coverage_05": 0.936554,
+   "stroke_coverage_06": 0.926471,
+   "stroke_coverage_07": 0.984972,
+   "stroke_coverage_08": 0.818431,
+   "stroke_coverage_09": 0.951736,
+   "stroke_coverage_10": 0.879532,
+   "stroke_coverage_11": 0.893213,
+   "stroke_coverage_12": 0.722635,
+   "stroke_coverage_13": 0.970207,
+   "stroke_coverage_14": 0.95424,
+   "stroke_coverage_15": 0.88115,
+   "stroke_coverage_16": 0.870841,
+   "stroke_coverage_17": 0.914179,
+   "stroke_coverage_18": 0.902609,
+   "stroke_coverage_19": 0.984067,
+   "stroke_coverage_20": 0.982143,
+   "stroke_coverage_21": 0.999127,
+   "stroke_coverage_22": 0.987124,
+   "stroke_coverage_23": 0.979899,
+   "stroke_coverage_24": 0.892473,
+   "stroke_coverage_25": 0.951368,
+   "stroke_coverage_26": 0.973982,
+   "stroke_coverage_27": 0.860606,
+   "n_strokes": 53.0,
+   "n_practice_strokes": 55.0,
+   "n_dry_strokes": 4.0,
+   "stroke_order_concordance": 0.519201,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 18.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.466083,
+   "boundary_f_unregistered": 0.531984,
+   "min_stroke_coverage_unregistered": 0.752319,
+   "stray_frac_unregistered": 0.426829,
+   "success": 0,
+   "final_reward": 0.105799,
+   "path_mm": 3996.44,
+   "longest_stroke_mm": 337.38,
+   "mark_width_mm": 1.8976,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "scribble_max": 4.2414,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.105799,
+   "sim_steps": 42967,
+   "resets": 1.0,
+   "n_contacts": 112.0,
+   "samples": 214835.0,
+   "contact_samples": 95895.0,
+   "max_press_m": 0.030001,
+   "max_tilt_deg_in_contact": 0.460085,
+   "max_speed_in_contact_mps": 0.261931,
+   "handle_contact_samples": 201.0,
+   "n_dips": 62.0,
+   "dry_strokes": 4.0,
+   "n_frames": 598.0,
+   "replay_wall_s": 149.47,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 42967,
+   "physics_steps": 214835,
+   "steps": 42429,
+   "calls": 591,
+   "elapsed_s": 4375.2,
+   "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,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-caoshu-beiquelindanshui-i00-standard--rkb2exn/replay.mp4",
+  "duration_s": 59.8,
+  "fps": 10.0,
+  "frames": 598,
+  "sha256": "449bbcb625fdc2e7dfaf7ddfdca0cb1c2cd03f69cf88f176e33b075b83f02564"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.4,
+      "log_step": 36,
+      "text_zh": "观察：视频1.3–1.5 s机械臂将固定毛笔移向左侧砚台并下探，腕部遮住部分浸入过程；视频1.6–2.3 s笔毫接触练习纸后出现深色墨迹。log step 36记录agent将蘸墨目标高度降至0.022米，log step 38随后执行练习纸试笔。"
+     },
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "推断：结合初始干笔、视频1.4 s砚台处的下探和视频1.6 s之后实际出现墨迹，首次载墨约在视频1.4 s完成，时刻约有0.2 s不确定性；视频14.0–59.1 s主纸持续新增墨迹，载墨事件保持成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂固定安装的毛笔笔毫进入左侧砚台墨液，随后在练习纸和主纸留下墨迹。候选接触为“浸蘸”；吸附载墨不适合归为压/擦或托/舀，故采用其他。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–13.8 s右下无遮挡主纸视图为空白，墨痕主要出现在右侧练习纸；视频14.0 s主纸开始出现第一处墨迹，视频15.0–24.5 s机械臂逐渐从上向下书写，整列尚未写全。"
+     },
+     {
+      "t": 25.5,
+      "log_step": null,
+      "text_zh": "观察：视频25.5 s主纸已有整列字形，但中上部笔画呈不规则粗细及断续轮廓；视频26.5–58.8 s机械臂继续回到已有字形补写，上部和末字逐渐增粗、连成墨块。与成功参考视频57.8 s较清楚的细笔、弯钩及留白相比，本次视频59.7 s的上部和末字明显多墨。"
+     },
+     {
+      "t": 59.7,
+      "log_step": 278,
+      "text_zh": "观察：视频58.8–59.7 s末帧序列中，多余墨块和粗重笔画仍保留。inputs/run.json的正式reward报告iou=0.467277、boundary_f=0.536275、min_stroke_coverage=0.722635、stray_frac=0.429299、n_strokes=53，分别未达到0.80、0.75、0.80、0.04和12笔的验收要求；live_matches_replay=1、deterministic=1。log step 278记录实际方案累计五轮、笔数为12+12+12+11+6。"
+     },
+     {
+      "t": 59.7,
+      "log_step": 283,
+      "text_zh": "推断：主纸写全前不满足整幅目标，写全后仍有可见轮廓偏差，追加重描既不能擦除原有错墨又使笔数超限，因此未观察到该节点曾经达标。log step 283的最小覆盖0.90与“杂墨0.0032”是agent自算代理值，采用9个连通域及目标未覆盖方向；正式评分使用27个目标区域及落在目标外的杂墨，节点终值按正式评分和视频判为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频14.0–59.1 s，单臂末端固定毛笔的笔毫压在主纸上移动，先书写整列，再多次重描和局部补墨；侧视可见下笔、贴纸移动和提笔，右下视图同步增加墨迹。无独立夹爪抓笔动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.467277
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.536275
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.722635
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.429299
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 53.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better",
+   "value": 3996.44
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": 1.8976
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.105799
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 25.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频25.5 s机械臂已写出整列字，但笔画轮廓与成功参考不同；视频26.5–58.8 s继续在同一主纸重描，至视频59.7 s上部及末字仍有粗重墨块，未修复整幅临摹。正式reward的交并比、边界、最低区域覆盖、杂墨和主纸笔数均不达标。视频25.5 s仅作为初轮整列成形后可查看偏差的粗略锚点，不表示此时评分器即时判负。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 25.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频25.5 s整列笔画已有轮廓偏差，视频40.0、50.0及59.7 s上部细笔逐渐被粗重墨迹连接，末字左侧与底端形成多余墨块；成功参考视频57.8 s相应位置保留较细的笔锋和留白。这是落墨位置及宽度未贴合目标的可见结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 223,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent采用反复加墨补救整幅目标的策略，没有将永久墨迹、最多12笔和杂墨方向共同纳入修正决策。log step 223以图像只有5个连通块、无法区分重描为由决定再画；log step 234已分别计算未覆盖目标与超出目标的两种量，log step 235却选择前者作为杂墨并称重描占优，log step 239实际启动第二轮12笔。log step 257、267、275继续追加加宽与补笔，log step 278确认累计53笔；与视频26.5–59.7 s逐渐增粗的墨迹及正式reward的stray_frac=0.429299、n_strokes=53一致。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐笔原生评分序列，蘸墨的精确瞬间及整幅指标的逐时数值不能直接测定；首次载墨时间依据视频前后墨迹推断。主纸初轮偏差究竟来自笔毫形变、压深映射还是轨迹跟踪，现有视频和agent自测不足以区分，未追加控制子类根因。正式reward未报告n_strokes_counted和scribble_share，原生指标保留null；path_mm超2680须与mark_width_mm低于0.59共同判断，本次正式strict_ok=1，不能单凭路径长度认定禁填涂违规。"
+ },
+ "summary_zh": "本次完成毛笔蘸墨，主纸写出整列“北阙临丹水”并多轮补写，但整幅临摹始终未达标，最终节点为1/2。断点在临摹操作中：视频25.5 s已有整列轮廓偏差，之后重描使多处墨迹增粗；日志显示agent选择追加笔画并采用反向杂墨代理量，正式评分最终为53笔、交并比0.467277、杂墨0.429299。无状态日志及逐笔评分，不能细分首次落墨偏差的控制机制，新增分段计笔和涂绕占比字段也未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点brush_inked(约1.4 s视频时间)与exemplar_copied假、终值1/2均与视频和正式评分(iou 0.467、stray 0.429、53笔)一致；断点、位姿不准与推理/规划根因有证据支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:39:56Z",
+  "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-caoshu-beiquelindanshui-i00-standard--rkb2exn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--rkb2exn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ba6f32cf2183ad9606df97beeae726340b0eb8ff088fd9db86fabfef33252410",
+   "video_sha256": "449bbcb625fdc2e7dfaf7ddfdca0cb1c2cd03f69cf88f176e33b075b83f02564",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--v8gwvjn.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--v8gwvjn.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc4f1c67f49992d213c5ba8a09b71bb4569d14c9
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--v8gwvjn.json
@@ -0,0 +1,377 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-standard--v8gwvjn",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.229491,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.229491,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.267739,
+   "boundary_precision": 0.34718,
+   "boundary_recall": 0.622226,
+   "boundary_f": 0.445685,
+   "ink_precision": 0.288653,
+   "ink_recall": 0.787023,
+   "min_stroke_coverage": 0.13918,
+   "mean_stroke_coverage": 0.783644,
+   "stray_frac": 1.512592,
+   "missing_frac": 0.089499,
+   "ink_area_mm2": 4455.07,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.808201,
+   "stroke_coverage_02": 0.796241,
+   "stroke_coverage_03": 0.52267,
+   "stroke_coverage_04": 0.13918,
+   "stroke_coverage_05": 0.547945,
+   "stroke_coverage_06": 0.824346,
+   "stroke_coverage_07": 0.959299,
+   "stroke_coverage_08": 0.926703,
+   "stroke_coverage_09": 0.645674,
+   "stroke_coverage_10": 0.633918,
+   "stroke_coverage_11": 0.723077,
+   "stroke_coverage_12": 0.93321,
+   "stroke_coverage_13": 0.930052,
+   "stroke_coverage_14": 0.787349,
+   "stroke_coverage_15": 0.896628,
+   "stroke_coverage_16": 0.631442,
+   "stroke_coverage_17": 0.78209,
+   "stroke_coverage_18": 0.937391,
+   "stroke_coverage_19": 0.947648,
+   "stroke_coverage_20": 0.803571,
+   "stroke_coverage_21": 0.905677,
+   "stroke_coverage_22": 0.817597,
+   "stroke_coverage_23": 0.920854,
+   "stroke_coverage_24": 0.67957,
+   "stroke_coverage_25": 0.893617,
+   "stroke_coverage_26": 0.903846,
+   "stroke_coverage_27": 0.860606,
+   "n_strokes": 14.0,
+   "n_practice_strokes": 8.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.454545,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 7.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.267739,
+   "boundary_f_unregistered": 0.445685,
+   "min_stroke_coverage_unregistered": 0.13918,
+   "stray_frac_unregistered": 1.512592,
+   "path_mm": 3315.92,
+   "longest_stroke_mm": 553.14,
+   "mark_width_mm": 1.5494,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "n_marked_pieces": 14.0,
+   "n_strokes_counted": 14.0,
+   "max_stroke_path_mm": 860.0,
+   "longest_counted_stroke_mm": 553.01,
+   "strokes_counted_ok": 0.0,
+   "scribble_max": 5.6451,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 0.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.229491,
+   "sim_steps": 6169,
+   "resets": 0.0,
+   "n_contacts": 22.0,
+   "samples": 30845.0,
+   "contact_samples": 27126.0,
+   "max_press_m": 0.00548,
+   "max_tilt_deg_in_contact": 0.240191,
+   "max_speed_in_contact_mps": 0.077871,
+   "handle_contact_samples": 0.0,
+   "n_dips": 3.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 6169,
+   "physics_steps": 30845,
+   "steps": 5895,
+   "calls": 58,
+   "elapsed_s": 2808.1,
+   "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": 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-caoshu-beiquelindanshui-i00-standard--v8gwvjn/replay.mp4",
+  "duration_s": 56.2,
+  "fps": 10.0,
+  "frames": 562,
+  "sha256": "431e20cc47fd93b4b333f10b5836c6da008ff2f95ed2bedaee3d5dbfd8585347"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": 28,
+      "text_zh": "观察：视频 0.0–0.2 s 毛笔向场景右侧（机器人左侧）的黑色砚台移动，视频 0.3 s 笔尖下降到砚台墨面处，随后抬起；视频 1.4–5.0 s 机械臂在旁侧练习纸上划出黑色校准线。首次蘸墨时间按画面约取视频 0.3 s（约±0.1 s）。"
+     },
+     {
+      "t": 5.1,
+      "log_step": 30,
+      "text_zh": "观察：视频 5.1 s 起主纸也出现黑色墨迹；log step 28–30 的现场控制脚本连续执行砚台下探及练习纸校准，评分器 reward.n_dips=3、n_dry_strokes=0，佐证笔已载墨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.3 s 机械臂固定安装毛笔的笔毫下探砚台墨液，随后纸上出现墨迹。候选接触为“浸蘸”；浸入墨液载墨不属于抓握、压/擦或托/舀，故采用其他。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.1,
+      "log_step": 41,
+      "text_zh": "观察：视频 5.0 s 主纸为空，视频 5.1 s 机械臂毛笔在主纸偏左处开始留下第一笔；视频 7.0–26.5 s 墨迹逐步沿横向展开，视频 26.5 s 无遮挡画布显示横向字迹，未形成要求的纵向五字单列。"
+     },
+     {
+      "t": 28.0,
+      "log_step": 44,
+      "text_zh": "观察：视频 27.0–28.5 s 机械臂开始在主纸上方另写墨点；视频 29.0–47.0 s 纵向字列逐步叠在原横向墨迹上，原横向笔画一直保留。成功示例 inputs/oracle/replay.mp4 的视频 57.8 s 则为一列纵向墨形，没有本次画面中横贯纸面的多余字迹；该示例只用于辨认目标外观。"
+     },
+     {
+      "t": 56.1,
+      "log_step": 56,
+      "text_zh": "观察：视频 49.0–55.9 s 机械臂继续补写，视频 55.1–56.1 s 右下画布始终可见纵横交叉的两组墨迹，补写未消除横向杂墨。评分器 reward.image_success=0，iou=0.267739<0.80、boundary_f=0.445685<0.75、min_stroke_coverage=0.13918<0.80、stray_frac=1.512592>0.04；n_strokes 与 n_strokes_counted 均为14>12。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 44,
+      "text_zh": "推断：结合视频中首轮横向错墨持续到终帧、log step 44 承认行列互换并改为叠写，以及现场评分器的图像与笔数结果，整幅临摹从未达到节点判据；不能把后续出现纵向字列单独算作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 5.1–26.5 s、27.0–47.0 s 及后续补写中，机械臂固定安装毛笔的笔毫压在主纸上沿路径移动，形成并叠加墨迹；实际作用端为笔毫、对象为主纸，不另标机械臂握笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "value": 0.267739,
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "boundary_f",
+   "value": 0.445685,
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better"
+  },
+  {
+   "name": "min_stroke_coverage",
+   "value": 0.13918,
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stray_frac",
+   "value": 1.512592,
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes",
+   "value": 14.0,
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes_counted",
+   "value": 14.0,
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "path_mm",
+   "value": 3315.92,
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better"
+  },
+  {
+   "name": "mark_width_mm",
+   "value": 1.5494,
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better"
+  },
+  {
+   "name": "scribble_share",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "final_reward",
+   "value": 0.229491,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 5.1,
+   "log_step": 41,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.1 s 主纸首次落墨在偏左位置，后续至视频 26.5 s 形成横向字列；视频 27.0–56.1 s 机械臂追加纵向字列和补笔后，原横向错墨仍保留。log step 44 的 agent 明确承认首轮行列互换，改为在同一张主纸上叠写；评分器最终图像与笔数均不通过。因此断点取首次错位书写的约略锚点视频 5.1 s，此次临摹步骤以后始终未修复。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 5.1,
+    "log_step": 41,
+    "evidence_zh": "观察：视频 5.1–26.5 s 机械臂把应纵向排列的临帖墨形写成横向展开；视频 28.0–56.1 s 再写的纵向字迹与既有横向字迹相交，终帧仍有大量横向杂墨。成功示例的视频 57.8 s 为单一纵列；本次是书写落点和方向错误，不是毛笔没有接触纸面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 5.1,
+    "log_step": 41,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 36 的书写代码把 route_px 的第0列、即图像行坐标，作为 paper(X,Y) 的 X，把第1列、即图像列坐标，作为 Y；paper 内部再按 x=13.59−Y、y=113.72−X 转到世界坐标。log step 41 只修正高度单位后执行该代码，保留了行列互换；log step 44 则显式改成 col→X、row→Y，并由 agent 承认首轮映射错误。与视频 5.1–26.5 s 横向墨迹及视频 28.0 s 后纵向补写一致，支持控制脚本的坐标转换错误导致首轮不可擦除错墨。",
+    "note_zh": "候选细化为“控制脚本坐标映射错误”；现有子类不足以准确指代行列转换错误，保留在控制，不据此推定逆解失败或感知估计错误。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志，无法逐帧复算图像阈值或精确确定笔毫首次入墨的瞬间；蘸墨时间依据视频近似到0.1 s，末态数值使用现场评分器 reward，未将 agent 自算的 IoU 或路径长度当作原生评分。视频、日志及评分器足以确定两节点最终值和坐标映射错误，未进一步归因后续补写残余偏移。"
+ },
+ "summary_zh": "机械臂完成蘸墨并在练习纸校准，随后尝试整幅临摹，最终仅完成1/2个节点。视频 5.1 s 起首轮书写因脚本行列坐标互换而横向展开，后续纵向叠写及补笔未消除错墨，最终图像不达标且14笔超过12笔上限。没有状态日志，蘸墨时刻按画面近似，精确图像及过程数值以现场评分器为准。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（brush_inked 真、exemplar_copied 假）、断点（视频 5.1 s 首轮错位书写）、位姿不准现象和控制根因（log step 36/41/44 行列互换）均有视频与日志支持，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": "2026-10-30T23:06:13Z",
+  "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-caoshu-beiquelindanshui-i00-standard--v8gwvjn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--v8gwvjn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1c52016b868c35733bc48bd58f7f429ed113116dbb9149329c5fa2f13ecf2370",
+   "video_sha256": "431e20cc47fd93b4b333f10b5836c6da008ff2f95ed2bedaee3d5dbfd8585347",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--wx6jdnx.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--wx6jdnx.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c0fc8a23a469ac049a8daa9fddeaf7f0544fb4e
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--wx6jdnx.json
@@ -0,0 +1,355 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-standard--wx6jdnx",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
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+  "reward": 0.461359,
+  "source": "catalog",
+  "raw": {
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+   "boundary_precision": 0.728014,
+   "boundary_recall": 0.659143,
+   "boundary_f": 0.691869,
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+   "stray_frac": 0.163935,
+   "missing_frac": 0.155079,
+   "ink_area_mm2": 1848.92,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
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+   "stroke_coverage_02": 0.651128,
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+   "stroke_coverage_23": 0.851759,
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+   "stroke_coverage_27": 0.750505,
+   "n_strokes": 11.0,
+   "n_practice_strokes": 15.0,
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+   "stroke_order_concordance": 0.811321,
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+   "strokes_matched_distinct": 9.0,
+   "max_strokes": 12.0,
+   "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,
+   "iou_unregistered": 0.456906,
+   "boundary_f_unregistered": 0.685422,
+   "min_stroke_coverage_unregistered": 0.252688,
+   "stray_frac_unregistered": 0.168424,
+   "success": 0,
+   "final_reward": 0.461359,
+   "path_mm": 1111.34,
+   "longest_stroke_mm": 531.91,
+   "mark_width_mm": 2.081,
+   "max_path_mm": 2680.0,
+   "min_mark_width_mm": 0.59,
+   "colour_in": 0.0,
+   "scribble_max": 4.9078,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.461359,
+   "sim_steps": 5643,
+   "resets": 1.0,
+   "n_contacts": 26.0,
+   "samples": 28215.0,
+   "contact_samples": 16523.0,
+   "max_press_m": 0.008046,
+   "max_tilt_deg_in_contact": 0.106519,
+   "max_speed_in_contact_mps": 0.044896,
+   "handle_contact_samples": 0.0,
+   "n_dips": 3.0,
+   "dry_strokes": 0.0,
+   "n_frames": 566.0,
+   "replay_wall_s": 94.32,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 5643,
+   "physics_steps": 28215,
+   "steps": 5643,
+   "calls": 57,
+   "elapsed_s": 953.5,
+   "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-caoshu-beiquelindanshui-i00-standard--wx6jdnx/replay.mp4",
+  "duration_s": 56.6,
+  "fps": 10.0,
+  "frames": 566,
+  "sha256": "3d8bfbd89da587723fb230be8a79b94e6f3e4b0c8f07031fd37eb2a79092e61d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.7,
+      "log_step": 40,
+      "text_zh": "观察：视频 0.6–0.7 s，场景视角中机械臂将固定毛笔笔尖降入左侧砚台黑色圆内，侧视可见笔尖降至墨面；视频 0.8–1.0 s 抬起后笔尖呈深色。log step 40 的实际提交轨迹包含砚台内下探及抬笔。首次蘸墨时间约为视频 0.7 s。"
+     },
+     {
+      "t": 2.2,
+      "log_step": 44,
+      "text_zh": "观察：视频 2.1–2.5 s，机械臂在练习纸上落笔并留下深色墨线，佐证此前已载墨；inputs/run.json 的评分字段 n_dips=3、n_dry_strokes=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.7 s，机械臂末端固定毛笔的笔毫浸入砚台墨液。候选接触为“浸蘸”，现有压/擦或托/舀不能准确表示此载墨接触，故采用其他；不重复记录工具固定连接。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": 128,
+      "text_zh": "观察：视频 0–32.5 s 主纸画布为空，机械臂此前主要在右侧练习纸试笔；视频 33.0–36.0 s 主纸上方开始出现草书墨迹，视频 36–49.5 s 逐步向下书写。log step 128 执行主纸脚本，log step 133 返回已完成六条生成轨迹；此时只是书写完成，尚未达到整幅图像判据。"
+     },
+     {
+      "t": 49.5,
+      "log_step": 141,
+      "text_zh": "观察：视频 49.5 s 的无遮挡画布已有单列上下墨形，但上部第二字左侧聚成粗墨块，中部折线和下部圆框内部形状与成功参考不同；视频 50.5–55.5 s 机械臂又在原稿上补写。log step 141 的主纸自测交并比约为 0.4418；log step 174–175 提交五处补笔。"
+     },
+     {
+      "t": 56.5,
+      "log_step": 179,
+      "text_zh": "观察：视频 55.6–56.5 s，补写后的主纸仍保留上部粗墨块、中部缺少参考中的完整折线、下部圆框内的额外回环；对照成功参考 inputs/oracle/replay.mp4 的视频 57.8 s 可见这些形状差异。正式评分字段 iou=0.461359<0.80、boundary_f=0.691869<0.75、min_stroke_coverage=0.26129<0.80、stray_frac=0.163935>0.04，image_success=0；n_strokes=11、strict_ok=1。log step 179 的补写后自测也报告低交并比和过多杂墨。"
+     },
+     {
+      "t": 56.5,
+      "log_step": 185,
+      "text_zh": "推断：整幅临摹从未达标：主纸先为空、随后只逐步出现部分笔画，首次整列形成时已有上述墨形偏差，补写后仍未消除。log step 182 改写脚本后，log step 183 只调用轨迹构建函数，log step 185 服务计数仍为 control_steps=5643，与最终评分 n_actions=5643 一致，因此该新脚本未形成另一段受评书写。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 33.0–49.5 s 及视频 50.5–55.5 s，机械臂以末端固定毛笔的笔毫压在主纸上移动，先写整列再补写局部，接触处留下墨迹；作用端为毛笔笔毫，对象为主纸。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.461359
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.691869
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.26129
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.163935
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 11.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better",
+   "value": 1111.34
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": 2.081
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.461359
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 38.0,
+   "log_step": 128,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 37.5–39.5 s，机械臂书写主纸上部第二字时形成较厚的长墨块及不完整的右侧转折；这些形状在视频 49.5 s 首遍结束和视频 56.5 s 补写结束时仍未修复，后续中下部也有缺笔和多余墨迹。log step 128–133 为首遍实际执行，log step 174–175 为补写；正式评分 image_success=0。断点定位于整幅临摹操作，视频 38.0 s 为早期可见偏差的粗略导航锚点，并非精确阈值越界时刻。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 38.0,
+    "log_step": 128,
+    "evidence_zh": "观察：视频 38–39.5 s，主纸第二字左侧笔画成为厚墨块，右侧弯折未写成参考形状；视频 49.5 s 与视频 56.5 s 可见中部折线缺失、下部圆框内回环和局部笔画偏粗。与成功参考视频 57.8 s 对照，机械臂的实际落墨位置及轮廓存在明显差异，补笔未恢复所需墨形。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 100,
+    "evidence_zh": "推断：机械臂的书写轨迹和笔宽控制未能把目标中心线及粗细变化复现为纸面墨形。log step 100 的实际运动探测中，指令末端 x=-0.053344525 m、实测 x=-0.05536612 m，存在约 2.02 mm 跟踪差；log step 125–128 随后以目标骨架和宽度到高度插值生成并执行主纸书写，log step 141 的实际主纸图像自测交并比仅约 0.4418。视频 38–49.5 s 的墨块、转折缺失和视频 56.5 s 的残留偏差支持此控制层归因；现有证据不足以进一步区分跟踪滞后、轨迹重采样与笔毫压深响应的贡献。",
+    "source_zh": "日志、视频",
+    "note_zh": "保留控制上位项，不把一次探测的跟踪差直接当作主纸全部误差的唯一来源。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有本次书写全过程的指令与实测笔尖、压深及墨宽对照，故无法逐项分离控制误差来源或给出首次图像阈值越界的精确时刻。正式评分未报告 n_strokes_counted、scribble_share，相关原生指标留 null；过程验收依本次已报告的 strict_ok=1，不从原始笔数推定新增字段。视频画布可直接观察墨形，最终图像数值使用评分器记录。"
+ },
+ "summary_zh": "本次轨迹完成毛笔蘸墨，并在练习纸试笔后书写主纸和补写五处，最终节点为 1/2。整幅临摹因落墨轮廓、粗细和局部覆盖偏差未达标，交并比为 0.461359；原始笔数为 11 且过程验收通过，失败归于书写控制未能复现目标墨形。无状态日志及完整指令/实测对照，控制子类与精确越界时刻不能确定；新增分段计笔和涂绕占比字段亦未报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点（蘸墨达成、整幅临摹未达成）、断点、现象（位姿不准）与根因（控制，未细分）与视频和评分字段一致；根因证据偏弱但已标推断且停在上位项。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:37:42Z",
+  "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-caoshu-beiquelindanshui-i00-standard--wx6jdnx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--wx6jdnx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dfc11a0893053568e4fd37eb6fa4b0ffe5d7ef96f3b76efe7b5aa58c36e4a027",
+   "video_sha256": "3d8bfbd89da587723fb230be8a79b94e6f3e4b0c8f07031fd37eb2a79092e61d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--zvaezbc.json b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--zvaezbc.json
new file mode 100644
index 0000000000000000000000000000000000000000..735c9bfb41c72e3d79c73ee878d9cf920fd4ef60
--- /dev/null
+++ b/phase2/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--zvaezbc.json
@@ -0,0 +1,368 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-caoshu-beiquelindanshui-i00-standard--zvaezbc",
+ "taskKey": "robopaint/caoshu_beiquelindanshui",
+ "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180",
+ "outcome": {
+  "success": 0,
+  "reward": 0.460637,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.460637,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.460637,
+   "boundary_precision": 0.631755,
+   "boundary_recall": 0.573642,
+   "boundary_f": 0.601298,
+   "ink_precision": 0.54504,
+   "ink_recall": 0.748403,
+   "min_stroke_coverage": 0.440519,
+   "mean_stroke_coverage": 0.739836,
+   "stray_frac": 0.240541,
+   "missing_frac": 0.12143,
+   "ink_area_mm2": 2243.63,
+   "target_area_mm2": 1633.97,
+   "n_target_strokes": 27.0,
+   "stroke_coverage_01": 0.766534,
+   "stroke_coverage_02": 0.669925,
+   "stroke_coverage_03": 0.755668,
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+   "stroke_coverage_18": 0.849565,
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+   "stroke_order_concordance": 0.578125,
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+   "iou_unregistered": 0.460637,
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+   "path_mm": 1147.3,
+   "longest_stroke_mm": 509.63,
+   "mark_width_mm": 2.0754,
+   "max_path_mm": 2680.0,
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+   "colour_in": 0.0,
+   "scribble_max": 5.0062,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.460637,
+   "sim_steps": 11309,
+   "resets": 1.0,
+   "n_contacts": 47.0,
+   "samples": 56545.0,
+   "contact_samples": 27853.0,
+   "max_press_m": 0.007037,
+   "max_tilt_deg_in_contact": 0.0976,
+   "max_speed_in_contact_mps": 0.050907,
+   "handle_contact_samples": 0.0,
+   "n_dips": 9.0,
+   "dry_strokes": 0.0,
+   "n_frames": 597.0,
+   "replay_wall_s": 65.33,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 11309,
+   "physics_steps": 56545,
+   "steps": 11239,
+   "calls": 144,
+   "elapsed_s": 2802.9,
+   "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": 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-caoshu-beiquelindanshui-i00-standard--zvaezbc/replay.mp4",
+  "duration_s": 59.7,
+  "fps": 10.0,
+  "frames": 597,
+  "sha256": "ffbb9c4c582050b6eb0e8a22543f71cac230822247047aadf7c67a0d3b35f92b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.2,
+      "log_step": 80,
+      "text_zh": "观察：视频 2.1–2.4 s，机械臂将固定安装的竖直毛笔降到左侧黑色圆形砚台处，随后在视频 2.5–2.7 s 抬笔移向练习纸；视频 3.5–7.5 s 练习纸出现并增加黑色线条，佐证已经载墨。蘸墨时刻按画面估计为视频约 2.2 s，精度约半秒。"
+     },
+     {
+      "t": 7.5,
+      "log_step": 80,
+      "text_zh": "观察：log step 80 的蘸墨动作执行后返回正常状态；评分器 reward.n_dips=9、n_dry_strokes=0，且视频 7.5 s 的练习纸墨线清晰可见。此处日志只佐证动作和载墨，不以 agent 工作时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约 2.2 s，机械臂末端固定毛笔的笔毫下降接触左侧砚台墨液，其后练习纸着墨。候选“浸蘸”；现有抓握、压/擦、托/舀均不能准确表示笔毫浸液载墨。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 48.5,
+      "log_step": 247,
+      "text_zh": "观察：视频 0–47.5 s 主纸画布为空，机械臂主要在旁侧练习纸试写；视频 48.5–52.5 s 主纸由下部线条逐步形成整列字形，视频 53–57.5 s 又有补笔动作。右下画布视图没有机械臂遮挡，可以直接检查主纸墨形。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 247,
+      "text_zh": "观察：视频 50.0–51.0 s，主纸上半部写出粗大的实心墨团及挤在一起的折线；下部环形和连笔的轮廓也与成功参考录像视频 57.8 s 的细长墨形不同。参考只用于辨认完成外观，不作为本次进度证据。"
+     },
+     {
+      "t": 59.6,
+      "log_step": 247,
+      "text_zh": "观察：视频 58.7–59.6 s 的每帧右下画布均保留整列字形和上中部粗墨团，未见后续修正消除；评分器 image_success=0，iou=0.460637、boundary_f=0.601298、min_stroke_coverage=0.440519、stray_frac=0.240541，分别未达 0.80、0.75、0.80、0.04 的门槛；n_strokes=12、stroke_count_ok=1、strict_ok=1。"
+     },
+     {
+      "t": 59.6,
+      "log_step": 247,
+      "text_zh": "推断：早期主纸空白或仅有局部笔画，整列出现后又一直存在额外粗墨和形状偏差，结合评分器终值判定整幅临帖从未达标；不是仅凭 success=0 断言未尝试。log step 247 记录主写 6 笔后补写 4+2 笔，与视频中的主写、补笔过程及评分器 12 笔终值相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 48.5–57.5 s，机械臂末端固定毛笔竖直下降，笔毫接触主纸并沿纸面移动，右下画布同步形成及加粗墨线；随后数次抬笔再落笔补写。视频前段还在旁侧练习纸接触试写，未把练习纸墨迹算为主纸完成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.460637
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.601298
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.440519
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.240541
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": 12.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 12,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 2680,
+   "direction": "lower_better",
+   "value": 1147.3
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.59,
+   "direction": "higher_better",
+   "value": 2.0754
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.460637
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 50.0,
+   "log_step": 247,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 50.0–51.0 s，机械臂在主纸写上半部时留下粗大墨团和拥挤的折线；视频 53–57.5 s 补笔后，视频 59.6 s 仍保留这些偏差。log step 247 的主纸脚本先主写再补写至 12 笔；评分器 image_success=0、strict_ok=1。断点为临摹整幅字帖这一步的书写操作，视频约 50.0 s 是可见偏差的导航锚点。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "墨迹形状失真",
+    "t": 50.0,
+    "log_step": 247,
+    "note_zh": "候选“墨迹形状失真”：这里可见的是写成的墨线过粗、相邻笔画粘连及轮廓缺漏；已有接触或运动现象无法完整表达这种材料书写结果，且没有力传感证据可判接触力异常。",
+    "evidence_zh": "观察：视频 50.0–52.5 s 以及视频 59.6 s 的右下画布，上中部有粗实墨团，多段细笔画挤合，整列的折线、环形及连接处与成功参考录像视频 57.8 s 的墨形明显不同。评分器 stray_frac=0.240541、min_stroke_coverage=0.440519 支持同时存在目标外墨迹和目标内缺墨；现象按可见墨形标注。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频 / 评分器字段",
+    "evidence_zh": "推断：agent 脚本在 log step 119、123 将目标骨架变成含重复边的连续走笔路径，并由局部目标线宽换算压深；log step 243 调整线宽模型后，agent 自写的离线模型预测 IoU 约 0.90，而实际执行日志 log step 247 主写后仅约 0.438，补写至 12 笔也仅约 0.458。视频 50.0–59.6 s 直接显示粗墨团和笔画轮廓偏差，评分器最终 iou=0.460637；支持书写路径和压深的实际控制未产生所需墨形。agent 在 log step 283 将其归因于重复走笔与线宽过大，但未独立证明各因素贡献，因此只标控制，不细分参数调试或反馈控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志，视频分辨率不足以逐点重建笔毫形变、压深和轨迹误差，不能独立验证 agent 所称“宽约 29%”及重复走笔的因果占比。n_strokes_counted、scribble_share 未在本次评分字段中报告，原生指标保留 null；strict_ok=1 仅按该运行当时的规则解释。视频时间均取自已检查帧，未将 agent 时间或 control_steps 换算为视频时间。"
+ },
+ "summary_zh": "机械臂于视频约 2.2 s 蘸墨，先在练习纸试写，再于视频约 48.5–57.5 s 在主纸书写及补笔，终态完成 1/2 个节点。整幅临帖未达标：视频约 50.0 s 起可见的粗墨团、笔画粘连和轮廓偏差保留至视频 59.6 s，评分器虽确认 12 笔和过程规则通过，但图像四项门槛均未通过；根因支持到书写控制。无状态日志，无法进一步可靠区分线宽模型、重复走笔和轨迹跟踪的影响。",
+ "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（蘸墨约 2.2 s 已达、整幅临帖未达）、断点（exemplar_copied，操作中）、现象（墨迹形状失真）和根因（控制，未细分）与视频 59.6 s 终帧、评分器字段一致；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": "2026-10-30T22:37:37Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--zvaezbc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--zvaezbc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fe700d49a9831c0c8d46d986342ba54857bba5652e1fc21116d6fb73aeb07191",
+   "video_sha256": "ffbb9c4c582050b6eb0e8a22543f71cac230822247047aadf7c67a0d3b35f92b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--2becb6g.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--2becb6g.json
new file mode 100644
index 0000000000000000000000000000000000000000..8548f181b0e895a3f2f692143b6dad9a8c634941
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--2becb6g.json
@@ -0,0 +1,382 @@
+{
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+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-kaishu-linfengguilong-i00-privileged--2becb6g/replay.mp4",
+  "duration_s": 59.5,
+  "fps": 10.0,
+  "frames": 595,
+  "sha256": "d65504f54d7e473e1f3914c91fd19c58cf3d77098446b8d50efab103e143676c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_ink_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 右下主纸视图空白，视频 0.4 s 首次出现新黑色墨迹，随后机械臂安装毛笔持续书写；按本节点判据，首次实际落墨足以确认已装墨。"
+     },
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "推断：初始干笔只能从砚台装墨，结合视频 0.4 s 已落墨及评分器 reward.n_dips=1、n_dry_strokes=0，可确认机械臂此前已用安装毛笔蘸墨；笔尖进入墨面的瞬间未清楚显示，以视频 0.4 s 为确认锚点，实际装墨略早。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端固定安装毛笔的笔毫与砚台墨液接触，依据首次实际墨迹及评分器 n_dips=1 确认。候选：浸蘸；现有压/擦、托/舀等接触方式不能表达笔毫进入墨液装墨。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–30.0 s 机械臂以安装毛笔在主纸左列逐笔留下“龜、龍”；视频 32.0–40.0 s 写右下“鳳”，视频 42.0 s 后继续写右上“麟”。侧视图显示笔尖贴纸移动，右下无遮挡视图显示相应墨迹增长。"
+     },
+     {
+      "t": 59.4,
+      "log_step": null,
+      "text_zh": "观察：视频 58.0、58.5、59.0、59.4 s 放大画面显示“麟”字内部仍逐步补入笔画；视频 59.4 s 主纸两列四字齐全，左上“龜”、左下“龍”、右上“麟”、右下“鳳”，纸面未见大面积偏移或额外涂画。"
+     },
+     {
+      "t": 59.4,
+      "log_step": null,
+      "text_zh": "观察：评分器 inputs/run.json 的 reward 报告 success=1、deterministic=1、image_success=1、strict_ok=1；IoU=0.881961、boundary_f=0.943082、min_stroke_coverage=0.849644、stray_frac=0.012067，主纸接触笔数和规则计数笔数均为70，path_mm=4279.55、mark_width_mm=2.0579、scribble_share=0，整幅图像与笔画过程验收均通过。"
+     },
+     {
+      "t": 59.4,
+      "log_step": null,
+      "text_zh": "推断：最终评分与视频 59.4 s 成字画面一致，故整幅临帖最终达标；以末段最终成字的视频 59.4 s 作为完成时间近似锚点。没有逐帧像素评分，无法确定各覆盖阈值在最后补笔过程中首次同时成立的精确时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂用末端固定安装毛笔的笔毫压在主纸上滑动落墨，笔画间抬笔转移；视频 2.0–59.4 s 的侧视与无遮挡纸面共同显示工具对纸面的压擦书写。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.881961
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.943082
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.849644
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.012067
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 70.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 70.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 4279.55
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 2.0579
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机械臂完成蘸墨后，在主纸上先写左列“龜、龍”，再写右列“鳳、麟”，两个节点最终均完成；评分器确认整幅图像及笔画过程达标，回放成功且确定性一致。首次装墨由视频 0.4 s 新墨迹及评分器一次蘸墨记录确认，整幅完成以视频 59.4 s 最终成字画面为锚点；没有状态日志或逐帧评分，入墨瞬间与末段首次跨过全部阈值的准确时刻不能直接确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点的值与时间（蘸墨 0.4 s 首次落墨；整幅临帖在视频 59.4 s 前后四字齐全）与视频及评分器结果一致，成功运行无断点，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": "2026-10-30T22:42:15Z",
+  "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-kaishu-linfengguilong-i00-privileged--2becb6g/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-privileged--2becb6g/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c8fa0ffc670c5699c7e2a40e2cc6fa1249f699b6668df7b2c89ca167de32a84c",
+   "video_sha256": "d65504f54d7e473e1f3914c91fd19c58cf3d77098446b8d50efab103e143676c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--469jbgm.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--469jbgm.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa51bec6662b04a80186e299783e6e3d1b5f55e3
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--469jbgm.json
@@ -0,0 +1,394 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-kaishu-linfengguilong-i00-privileged--469jbgm",
+ "taskKey": "robopaint/kaishu_linfengguilong",
+ "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed",
+ "outcome": {
+  "success": 0,
+  "reward": 0.62926,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.62926,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.62926,
+   "boundary_precision": 0.743237,
+   "boundary_recall": 0.695593,
+   "boundary_f": 0.718626,
+   "ink_precision": 0.801635,
+   "ink_recall": 0.745312,
+   "min_stroke_coverage": 0.214602,
+   "mean_stroke_coverage": 0.736246,
+   "stray_frac": 0.056422,
+   "missing_frac": 0.092882,
+   "ink_area_mm2": 7470.93,
+   "target_area_mm2": 8035.51,
+   "n_target_strokes": 71.0,
+   "stroke_coverage_01": 0.779647,
+   "stroke_coverage_02": 0.770225,
+   "stroke_coverage_03": 0.744238,
+   "stroke_coverage_04": 0.689246,
+   "stroke_coverage_05": 0.825737,
+   "stroke_coverage_06": 0.794521,
+   "stroke_coverage_07": 0.744037,
+   "stroke_coverage_08": 0.736979,
+   "stroke_coverage_09": 0.636442,
+   "stroke_coverage_10": 0.864629,
+   "stroke_coverage_11": 0.621399,
+   "stroke_coverage_12": 0.784185,
+   "stroke_coverage_13": 0.56551,
+   "stroke_coverage_14": 0.840185,
+   "stroke_coverage_15": 0.757416,
+   "stroke_coverage_16": 0.85098,
+   "stroke_coverage_17": 0.783412,
+   "stroke_coverage_18": 0.507734,
+   "stroke_coverage_19": 0.80487,
+   "stroke_coverage_20": 0.214602,
+   "stroke_coverage_21": 0.819983,
+   "stroke_coverage_22": 0.697038,
+   "stroke_coverage_23": 0.853288,
+   "stroke_coverage_24": 0.822663,
+   "stroke_coverage_25": 0.78605,
+   "stroke_coverage_26": 0.82832,
+   "stroke_coverage_27": 0.745476,
+   "stroke_coverage_28": 0.693125,
+   "stroke_coverage_29": 0.662504,
+   "stroke_coverage_30": 0.791403,
+   "stroke_coverage_31": 0.957447,
+   "stroke_coverage_32": 0.787524,
+   "stroke_coverage_33": 0.67156,
+   "stroke_coverage_34": 0.645192,
+   "stroke_coverage_35": 0.51461,
+   "stroke_coverage_36": 0.645941,
+   "stroke_coverage_37": 0.611727,
+   "stroke_coverage_38": 0.580808,
+   "stroke_coverage_39": 0.911728,
+   "stroke_coverage_40": 0.580992,
+   "stroke_coverage_41": 0.708029,
+   "stroke_coverage_42": 0.91018,
+   "stroke_coverage_43": 0.800777,
+   "stroke_coverage_44": 0.822405,
+   "stroke_coverage_45": 0.825754,
+   "stroke_coverage_46": 0.700337,
+   "stroke_coverage_47": 0.846103,
+   "stroke_coverage_48": 0.625,
+   "stroke_coverage_49": 0.609359,
+   "stroke_coverage_50": 0.774841,
+   "stroke_coverage_51": 0.559012,
+   "stroke_coverage_52": 0.785657,
+   "stroke_coverage_53": 0.806391,
+   "stroke_coverage_54": 0.794872,
+   "stroke_coverage_55": 0.812264,
+   "stroke_coverage_56": 0.231209,
+   "stroke_coverage_57": 0.826294,
+   "stroke_coverage_58": 0.775207,
+   "stroke_coverage_59": 0.828197,
+   "stroke_coverage_60": 0.760082,
+   "stroke_coverage_61": 0.674478,
+   "stroke_coverage_62": 0.709583,
+   "stroke_coverage_63": 0.874214,
+   "stroke_coverage_64": 0.895495,
+   "stroke_coverage_65": 0.804191,
+   "stroke_coverage_66": 0.661594,
+   "stroke_coverage_67": 0.747995,
+   "stroke_coverage_68": 0.732399,
+   "stroke_coverage_69": 0.872837,
+   "stroke_coverage_70": 0.7912,
+   "stroke_coverage_71": 0.784113,
+   "n_strokes": 68.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.508717,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 38.0,
+   "max_strokes": 71.0,
+   "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,
+   "iou_unregistered": 0.627635,
+   "boundary_f_unregistered": 0.721415,
+   "min_stroke_coverage_unregistered": 0.199115,
+   "stray_frac_unregistered": 0.057911,
+   "path_mm": 4218.08,
+   "longest_stroke_mm": 570.63,
+   "mark_width_mm": 2.2902,
+   "max_path_mm": 7880.0,
+   "min_mark_width_mm": 0.99,
+   "colour_in": 0.0,
+   "scribble_max": 5.8273,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.62926,
+   "sim_steps": 27314.0,
+   "resets": 1.0,
+   "n_contacts": 68.0,
+   "samples": 136570.0,
+   "contact_samples": 110647.0,
+   "max_press_m": 0.007168,
+   "max_tilt_deg_in_contact": 0.126523,
+   "max_speed_in_contact_mps": 0.023611,
+   "handle_contact_samples": 0.0,
+   "n_dips": 69.0,
+   "dry_strokes": 0.0,
+   "n_frames": 595.0,
+   "replay_wall_s": 261.5,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 27314,
+   "video_rendered": 1,
+   "agent_sessions": 9,
+   "agent_resets": 9,
+   "agent_sim_steps": 204420,
+   "agent_records": 6,
+   "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-kaishu-linfengguilong-i00-privileged--469jbgm/replay.mp4",
+  "duration_s": 59.5,
+  "fps": 10.0,
+  "frames": 595,
+  "sha256": "c25d1bb380f55d397bfb085043e518a5aec2fd92df93d47d0f1b1f4abe400abf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_ink_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 主纸尚无墨迹，视频 0.3 s 右下纸面视图首次出现黑色短线，视频 0.4–2.0 s 短线延长并成形。"
+     },
+     {
+      "t": 0.3,
+      "log_step": 123,
+      "text_zh": "推断：毛笔初始干燥，首次新墨迹足以确认此前已经蘸墨；以视频 0.3 s 为保守达到锚点，实际入墨略早且瞬间深度看不清。log step 123 对最终交付文件的官方回放返回 loaded=true、n_dips=69、dry_strokes=0，与视频持续落墨一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：Panda 臂端固定毛笔的笔毫浸入砚台墨液；视频 0.3 s 首次落墨与 log step 123 官方回放的装墨读数支持实际浸蘸。候选：浸蘸；液体装墨不属于抓握、推扫、压擦或托舀，故用其他。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–18.5 s 的密集纸面帧显示机器人用毛笔逐段写出右下“鳳”的内部和外框，外框右上转折及右下收笔出现突出的墨团；其他字符此时仍不完整。"
+     },
+     {
+      "t": 59.4,
+      "log_step": 123,
+      "text_zh": "观察：视频 58.4–59.4 s 每帧及视频 59.4 s 末帧右下无遮挡纸面显示两列四字，但“鳳”内部横笔、下方点画与成功参考视频 59.4 s 的形状不同，多个收笔呈墨团，细笔有缺口；log step 123 的最终文件官方回放与本次评分字段一致：IoU=0.62926<0.80、boundary_f=0.718626<0.75、min_stroke_coverage=0.214602<0.80、stray_frac=0.056422>0.04，strict_ok=1。"
+     },
+     {
+      "t": 59.4,
+      "log_step": null,
+      "text_zh": "推断：所检全程粗采样及起笔、右下字成形、末秒密集帧中，作品从部分笔画逐步增加到存在缺口和多余墨迹的四字，未出现整幅匹配达标状态；最终四项图像门槛明确未满足。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.3–59.4 s 机器人以臂端固定毛笔的笔毫接触主纸，笔尖沿纸面移动时新增黑墨，并反复抬起转移；侧视图与无遮挡纸面同步显示书写。工具到纸面的压擦接触链只记一次。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "value": 0.62926,
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "boundary_f",
+   "value": 0.718626,
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better"
+  },
+  {
+   "name": "min_stroke_coverage",
+   "value": 0.214602,
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stray_frac",
+   "value": 0.056422,
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes",
+   "value": 68.0,
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes_counted",
+   "value": null,
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better"
+  },
+  {
+   "name": "path_mm",
+   "value": 4218.08,
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better"
+  },
+  {
+   "name": "mark_width_mm",
+   "value": 2.2902,
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better"
+  },
+  {
+   "name": "scribble_share",
+   "value": null,
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 16.0,
+   "log_step": 123,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 16.0 s 机器人已写出的“鳳”外框转折与末端有不规则鼓包，之后继续书写其余字符；视频 58.4–59.4 s 上述痕迹仍在，最终字内点画及轮廓也与成功参考不同。log step 123 官方回放最终交付轨迹的四项图像指标均未达阈值，过程 strict_ok=1；失败发生在整幅临帖的书写质量上。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 16.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 13.0–16.0 s “鳳”的外框上角和右下收笔形成局部墨团；视频 59.4 s 的“鳳”内部横笔和下方点画形状、间隙与成功参考视频 59.4 s 不一致，四字若干细笔断缺、边缘向外多出墨迹。机器人实际落墨的范围及形状没有准确贴合范本。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 118,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 98 的生成脚本从范本骨架构造 DFS 路径，再把宽度与笔毫拖尾补偿转成笔尖轨迹；log step 117 对同一路径宽度的离线试验即仅得到约 0.64 的 IoU，log step 118 选择宽度系数 0.9、余量 0.25 后重新生成，log step 122 实际执行及 log step 123 最终文件官方回放均为 IoU=0.62926，并与评分器一致。结合视频 59.4 s 可见的局部鼓包和缺口，所生成的笔尖运动与按压控制未能产生所需墨迹形状；现有证据支持控制层面，但不能唯一细分为接触设计、轨迹跟踪或参数调试。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，视频不能精确重算像素门槛及各笔覆盖率，首次入墨深度不可见，蘸墨以视频 0.3 s 首次落墨作保守锚点。最终奖励未报告 n_strokes_counted 与 scribble_share，保留 null；scribble_max 不是 scribble_share。日志中的较早干笔、单位错误和调参属于会话测试，不直接当作本次交付的现象；缺少将剩余字形误差归于单一控制子类的证据。"
+ },
+ "summary_zh": "机器人在视频约 0.3 s 首次落墨，确认完成蘸墨，并在主纸写出两列四字，节点终态为 1/2。整幅临帖未达标：末帧可见笔画缺口、局部鼓包与多余墨迹，IoU、边界 F、最小笔画覆盖及杂墨比例均不合格；最终文件官方回放复现该结果，支持书写控制未能准确生成范本形状。无逐帧状态日志，蘸墨时刻及具体控制子原因只能作有限推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（蘸墨已达、整幅临帖未达）、断点、位姿不准现象与控制根因均有视频和评分字段支持，时钟合规，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": "2026-10-30T22:52:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-privileged--469jbgm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-privileged--469jbgm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a8d4dd69338fda6e1f4f48130f4169510cb144de713874f87586ba027a888182",
+   "video_sha256": "c25d1bb380f55d397bfb085043e518a5aec2fd92df93d47d0f1b1f4abe400abf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--7pq98ow.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--7pq98ow.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d56bfba0223cb5a9aecf70e6294415773b03d4
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--7pq98ow.json
@@ -0,0 +1,398 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-kaishu-linfengguilong-i00-privileged--7pq98ow",
+ "taskKey": "robopaint/kaishu_linfengguilong",
+ "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed",
+ "outcome": {
+  "success": 0,
+  "reward": 0.735027,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.735027,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.735027,
+   "boundary_precision": 0.813588,
+   "boundary_recall": 0.873311,
+   "boundary_f": 0.842392,
+   "ink_precision": 0.845459,
+   "ink_recall": 0.84911,
+   "min_stroke_coverage": 0.479339,
+   "mean_stroke_coverage": 0.829049,
+   "stray_frac": 0.0483,
+   "missing_frac": 0.019908,
+   "ink_area_mm2": 8070.21,
+   "target_area_mm2": 8035.51,
+   "n_target_strokes": 71.0,
+   "stroke_coverage_01": 0.6875,
+   "stroke_coverage_02": 0.896629,
+   "stroke_coverage_03": 0.867084,
+   "stroke_coverage_04": 0.701948,
+   "stroke_coverage_05": 0.773905,
+   "stroke_coverage_06": 0.842466,
+   "stroke_coverage_07": 0.884404,
+   "stroke_coverage_08": 0.75,
+   "stroke_coverage_09": 0.822107,
+   "stroke_coverage_10": 0.683406,
+   "stroke_coverage_11": 0.867856,
+   "stroke_coverage_12": 0.813839,
+   "stroke_coverage_13": 0.93505,
+   "stroke_coverage_14": 0.826867,
+   "stroke_coverage_15": 0.857284,
+   "stroke_coverage_16": 0.934314,
+   "stroke_coverage_17": 0.798883,
+   "stroke_coverage_18": 0.901729,
+   "stroke_coverage_19": 0.883302,
+   "stroke_coverage_20": 0.957965,
+   "stroke_coverage_21": 0.829893,
+   "stroke_coverage_22": 0.790401,
+   "stroke_coverage_23": 0.908979,
+   "stroke_coverage_24": 0.925041,
+   "stroke_coverage_25": 0.894087,
+   "stroke_coverage_26": 0.884336,
+   "stroke_coverage_27": 0.790109,
+   "stroke_coverage_28": 0.893692,
+   "stroke_coverage_29": 0.873076,
+   "stroke_coverage_30": 0.8622,
+   "stroke_coverage_31": 0.863222,
+   "stroke_coverage_32": 0.794347,
+   "stroke_coverage_33": 0.850782,
+   "stroke_coverage_34": 0.723077,
+   "stroke_coverage_35": 0.636364,
+   "stroke_coverage_36": 0.685665,
+   "stroke_coverage_37": 0.591125,
+   "stroke_coverage_38": 0.773737,
+   "stroke_coverage_39": 0.858344,
+   "stroke_coverage_40": 0.852066,
+   "stroke_coverage_41": 0.853285,
+   "stroke_coverage_42": 0.893713,
+   "stroke_coverage_43": 0.86103,
+   "stroke_coverage_44": 0.873176,
+   "stroke_coverage_45": 0.892427,
+   "stroke_coverage_46": 0.888328,
+   "stroke_coverage_47": 0.815456,
+   "stroke_coverage_48": 0.891414,
+   "stroke_coverage_49": 0.718718,
+   "stroke_coverage_50": 0.863108,
+   "stroke_coverage_51": 0.712717,
+   "stroke_coverage_52": 0.865408,
+   "stroke_coverage_53": 0.75,
+   "stroke_coverage_54": 0.769231,
+   "stroke_coverage_55": 0.926415,
+   "stroke_coverage_56": 0.882353,
+   "stroke_coverage_57": 0.87434,
+   "stroke_coverage_58": 0.479339,
+   "stroke_coverage_59": 0.812789,
+   "stroke_coverage_60": 0.851045,
+   "stroke_coverage_61": 0.886539,
+   "stroke_coverage_62": 0.808936,
+   "stroke_coverage_63": 0.683438,
+   "stroke_coverage_64": 0.911712,
+   "stroke_coverage_65": 0.856214,
+   "stroke_coverage_66": 0.804451,
+   "stroke_coverage_67": 0.941176,
+   "stroke_coverage_68": 0.83516,
+   "stroke_coverage_69": 0.903979,
+   "stroke_coverage_70": 0.9016,
+   "stroke_coverage_71": 0.887892,
+   "n_strokes": 66.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.718911,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 54.0,
+   "max_strokes": 71.0,
+   "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,
+   "iou_unregistered": 0.735027,
+   "boundary_f_unregistered": 0.842392,
+   "min_stroke_coverage_unregistered": 0.479339,
+   "stray_frac_unregistered": 0.0483,
+   "path_mm": 3434.45,
+   "longest_stroke_mm": 318.52,
+   "mark_width_mm": 2.5131,
+   "max_path_mm": 7880.0,
+   "min_mark_width_mm": 0.99,
+   "colour_in": 0.0,
+   "scribble_max": 3.0487,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.735027,
+   "sim_steps": 7434.0,
+   "resets": 1.0,
+   "n_contacts": 66.0,
+   "samples": 37170.0,
+   "contact_samples": 29161.0,
+   "max_press_m": 0.006365,
+   "max_tilt_deg_in_contact": 0.31366,
+   "max_speed_in_contact_mps": 0.517453,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 573.0,
+   "replay_wall_s": 141.8,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 7434,
+   "video_rendered": 1,
+   "agent_sessions": 88,
+   "agent_resets": 91,
+   "agent_sim_steps": 531189,
+   "agent_records": 70,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-kaishu-linfengguilong-i00-privileged--7pq98ow/replay.mp4",
+  "duration_s": 57.3,
+  "fps": 10.0,
+  "frames": 573,
+  "sha256": "a9047526dd566bdda5e55bd0451030d339fca8d1d25d495081a3bf7cfb584d89"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_ink_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.9 s 主纸尚无墨迹；视频 1.0 s 右下无遮挡纸面视图首次出现新黑色笔点，随后机器人用安装毛笔继续扩展笔画，足以确认此前已蘸墨。首次入墨的深度被视角遮挡，以首次实际落墨为保守到达锚点，时间精度约 0.1 s。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 n_dips=1、n_dry_strokes=0，与视频中持续有墨书写相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机器人臂端安装毛笔的笔毫浸入砚台墨液后装墨；视频 1.0 s 已有实际墨迹且评分器 n_dips=1，支持该接触发生。候选：浸蘸；现有抓握、压擦、托舀等固体接触词不能准确表示笔毫进入墨液，入墨深度不可直接量读。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.0–30.5 s 机器人用安装毛笔依次在主纸右上和左上书写“麟”“龜”，视频 29.5–30.5 s 已成形的“龜”框内有细斜笔、框右下有尖状外伸；视频后段继续写左下“龍”和右下“鳳”。右下纸面视图无遮挡，并非仅在空中运动。"
+     },
+     {
+      "t": 57.2,
+      "log_step": null,
+      "text_zh": "观察：视频 55.7–57.2 s 已可辨认两列四字；与成功参考录像视频 59.4 s 的成品比较，本次“龍”左半部竖笔及下端较细，“鳳”外框与收尾有粗细突变和尖状凸出，成品未呈现参考中的较均匀完整轮廓。"
+     },
+     {
+      "t": null,
+      "log_step": 217,
+      "text_zh": "观察：log step 215 将候选轨迹安装为交付文件，log step 217 对该文件官方回放得到 IoU=0.735027、boundary_f=0.842392、min_stroke_coverage=0.479339、stray_frac=0.0483、n_strokes=66、strict_ok=1、success=0；log step 230 的第二次独立回放得到同一末态哈希及指标，与 inputs/run.json 最终评分一致。"
+     },
+     {
+      "t": 57.2,
+      "log_step": null,
+      "text_zh": "推断：整幅作品的 IoU、最差笔画覆盖率和杂墨比例分别未达 0.80、0.80 和 0.04 的阈值，故终态未完成；此前采样帧仍缺后续字符，最终帧又未达标，未发现任何整幅达标区间。未从失败分数反推没有书写。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 1.0 s 起，固定底座 Panda 单臂以安装毛笔笔毫压在主纸上并滑动落墨，逐步形成两列四字；侧视图可见笔尖靠纸，右下视图显示对应新墨迹。安装工具没有额外握笔步骤，也无底盘移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.735027
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.842392
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.479339
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.0483
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 66.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 3434.45
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 2.5131
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 30.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 29.5–30.5 s 机器人仍在主纸上书写，已成形的“龜”局部细笔和尖状外伸可见；视频 55.7–57.2 s 四字齐备后仍有粗细和轮廓缺损。最终评分 IoU=0.735027<0.80、最差笔画覆盖率=0.479339<0.80、杂墨比例=0.0483>0.04，整幅临帖始终未达标；视频 30.0 s 是书写偏差的导航锚点，不表示存在唯一瞬时判负事件。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔画粗细与轮廓失真",
+    "t": 30.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 29.5–30.5 s 的“龜”框内细斜笔及右下尖状外伸保留到最终画面；视频 55.7–57.2 s 的“龍”左半部竖笔、下端偏细，“鳳”外框收尾粗细突变并有凸出。成功参考录像视频 59.4 s 同处笔画更饱满平顺；本次评分还报告覆盖不足及杂墨超标。",
+    "note_zh": "候选：笔画粗细与轮廓失真。描述的是成品中可见的局部欠墨及多余墨迹，现有接触、运动或汇报条目没有准确对应项；没有逐帧末端测量，不能把成品形状误差直接等同于某次末端位姿不准。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 173 的生成脚本沿范本骨架设置书写路径与按压深度，并用模拟器轨迹误差迭代修正；log step 198 中 agent 自述“快速变宽的笔画仍偏细”，log step 199 随即试验增加按压余量。log step 213、215、217 显示最终选用的仍是最差覆盖率 0.479339 的轨迹，视频 55.7–57.2 s 可见相应局部偏细和轮廓失真，因此支持毛笔落墨控制未达到要求；不能据此确定按压模型、路径生成与机械臂跟踪各自的责任。",
+    "source_zh": "日志、视频、评分器字段"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧评分，无法精确定位每个局部偏差的首次出现时刻，也不能把最差覆盖率的第58个范本掩膜可靠对应到可见笔段；蘸墨入液深度受遮挡，以视频 1.0 s 首次墨迹确认已完成。最终评分未报告 n_strokes_counted 和 scribble_share，原生指标保留 null。日志中的早期测试与已修复代码错误不作为本次轨迹现象；证据不足以进一步细分控制根因。"
+ },
+ "summary_zh": "观察：机器人完成蘸墨，并在主纸写出“麟鳳龜龍”两列四字，最终节点完成 1/2；交付轨迹的两次独立回放指标和末态哈希一致。推断：整幅临帖因局部笔画偏细及轮廓外溢而未达标，断点为完成整幅临帖，根因可归到控制，但无法进一步区分路径、按压与跟踪误差；无状态日志及逐帧评分，蘸墨到达以视频 1.0 s 首次落墨作保守锚点。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（蘸墨到达、整幅临帖未达成）、断点与评分器指标一致；根因停在“控制”并明确无法细分，合理。现象标为其他有候选说明，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:55:16Z",
+  "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-kaishu-linfengguilong-i00-privileged--7pq98ow/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-privileged--7pq98ow/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4d4f4ebdc9b250e8c431db73cc029a9889f3a9a9ec1886386ff2f439796367fc",
+   "video_sha256": "a9047526dd566bdda5e55bd0451030d339fca8d1d25d495081a3bf7cfb584d89",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--heczc54.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--heczc54.json
new file mode 100644
index 0000000000000000000000000000000000000000..eafeb34fcc4f0206dcd1d2c7c1fefbeb3cfb8fcd
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--heczc54.json
@@ -0,0 +1,373 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-kaishu-linfengguilong-i00-privileged--heczc54",
+ "taskKey": "robopaint/kaishu_linfengguilong",
+ "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed",
+ "outcome": {
+  "success": 1,
+  "reward": 0.937398,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "final_reward": 0.937398,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.937398,
+   "boundary_precision": 0.99116,
+   "boundary_recall": 0.990307,
+   "boundary_f": 0.990734,
+   "ink_precision": 0.973828,
+   "ink_recall": 0.961624,
+   "min_stroke_coverage": 0.892812,
+   "mean_stroke_coverage": 0.963743,
+   "stray_frac": 0.000208,
+   "missing_frac": 0.002707,
+   "ink_area_mm2": 7934.8,
+   "target_area_mm2": 8035.51,
+   "n_target_strokes": 71.0,
+   "stroke_coverage_01": 0.96875,
+   "stroke_coverage_02": 0.99382,
+   "stroke_coverage_03": 0.969344,
+   "stroke_coverage_04": 0.933531,
+   "stroke_coverage_05": 0.919571,
+   "stroke_coverage_06": 0.961948,
+   "stroke_coverage_07": 0.961468,
+   "stroke_coverage_08": 0.992188,
+   "stroke_coverage_09": 0.932642,
+   "stroke_coverage_10": 0.984716,
+   "stroke_coverage_11": 0.940558,
+   "stroke_coverage_12": 0.953871,
+   "stroke_coverage_13": 0.93505,
+   "stroke_coverage_14": 0.969311,
+   "stroke_coverage_15": 0.957482,
+   "stroke_coverage_16": 0.985294,
+   "stroke_coverage_17": 0.9841,
+   "stroke_coverage_18": 0.964513,
+   "stroke_coverage_19": 0.959203,
+   "stroke_coverage_20": 0.975664,
+   "stroke_coverage_21": 0.962841,
+   "stroke_coverage_22": 0.938508,
+   "stroke_coverage_23": 0.97473,
+   "stroke_coverage_24": 0.986089,
+   "stroke_coverage_25": 0.963258,
+   "stroke_coverage_26": 0.98029,
+   "stroke_coverage_27": 0.960193,
+   "stroke_coverage_28": 0.981573,
+   "stroke_coverage_29": 0.956433,
+   "stroke_coverage_30": 0.970923,
+   "stroke_coverage_31": 0.973658,
+   "stroke_coverage_32": 0.978558,
+   "stroke_coverage_33": 0.956767,
+   "stroke_coverage_34": 0.958654,
+   "stroke_coverage_35": 0.946429,
+   "stroke_coverage_36": 0.955095,
+   "stroke_coverage_37": 0.950872,
+   "stroke_coverage_38": 0.962121,
+   "stroke_coverage_39": 0.892812,
+   "stroke_coverage_40": 0.941322,
+   "stroke_coverage_41": 0.96618,
+   "stroke_coverage_42": 0.988024,
+   "stroke_coverage_43": 0.977648,
+   "stroke_coverage_44": 0.97739,
+   "stroke_coverage_45": 0.947929,
+   "stroke_coverage_46": 0.952862,
+   "stroke_coverage_47": 0.974017,
+   "stroke_coverage_48": 0.973485,
+   "stroke_coverage_49": 0.953713,
+   "stroke_coverage_50": 0.969345,
+   "stroke_coverage_51": 0.956999,
+   "stroke_coverage_52": 0.944958,
+   "stroke_coverage_53": 0.953008,
+   "stroke_coverage_54": 0.973077,
+   "stroke_coverage_55": 0.949057,
+   "stroke_coverage_56": 0.96732,
+   "stroke_coverage_57": 0.985744,
+   "stroke_coverage_58": 0.955372,
+   "stroke_coverage_59": 0.953775,
+   "stroke_coverage_60": 0.96232,
+   "stroke_coverage_61": 0.974564,
+   "stroke_coverage_62": 0.975113,
+   "stroke_coverage_63": 0.979036,
+   "stroke_coverage_64": 0.989189,
+   "stroke_coverage_65": 0.990607,
+   "stroke_coverage_66": 0.942363,
+   "stroke_coverage_67": 0.966578,
+   "stroke_coverage_68": 0.971121,
+   "stroke_coverage_69": 0.974913,
+   "stroke_coverage_70": 0.9632,
+   "stroke_coverage_71": 0.982703,
+   "n_strokes": 71.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.986312,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 70.0,
+   "max_strokes": 71.0,
+   "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,
+   "iou_unregistered": 0.937398,
+   "boundary_f_unregistered": 0.990734,
+   "min_stroke_coverage_unregistered": 0.892812,
+   "stray_frac_unregistered": 0.000208,
+   "path_mm": 2991.75,
+   "longest_stroke_mm": 174.27,
+   "mark_width_mm": 2.8196,
+   "max_path_mm": 7880.0,
+   "min_mark_width_mm": 0.99,
+   "colour_in": 0.0,
+   "scribble_max": 2.197,
+   "strict_ok": 1.0,
+   "image_success": 1.0,
+   "image_final_reward": 0.937398,
+   "sim_steps": 12375.0,
+   "resets": 1.0,
+   "n_contacts": 71.0,
+   "samples": 61875.0,
+   "contact_samples": 36463.0,
+   "max_press_m": 0.007609,
+   "max_tilt_deg_in_contact": 0.024643,
+   "max_speed_in_contact_mps": 0.016374,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 591.0,
+   "replay_wall_s": 152.3,
+   "all_success": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 12375,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 2,
+   "agent_sim_steps": 37525,
+   "agent_records": 1,
+   "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-kaishu-linfengguilong-i00-privileged--heczc54/replay.mp4",
+  "duration_s": 59.1,
+  "fps": 10.0,
+  "frames": 591,
+  "sha256": "0a5ff039b19b224b30eca835f5db2f5169bb5c582258c52ea8698862b1933ac3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_ink_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.6 s 右下无遮挡主纸为空白，视频 0.7 s 首次出现黑色小点，视频 0.8–1.4 s 该墨迹随机器人笔尖运动增大。"
+     },
+     {
+      "t": 0.7,
+      "log_step": 19,
+      "text_zh": "推断：毛笔初始无墨且只有进入砚台才能装墨，视频 0.7 s 的首次实际落墨足以确认此前已蘸墨；log step 19 的交付生成脚本先令笔尖下探砚台，最终评分字段 n_dips=1、dry_strokes=0 与之相符。以视频 0.7 s 为可见确认锚点，入墨瞬间的深度被遮挡，实际蘸墨比该锚点早。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机器人臂端固定安装的毛笔笔毫浸入砚台墨液；视频 0.7 s 的新黑墨及评分器 n_dips=1 支持此接触。候选：浸蘸；墨液装墨并非抓握、推扫、压擦或托舀，现有方式无准确项。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      58.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：机器人用臂端毛笔逐笔压在主纸上滑动落墨，并在笔间抬起；视频 2.0–18.0 s 逐渐写出右上“麟”，视频 20.0–30.0 s 写出右下“鳳”，此时左列尚未完成。"
+     },
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频 32.0–44.0 s 机器人写左上“龜”，随后写左下“龍”；视频 56.0–58.4 s “龍”右侧末笔尚缺外部转折，视频 58.5–58.8 s 该笔向下、向右延伸并收尾。视频 58.8–59.0 s 右下无遮挡纸面显示右列“麟鳳”、左列“龜龍”的完整两列作品，布局与参考成功录像末帧一致。"
+     },
+     {
+      "t": 59.0,
+      "log_step": 33,
+      "text_zh": "观察：本次最终评分 success=1、image_success=1、strict_ok=1；IoU=0.937398、boundary_f=0.990734、min_stroke_coverage=0.892812、stray_frac=0.000208、n_strokes=71，路径 2991.75 mm、平均墨宽 2.8196 mm。log step 33 报告交付文件两次新进程回放均成功，末态哈希相同；这些是终态验收依据，不用于换算视频时间。"
+     },
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "推断：结合完整四字的末笔收尾及评分器终态成功，将整幅临帖首次达标锚定在视频约 58.8 s，时间误差约 0.3 s。没有逐帧像素或过程状态，无法精确定位各数值阈值首次同时满足的帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.7–58.8 s，固定在 Panda 臂端的毛笔笔毫反复下压主纸并沿笔画滑动，留下黑色墨迹；笔间抬起。工具至纸面接触链仅计一次，不另加握笔接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.937398
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.990734
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.892812
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.000208
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 71.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 2991.75
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 2.8196
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次评分轨迹完成毛笔蘸墨和整幅临帖，最终为 2/2；机器人先写右列“麟鳳”，再写左列“龜龍”，视频约 58.8 s 完成末笔并保留至末帧。最终图像与过程评分均通过，两次交付文件回放均成功且末态哈希一致，无失败断点。无状态日志，首次入墨深度被遮挡，蘸墨用视频 0.7 s 首次新墨确认，整幅达标时间按末笔收尾近似；评分未单独报告 n_strokes_counted、scribble_share，两项原生指标保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，两节点终值均为真，与视频和评分字段一致；蘸墨首个可见新墨在视频约 0.8 s（标注 0.7 s，差 0.1 s，不构成问题），末帧完整四字，无失败断点，接触标签合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:52:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-privileged--heczc54/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-privileged--heczc54/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "00dd2415f5dacfcdb26ce454bdc99e0da0c395d1d02ccd6d5d8453815ca08429",
+   "video_sha256": "0a5ff039b19b224b30eca835f5db2f5169bb5c582258c52ea8698862b1933ac3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--jqc75ce.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--jqc75ce.json
new file mode 100644
index 0000000000000000000000000000000000000000..707438c7130a2cc05a11c5aa64fca1615ba69b9b
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--jqc75ce.json
@@ -0,0 +1,373 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-kaishu-linfengguilong-i00-privileged--jqc75ce",
+ "taskKey": "robopaint/kaishu_linfengguilong",
+ "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed",
+ "outcome": {
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+  "source": "catalog",
+  "raw": {
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+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
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+   "boundary_precision": 0.906557,
+   "boundary_recall": 0.935344,
+   "boundary_f": 0.920725,
+   "ink_precision": 0.915991,
+   "ink_recall": 0.923841,
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+   "ink_area_mm2": 8104.37,
+   "target_area_mm2": 8035.51,
+   "n_target_strokes": 71.0,
+   "stroke_coverage_01": 0.907051,
+   "stroke_coverage_02": 0.952809,
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+   "stroke_coverage_23": 0.956084,
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+   "stroke_coverage_27": 0.872135,
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+   "stroke_coverage_30": 0.945638,
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+   "stroke_coverage_32": 0.964912,
+   "stroke_coverage_33": 0.890466,
+   "stroke_coverage_34": 0.934615,
+   "stroke_coverage_35": 0.930195,
+   "stroke_coverage_36": 0.937824,
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+   "stroke_coverage_38": 0.925253,
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+   "stroke_coverage_44": 0.964234,
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+   "stroke_coverage_50": 0.946617,
+   "stroke_coverage_51": 0.870997,
+   "stroke_coverage_52": 0.894737,
+   "stroke_coverage_53": 0.885338,
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+   "register_shift_mm": 0.0,
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+   "register_window_mm": 4.8809,
+   "iou_unregistered": 0.85168,
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+   "colour_in": 0.0,
+   "scribble_max": 3.119,
+   "strict_ok": 1.0,
+   "image_success": 1.0,
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+   "sim_steps": 8301.0,
+   "resets": 1.0,
+   "n_contacts": 71.0,
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+   "contact_samples": 29434.0,
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+   "max_tilt_deg_in_contact": 0.037908,
+   "max_speed_in_contact_mps": 0.022543,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 594.0,
+   "replay_wall_s": 158.2,
+   "all_success": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 8301,
+   "video_rendered": 1,
+   "agent_sessions": 72,
+   "agent_resets": 64,
+   "agent_sim_steps": 448837,
+   "agent_records": 47,
+   "agent_replays": 15,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
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+   "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-kaishu-linfengguilong-i00-privileged--jqc75ce/replay.mp4",
+  "duration_s": 59.4,
+  "fps": 10.0,
+  "frames": 594,
+  "sha256": "d939d681438e28eb663f15e31c233a256a832fd2a954176431677f1011810d40"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_ink_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.5 s 右下无遮挡主纸为空白，视频 0.6 s 首次出现新黑色墨点，视频 0.7–1.3 s 墨迹随安装毛笔的移动而增长；按节点判据，首次实际落墨足以确认毛笔此前已装墨，以视频 0.6 s 为可确认的完成锚点。"
+     },
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "推断：视频 0.2–0.3 s 机械臂向纸面左侧移动，随后返回纸上并落墨；结合初始干笔只能入砚装墨及本次 reward.n_dips=1、dry_strokes=0，实际发生一次笔毫浸蘸墨液。砚台内的笔尖深度未在这些视角清楚显示，真实蘸墨时刻早于视频 0.6 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：浸蘸；Panda机械臂末端安装毛笔的笔毫进入砚台墨液，接触由随后首次落墨及评分器n_dips=1共同确认。浸蘸液体不同于抓握、托舀或压擦固体，现有how词表没有合适取值。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      58.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.6–57.0 s 机械臂以安装毛笔反复下压主纸、沿笔画移动并提笔换位，右下视图的墨迹逐步形成左列龜、龍与右列麟、鳳；视频 30.0 s 右上麟仍明显未写完，整幅目标尚未完成。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 55.0–59.3 s，四字主体已写出，机械臂继续短促下压补墨；视频约 58.8–58.9 s 最后可见补墨结束，视频 59.3 s 四字及两列布局仍完整保留。参考成功录像的右下视图也显示同一四字布局，仅用于核对可见完成形态。"
+     },
+     {
+      "t": 59.3,
+      "log_step": 52,
+      "text_zh": "观察：本次最终评分success=1、image_success=1、strict_ok=1、deterministic=1，IoU=0.85168、boundary_f=0.920725、min_stroke_coverage=0.817411、stray_frac=0.023767、n_strokes=71，满足整幅图像门槛及笔数上限；path_mm=2659.07、mark_width_mm=3.2139、colour_in=0、stroke_count_ok=1。log step 51 保存最终d2轨迹（8301个动作），log step 52 两次新进程回放均成功且末态哈希相同，区分于先前未达标的会话试验。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "推断：结合最终成功评分与视频末段补墨后保留的完整字形，将整幅达标起点近似标在视频 58.9 s；没有逐帧像素评分，无法判定最后几次补点中哪一次首次使全部覆盖阈值通过，实际达标可能略早于此锚点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "Panda单臂使末端安装毛笔的笔毫压在主纸上滑动写字，末段另有短促压笔补点；下方侧视图可见笔尖下探与抬起，右下视图可见对应墨迹增加。只标笔毫与主纸的工具接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.85168
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.920725
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.817411
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.023767
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 71.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 2659.07
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 3.2139
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次交付轨迹完成毛笔蘸墨和整幅临帖两个节点：视频 0.6 s 首次落墨可确认已装墨，视频约 58.9 s 末段补墨后保留完整的“麟鳳龜龍”两列作品，最终评分成功。整幅IoU为0.85168、最小笔画覆盖率为0.817411，71笔恰好达到上限，评分器确认图像与过程规则均通过，因而无失败断点。没有状态日志或逐帧评分，蘸墨深度不可直接量出，整幅首次跨过全部数值门槛的时刻只能近似定位在末段补墨结束；n_strokes_counted与scribble_share未单独报告，原生指标保留null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，两个节点均为真且无失败断点。视频 0.6 s 首次落墨、视频 59.3 s 四字完整，与评分器 success=1 一致；58.9 s 起点已在证据中标为推断，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": "2026-10-30T22:45:24Z",
+  "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-kaishu-linfengguilong-i00-privileged--jqc75ce/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-privileged--jqc75ce/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c7169e3436f0da7b6571fa0c492ab8ff8197212f90a9678e479389802a67f0bb",
+   "video_sha256": "d939d681438e28eb663f15e31c233a256a832fd2a954176431677f1011810d40",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--paa2slo.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--paa2slo.json
new file mode 100644
index 0000000000000000000000000000000000000000..f06a785f1c8a0baaf0073a7a440c213d6b27cb6e
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--paa2slo.json
@@ -0,0 +1,395 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-kaishu-linfengguilong-i00-privileged--paa2slo",
+ "taskKey": "robopaint/kaishu_linfengguilong",
+ "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed",
+ "outcome": {
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+  "reward": 0.746807,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.746807,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.746807,
+   "boundary_precision": 0.864645,
+   "boundary_recall": 0.856719,
+   "boundary_f": 0.860664,
+   "ink_precision": 0.86196,
+   "ink_recall": 0.848258,
+   "min_stroke_coverage": 0.725205,
+   "mean_stroke_coverage": 0.850703,
+   "stray_frac": 0.047865,
+   "missing_frac": 0.020337,
+   "ink_area_mm2": 7907.78,
+   "target_area_mm2": 8035.51,
+   "n_target_strokes": 71.0,
+   "stroke_coverage_01": 0.830128,
+   "stroke_coverage_02": 0.867978,
+   "stroke_coverage_03": 0.855896,
+   "stroke_coverage_04": 0.807367,
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+   "stroke_coverage_06": 0.870624,
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+   "stroke_coverage_09": 0.822539,
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+   "stroke_coverage_12": 0.83855,
+   "stroke_coverage_13": 0.87234,
+   "stroke_coverage_14": 0.865084,
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+   "stroke_coverage_16": 0.904902,
+   "stroke_coverage_17": 0.832402,
+   "stroke_coverage_18": 0.725205,
+   "stroke_coverage_19": 0.844086,
+   "stroke_coverage_20": 0.867257,
+   "stroke_coverage_21": 0.938893,
+   "stroke_coverage_22": 0.785152,
+   "stroke_coverage_23": 0.828754,
+   "stroke_coverage_24": 0.889519,
+   "stroke_coverage_25": 0.868863,
+   "stroke_coverage_26": 0.823133,
+   "stroke_coverage_27": 0.94813,
+   "stroke_coverage_28": 0.856839,
+   "stroke_coverage_29": 0.838513,
+   "stroke_coverage_30": 0.892541,
+   "stroke_coverage_31": 0.847011,
+   "stroke_coverage_32": 0.761209,
+   "stroke_coverage_33": 0.799484,
+   "stroke_coverage_34": 0.811538,
+   "stroke_coverage_35": 0.811688,
+   "stroke_coverage_36": 0.846287,
+   "stroke_coverage_37": 0.832013,
+   "stroke_coverage_38": 0.808081,
+   "stroke_coverage_39": 0.935267,
+   "stroke_coverage_40": 0.873554,
+   "stroke_coverage_41": 0.83601,
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+   "stroke_coverage_43": 0.865889,
+   "stroke_coverage_44": 0.856115,
+   "stroke_coverage_45": 0.859003,
+   "stroke_coverage_46": 0.905163,
+   "stroke_coverage_47": 0.884744,
+   "stroke_coverage_48": 0.825758,
+   "stroke_coverage_49": 0.920651,
+   "stroke_coverage_50": 0.899049,
+   "stroke_coverage_51": 0.790485,
+   "stroke_coverage_52": 0.883487,
+   "stroke_coverage_53": 0.815789,
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+   "stroke_coverage_56": 0.826797,
+   "stroke_coverage_57": 0.81415,
+   "stroke_coverage_58": 0.785124,
+   "stroke_coverage_59": 0.895223,
+   "stroke_coverage_60": 0.844569,
+   "stroke_coverage_61": 0.830523,
+   "stroke_coverage_62": 0.818538,
+   "stroke_coverage_63": 0.809224,
+   "stroke_coverage_64": 0.816216,
+   "stroke_coverage_65": 0.783237,
+   "stroke_coverage_66": 0.851246,
+   "stroke_coverage_67": 0.911765,
+   "stroke_coverage_68": 0.868782,
+   "stroke_coverage_69": 0.823529,
+   "stroke_coverage_70": 0.8216,
+   "stroke_coverage_71": 0.873799,
+   "n_strokes": 71.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.393927,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 58.0,
+   "max_strokes": 71.0,
+   "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,
+   "iou_unregistered": 0.745809,
+   "boundary_f_unregistered": 0.857875,
+   "min_stroke_coverage_unregistered": 0.743403,
+   "stray_frac_unregistered": 0.048373,
+   "path_mm": 2850.79,
+   "longest_stroke_mm": 276.51,
+   "mark_width_mm": 2.8527,
+   "max_path_mm": 7880.0,
+   "min_mark_width_mm": 0.99,
+   "colour_in": 0.0,
+   "scribble_max": 2.7935,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.746807,
+   "sim_steps": 20873.0,
+   "resets": 1.0,
+   "n_contacts": 71.0,
+   "samples": 104365.0,
+   "contact_samples": 21421.0,
+   "max_press_m": 0.006952,
+   "max_tilt_deg_in_contact": 0.072126,
+   "max_speed_in_contact_mps": 0.099082,
+   "handle_contact_samples": 0.0,
+   "n_dips": 71.0,
+   "dry_strokes": 0.0,
+   "n_frames": 598.0,
+   "replay_wall_s": 152.7,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 20873,
+   "video_rendered": 1,
+   "agent_sessions": 38,
+   "agent_resets": 39,
+   "agent_sim_steps": 709424,
+   "agent_records": 23,
+   "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-kaishu-linfengguilong-i00-privileged--paa2slo/replay.mp4",
+  "duration_s": 59.8,
+  "fps": 10.0,
+  "frames": 598,
+  "sha256": "926addb8caf0b148ec2c8ddec67576ec5aae389f4941cd3c5082ff2e6abe9bb8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_ink_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.4 s 主纸空白，视频 0.5 s 右下无遮挡纸面首次出现新黑点，随后视频 0.6–0.9 s 黑点延长成短笔画。依本节点首次实际落墨的充分判据，保守以视频 0.5 s 确认装墨；实际首次浸蘸稍早，深度未从画面直接量得。"
+     },
+     {
+      "t": 59.7,
+      "log_step": null,
+      "text_zh": "观察：视频 59.7 s 主纸已有四字墨迹；本次评分器字段 n_dips=71、dry_strokes=0，支持毛笔确实蘸墨而非干笔划过。事件首次成立后保持完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：Panda臂端安装毛笔的笔毫浸入砚台墨液；视频 0.5 s 首次落墨与评分器 n_dips=71 支持该实际交互，入墨深度被视角遮挡。候选：浸蘸；现有接触项没有液体浸蘸，托/舀及压/擦不能准确表达。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.5 s 起，Panda臂端毛笔在主纸接触落墨；全片粗看显示先写左上局部，再写左下、右下及右上等部位，之后补全左列，直至视频 59.7 s 四字均可辨认。此前的局部作品不满足整幅临帖条件。"
+     },
+     {
+      "t": 57.0,
+      "log_step": null,
+      "text_zh": "观察：视频 57.0 s 右下无遮挡纸面已呈现两列四字，但鳳下方点画偏短粗、龍右侧横画的端部较圆钝；视频 59.7 s 仍保留这些形状。成功参考视频 59.4 s 同一视图的对应点画和横画末端更细长、尖锐；参考仅用于比较达标外观。"
+     },
+     {
+      "t": 59.7,
+      "log_step": 171,
+      "text_zh": "观察：本次评分器 iou=0.746807<0.80、min_stroke_coverage=0.725205<0.80、stray_frac=0.047865>0.04，image_success=0；boundary_f=0.860664及n_strokes=71达标、strict_ok=1。log step 170 保存20873个动作，log step 171 的指标与本次评分完全一致，支持交付为这一候选，不能以会话中其他测试的更高分代替。推断：字形可辨并不等于完成评分条件，整幅临帖节点最终为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.5–59.7 s，Panda单臂驱动安装毛笔，笔毫反复下压主纸并沿纸面滑动留下墨迹，间歇抬笔离纸；作用端为笔毫、对象为主纸。固定工具链不重复记握笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.746807
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.860664
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.725205
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.047865
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 71.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 2850.79
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 2.8527
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 57.0,
+   "log_step": 171,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 57.0 s 机器人仍在逐笔完成作品，纸面已可见鳳下方点画短粗等局部轮廓偏差，至视频 59.7 s 结束仍未修正。评分器及 log step 171 同报重叠度、最低单笔覆盖率和杂墨比例未达标。推断：失败发生在完成整幅临帖这一步的软笔书写中；视频 57.0 s 为可见结果偏差的导航锚点，并非声称此刻首次产生全部偏差。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔画轮廓偏差",
+    "t": 57.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 57.0 s 及视频 59.7 s 的无遮挡纸面中，鳳下方点画呈短粗团块，龍右侧横画末端较圆钝，局部长度、粗细及收笔形状与成功参考视频 59.4 s 的细长尖锐轮廓不同。两列四字已形成，问题可见于局部落墨形状。",
+    "note_zh": "候选：笔画轮廓偏差。现有接触、运动等现象项没有直接表达软笔成迹后局部粗细、端部及轮廓失真的条目；此处标可见的墨迹形状，非复述评分未达标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 173,
+    "evidence_zh": "推断：log step 175 可读的生成脚本从目标骨架取路径、以距离变换估计笔宽，并定义按压相关偏移；log step 188 的交付文件元数据含逐段平移、选择性反向路径和按压缩放。log step 170 保存的20873动作及 log step 171 指标与本次评分一致，后续 log step 180 的反向实验另存候选。结合视频 57.0 s、视频 59.7 s 实际成迹仍有短粗点画及钝化笔端，可归为书写控制未准确形成所需轮廓；现有证据不能分清接触设计、跟踪反馈或特定参数的责任，故停在控制。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "无状态日志；视频可见实际墨迹，却不能精确重算各笔覆盖或还原笔毫内部形变，首次入墨深度及各处轮廓误差最早形成时刻也未能直接确定。断点时间使用书写末段可见偏差作粗锚点，装墨时间以视频 0.5 s 首次落墨保守定位。评分器未报告 n_strokes_counted 与 scribble_share，保留 null；scribble_max 不是 scribble_share，不能替代。日志部分脚本内容已截断，控制根因不进一步细分。"
+ },
+ "summary_zh": "本次交付完成毛笔蘸墨并在主纸写出两列四字，但完成整幅临帖节点从未达标，最终为1/2节点。断在书写操作：局部点画短粗、笔端及轮廓偏离成功参考，评分器确认IoU、最低单笔覆盖率和杂墨比例不合格，根因保守归为控制。无状态日志及逐帧像素评分，不能确定各处误差最早形成时间或细分控制责任；会话后续另存的实验不作为本次进度。",
+ "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（装墨约0.5 s成立、整幅临帖最终未达标）、接触、断点与评分器数值一致；视频57.0 s画面可见凤下方点画短粗、笔端较钝，与参考视频59.4 s相比成立；控制根因停在粗粒度并说明了证据限度，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": "2026-10-30T22:56:12Z",
+  "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-kaishu-linfengguilong-i00-privileged--paa2slo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-privileged--paa2slo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5b02b0a1ce529eaadf8ffe746ff64de43a65a2ebdbce5b0d14784ca0f4b4a7ab",
+   "video_sha256": "926addb8caf0b148ec2c8ddec67576ec5aae389f4941cd3c5082ff2e6abe9bb8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--uusfdhp.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--uusfdhp.json
new file mode 100644
index 0000000000000000000000000000000000000000..77dd31bb5188e737f6b558c6c6ccab13d666d9f1
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--uusfdhp.json
@@ -0,0 +1,401 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-kaishu-linfengguilong-i00-privileged--uusfdhp",
+ "taskKey": "robopaint/kaishu_linfengguilong",
+ "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed",
+ "outcome": {
+  "success": 0,
+  "reward": 0.816927,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.816927,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.816927,
+   "boundary_precision": 0.886968,
+   "boundary_recall": 0.917726,
+   "boundary_f": 0.902085,
+   "ink_precision": 0.880289,
+   "ink_recall": 0.919027,
+   "min_stroke_coverage": 0.698232,
+   "mean_stroke_coverage": 0.909697,
+   "stray_frac": 0.03943,
+   "missing_frac": 0.011804,
+   "ink_area_mm2": 8389.12,
+   "target_area_mm2": 8035.51,
+   "n_target_strokes": 71.0,
+   "stroke_coverage_01": 0.865385,
+   "stroke_coverage_02": 0.975843,
+   "stroke_coverage_03": 0.956142,
+   "stroke_coverage_04": 0.808637,
+   "stroke_coverage_05": 0.971403,
+   "stroke_coverage_06": 0.914003,
+   "stroke_coverage_07": 0.93578,
+   "stroke_coverage_08": 0.934896,
+   "stroke_coverage_09": 0.915803,
+   "stroke_coverage_10": 0.962882,
+   "stroke_coverage_11": 0.877,
+   "stroke_coverage_12": 0.868204,
+   "stroke_coverage_13": 0.836506,
+   "stroke_coverage_14": 0.932252,
+   "stroke_coverage_15": 0.923533,
+   "stroke_coverage_16": 0.932353,
+   "stroke_coverage_17": 0.953159,
+   "stroke_coverage_18": 0.862602,
+   "stroke_coverage_19": 0.94086,
+   "stroke_coverage_20": 0.964602,
+   "stroke_coverage_21": 0.968621,
+   "stroke_coverage_22": 0.92051,
+   "stroke_coverage_23": 0.955103,
+   "stroke_coverage_24": 0.963128,
+   "stroke_coverage_25": 0.938357,
+   "stroke_coverage_26": 0.966286,
+   "stroke_coverage_27": 0.997587,
+   "stroke_coverage_28": 0.856839,
+   "stroke_coverage_29": 0.953238,
+   "stroke_coverage_30": 0.963338,
+   "stroke_coverage_31": 0.787234,
+   "stroke_coverage_32": 0.969786,
+   "stroke_coverage_33": 0.901113,
+   "stroke_coverage_34": 0.875962,
+   "stroke_coverage_35": 0.818182,
+   "stroke_coverage_36": 0.846287,
+   "stroke_coverage_37": 0.828843,
+   "stroke_coverage_38": 0.910101,
+   "stroke_coverage_39": 0.856242,
+   "stroke_coverage_40": 0.841322,
+   "stroke_coverage_41": 0.89927,
+   "stroke_coverage_42": 0.92515,
+   "stroke_coverage_43": 0.979592,
+   "stroke_coverage_44": 0.954573,
+   "stroke_coverage_45": 0.920134,
+   "stroke_coverage_46": 0.821549,
+   "stroke_coverage_47": 0.930047,
+   "stroke_coverage_48": 0.698232,
+   "stroke_coverage_49": 0.888098,
+   "stroke_coverage_50": 0.890592,
+   "stroke_coverage_51": 0.849954,
+   "stroke_coverage_52": 0.888108,
+   "stroke_coverage_53": 0.918233,
+   "stroke_coverage_54": 0.911538,
+   "stroke_coverage_55": 0.824528,
+   "stroke_coverage_56": 0.886438,
+   "stroke_coverage_57": 0.959345,
+   "stroke_coverage_58": 0.814876,
+   "stroke_coverage_59": 0.967643,
+   "stroke_coverage_60": 0.951722,
+   "stroke_coverage_61": 0.933695,
+   "stroke_coverage_62": 0.890653,
+   "stroke_coverage_63": 0.825996,
+   "stroke_coverage_64": 0.915315,
+   "stroke_coverage_65": 0.979046,
+   "stroke_coverage_66": 0.88073,
+   "stroke_coverage_67": 0.975936,
+   "stroke_coverage_68": 0.950148,
+   "stroke_coverage_69": 0.981834,
+   "stroke_coverage_70": 0.964,
+   "stroke_coverage_71": 0.961563,
+   "n_strokes": 71.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.932553,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 63.0,
+   "max_strokes": 71.0,
+   "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,
+   "iou_unregistered": 0.816927,
+   "boundary_f_unregistered": 0.902085,
+   "min_stroke_coverage_unregistered": 0.698232,
+   "stray_frac_unregistered": 0.03943,
+   "path_mm": 2510.99,
+   "longest_stroke_mm": 186.48,
+   "mark_width_mm": 3.5718,
+   "max_path_mm": 7880.0,
+   "min_mark_width_mm": 0.99,
+   "colour_in": 0.0,
+   "n_marked_pieces": 71.0,
+   "n_strokes_counted": 71.0,
+   "max_stroke_path_mm": 920.0,
+   "longest_counted_stroke_mm": 186.4,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 2.4526,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.816927,
+   "sim_steps": 7243.0,
+   "resets": 1.0,
+   "n_contacts": 71.0,
+   "samples": 36215.0,
+   "contact_samples": 24067.0,
+   "max_press_m": 0.008102,
+   "max_tilt_deg_in_contact": 0.080627,
+   "max_speed_in_contact_mps": 0.025687,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 559.0,
+   "replay_wall_s": 117.8,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 7243,
+   "video_rendered": 1,
+   "agent_sessions": 54,
+   "agent_resets": 48,
+   "agent_sim_steps": 280180,
+   "agent_records": 12,
+   "agent_replays": 30,
+   "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-kaishu-linfengguilong-i00-privileged--uusfdhp/replay.mp4",
+  "duration_s": 55.9,
+  "fps": 10.0,
+  "frames": 559,
+  "sha256": "62b2f34280fe2f0a590c259458b6d49fb86e2e97fd32db02995515929f91c13b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_ink_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "推断：视频 0.4–0.7 s，机器人安装毛笔移至圆形砚台并下探，随后离开；视频 1.3 s，右下无遮挡纸面首次出现新黑色墨点。结合评分器 reward.n_dips=1、n_dry_strokes=0，确认该次下探已有效蘸墨，首次达成锚点约为视频 0.6 s。"
+     },
+     {
+      "t": 1.3,
+      "log_step": null,
+      "text_zh": "观察：视频 1.3 s，主纸出现首个新黑色墨点，此后机器人持续落墨书写，至视频 55.8 s 四字墨迹均可见。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.4–0.7 s，Panda 臂端安装毛笔的笔毫下探圆形砚台，视频 1.3 s 起实际落墨。候选：浸蘸；笔毫与墨液接触装墨，现有接触方式没有准确表示浸蘸的条目。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗采样及视频 29.0–35.5 s 密集帧显示，机器人先写右列“麟、鳳”，再写左列“龜、龍”；视频 33.0 s，“龜”顶部小框左边呈短墨点，与上沿之间留有断口，至视频 55.8 s 仍未补齐。成功参考视频 59.4 s 的对应左边为连贯斜笔；参考只用于比较形态。"
+     },
+     {
+      "t": 55.8,
+      "log_step": null,
+      "text_zh": "观察：视频 54.8–55.8 s 的末秒逐帧可见四字已写出，机器人完成“龍”的末段弯钩，纸上仍有局部缺口和转折轮廓偏差。评分器 reward.iou=0.816927、boundary_f=0.902085、stray_frac=0.039430 均达标，但 stroke_coverage_31=0.787234、stroke_coverage_48=0.698232 低于逐笔覆盖阈值 0.80；n_strokes=n_strokes_counted=71、strict_ok=1、image_success=0。"
+     },
+     {
+      "t": 55.8,
+      "log_step": 478,
+      "text_zh": "推断：此前纸面尚在逐字形成，末态又有未覆盖足够的范本笔画，故整幅临帖节点从未达标。log step 474–475 修改并运行最后一版书写脚本，log step 478 回放已保存的 trajectory.npz；log step 536、539 是另行启动的追加测试，未见其覆盖交付文件，不能将这些测试算进本次视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 1.3 s 起至视频 55.8 s，Panda 臂端安装毛笔反复下压主纸并沿笔画滑动，纸面随之出现连续黑色墨迹；仅记笔毫与纸面的压擦接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.816927
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.902085
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.698232
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.03943
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 71.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 71.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 2510.99
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 3.5718
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 33.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 33.0 s，机器人正在写“龜”，其顶部小框左侧与上沿未连贯接合，此局部缺口在视频 55.8 s 的完整四字中仍可见；评分器最低笔画覆盖率为 0.698232，整幅临帖未通过。视频 33.0 s 是书写结果出现可见局部缺损的导航锚点，不是评分器逐笔判定失败的时刻。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 33.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 33.0 s 及视频 55.8 s，“龜”上部小框左边仅留下短点状墨迹，与上方横笔之间有留白断口；对照成功参考视频 59.4 s，该处应形成连贯斜边。本次字形局部笔画的落墨范围和接合轮廓失准，完整写出四字后也未修复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 442 的书写代码通过抽样航点、笔毫偏移补偿和按压深度生成墨迹，log step 474 调整局部路径并以 scale_press=0.97 运行，log step 475 执行该版，log step 478 回放保存结果。视频 33.0 s 与视频 55.8 s 显示实际墨迹的局部断口仍存在；log step 481 对回放画布的检查也报告多处未覆盖区域。证据支持书写运动与落墨控制未充分匹配范本；未能分辨路径近似、笔毫接触模型和机械臂跟踪各自的贡献，因此只归入控制，不指定子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧评分数据；视频可见蘸墨下探及随后落墨，但不能精确读取首次越过墨面高度的瞬间，视频 0.6 s 为约时。评分器明确报告第31、48号范本笔画覆盖不足，但输入没有这些笔画掩膜，不能把可见“龜”字断口直接认作最低分的第48号笔画；同样不能从视频区分路径几何、按压深度、笔毫动态或跟踪误差。日志最后的追加测试仍在等待结果（log step 540），其结果不属于已交付录像。"
+ },
+ "summary_zh": "机器人完成一次蘸墨，并在主纸依次写出右列“麟、鳳”和左列“龜、龍”，最终达成 1/2 个节点。整幅临帖因局部笔画缺损和轮廓失准未达标：最低笔画覆盖率 0.698232，另有一笔为 0.787234，均低于 0.80，其余图像及过程门槛通过。根因只可归到书写控制；没有逐帧状态和范本笔画掩膜，无法定位最低分笔画及进一步细分控制误差。",
+ "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、时间、接触与断点（exemplar_copied、操作中）与评分器数值一致；位姿不准加控制的根因保守且未超出证据，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": "2026-10-30T22:54:54Z",
+  "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-kaishu-linfengguilong-i00-privileged--uusfdhp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-privileged--uusfdhp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1a4f0852179f8434f8f5fe5543f95a4dc6dbdea94e064b5199c0c0bf6e6133ef",
+   "video_sha256": "62b2f34280fe2f0a590c259458b6d49fb86e2e97fd32db02995515929f91c13b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--9ubqvks.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--9ubqvks.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d9686896dfcf3b9e680db06305e21636eb02a2e
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--9ubqvks.json
@@ -0,0 +1,399 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-kaishu-linfengguilong-i00-standard--9ubqvks",
+ "taskKey": "robopaint/kaishu_linfengguilong",
+ "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed",
+ "outcome": {
+  "success": 0,
+  "reward": 0.514007,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.514007,
+   "infra_error": 0,
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+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.514007,
+   "boundary_precision": 0.624113,
+   "boundary_recall": 0.535093,
+   "boundary_f": 0.576185,
+   "ink_precision": 0.681065,
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+   "min_stroke_coverage": 0.0,
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+   "missing_frac": 0.200575,
+   "ink_area_mm2": 7986.98,
+   "target_area_mm2": 8035.51,
+   "n_target_strokes": 71.0,
+   "stroke_coverage_01": 0.376603,
+   "stroke_coverage_02": 0.758427,
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+   "steps": 4058,
+   "calls": 60,
+   "elapsed_s": 1507.2,
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+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
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+   "instance_mismatch": 0,
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+   "resource_monitor_missing": 1,
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+   "resource_oom_kills": 0,
+   "resource_host_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-kaishu-linfengguilong-i00-standard--9ubqvks/replay.mp4",
+  "duration_s": 57.1,
+  "fps": 10.0,
+  "frames": 571,
+  "sha256": "d0f5524835ef54e90fef1b59899dfbb810be838d95db034ed63b29d692404c71"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_ink_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.4 s 练习纸尚无墨迹，视频 3.5–3.8 s 侧视图可见机器人安装毛笔在练习纸上留下新的黑色墨迹，随后视频 4.0 s 抬笔后墨迹保留。按节点判据，以首次实际落墨的视频 3.5 s 作为已装墨的保守时间锚点，实际入墨发生得稍早。"
+     },
+     {
+      "t": null,
+      "log_step": 38,
+      "text_zh": "观察：log step 38 的机器人动作脚本先将毛笔移至砚台位置并下探，再移向练习纸画线；评分器最终记录 n_dips=1、n_practice_strokes=3。蘸墨的具体深度在录像中不清晰，装墨由随后实际墨迹确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：浸蘸；机器人臂端安装毛笔的笔毫进入砚台墨液，随后在练习纸留下黑墨。墨液浸蘸不属于现有抓握、推扫、压擦或托舀项；不另标虚构的握笔动作。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.5,
+      "log_step": 56,
+      "text_zh": "观察：视频 7.0–15.5 s 机器人以安装毛笔在主纸右上落墨，视频 15.5 s 第一字已显形，但“麟”字内的短笔、连接和轮廓与成功参考有明显差异。此后机器人依次书写右下、左下、左上区域；视频 46.5 s 可见四字均已显形，尚不能据此视为整幅临帖达标。"
+     },
+     {
+      "t": 57.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–56.5 s 机器人继续局部补笔，视频 56.8–57.0 s 抬臂后的主纸仍有缺笔和轮廓差异，例如左下“龍”字上部点画及横画形状、右上“麟”字内部细节，与成功参考末帧不同。评分器记录 image_success=0、IoU=0.514007<0.80、boundary_f=0.576185<0.75、min_stroke_coverage=0<0.80、stray_frac=0.12346>0.04；n_strokes=n_strokes_counted=62≤71 且 strict_ok=1。"
+     },
+     {
+      "t": null,
+      "log_step": 89,
+      "text_zh": "观察：agent 在 log step 89 自述已写四字并做五次补描，但同时明确其相机比较仅估计 IoU 约0.51，可能未达到要求；该自估不是评分器读数。评分记录 graded_by_live=1、resets=0、resumes=0；本文件依本次录像和最终评分标注，不将脚本计划的笔数当作实际有墨接触数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机器人以臂端固定安装毛笔的笔毫接触主纸，沿纸面滑动落墨；先书写右上、右下、左下、左上四字，随后局部补描。侧视图可见笔尖下压及抬起，纸面同步出现墨迹；不重复标夹爪握笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.514007
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.576185
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.12346
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 62.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 62.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 2645.69
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 4.0839
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 15.5,
+   "log_step": 56,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 15.5 s 首个“麟”字写出后已有短笔缺损和轮廓偏差；机器人随后继续写其余三字并局部补描，视频 56.8–57.0 s 的完整纸面仍保留这些类型的偏差。评分器最终 image_success=0，图像匹配、最小笔画覆盖和杂墨均未过阈值，整幅临帖节点始终未完成。视频 15.5 s 是首字缺陷清楚可见的导航锚点，不是一次独立终止事件。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 15.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 15.5 s 及视频 56.8–57.0 s，机器人写出的“麟”字内部若干短笔断缺、笔画交接和端点形状偏离参考；末态左下“龍”字上部的点横形状也不同于成功参考。机器人确实接触纸面并留下墨迹，但落墨笔画的局部位置、连接和轮廓未复现范本。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志；砚台入墨深度未能从小尺寸场景视图精确确认，蘸墨时间采用首次实际黑墨的视频 3.5 s 保守锚点。inputs/run.json 中 log step 56 的生成器代码中段被截略，若干机器人调用没有返回正文；没有逐点期望/实际笔尖轨迹和笔毫接触状态，无法可靠区分路径生成、接触几何与跟踪误差的因果贡献，因此根因留空。视频不能重算像素和过程阈值，数值采用最终评分器字段。"
+ },
+ "summary_zh": "机器人已完成蘸墨，并在主纸写出两列四字及局部补笔，最终完成1/2个节点。整幅临帖失败于书写中的笔画位置、连接和轮廓偏差，末态仍有缺笔与杂墨，评分器图像指标未过阈值，笔数和严格过程规则则通过。无状态日志且生成器代码有截略，不能进一步确定具体根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "蘸墨节点（视频3.5 s首次落墨）、整幅临帖未达标、断点与位姿不准现象均与视频和评分字段一致；根因留空并附gap_zh可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:59:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+  "calls": [
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--9ubqvks/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--9ubqvks/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--bfvxvwh.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--bfvxvwh.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeb076e48132556983e0fec17a2d5c7e1c9173c9
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--bfvxvwh.json
@@ -0,0 +1,388 @@
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+   "stroke_coverage_59": 0.637904,
+   "stroke_coverage_60": 0.644098,
+   "stroke_coverage_61": 0.0,
+   "stroke_coverage_62": 0.109739,
+   "stroke_coverage_63": 0.314465,
+   "stroke_coverage_64": 0.304505,
+   "stroke_coverage_65": 0.799133,
+   "stroke_coverage_66": 0.243295,
+   "stroke_coverage_67": 0.548128,
+   "stroke_coverage_68": 0.087057,
+   "stroke_coverage_69": 0.721453,
+   "stroke_coverage_70": 0.6176,
+   "stroke_coverage_71": 0.576553,
+   "n_strokes": 72.0,
+   "n_practice_strokes": 29.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.804551,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 51.0,
+   "max_strokes": 71.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": -0.2219,
+   "register_dy_mm": 0.4437,
+   "register_shift_mm": 0.4961,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "iou_unregistered": 0.222048,
+   "boundary_f_unregistered": 0.345415,
+   "min_stroke_coverage_unregistered": 0.0,
+   "stray_frac_unregistered": 0.492199,
+   "success": 0,
+   "final_reward": 0.219881,
+   "path_mm": 1783.06,
+   "longest_stroke_mm": 147.11,
+   "mark_width_mm": 5.5153,
+   "max_path_mm": 7880.0,
+   "min_mark_width_mm": 0.99,
+   "colour_in": 0.0,
+   "scribble_max": 1.8957,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.219881,
+   "sim_steps": 18691,
+   "resets": 1.0,
+   "n_contacts": 101.0,
+   "samples": 93455.0,
+   "contact_samples": 11140.0,
+   "max_press_m": 0.014011,
+   "max_tilt_deg_in_contact": 0.201703,
+   "max_speed_in_contact_mps": 0.25559,
+   "handle_contact_samples": 0.0,
+   "n_dips": 20.0,
+   "dry_strokes": 0.0,
+   "n_frames": 586.0,
+   "replay_wall_s": 84.99,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 18691,
+   "physics_steps": 93455,
+   "steps": 17906,
+   "calls": 239,
+   "elapsed_s": 5428.5,
+   "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-kaishu-linfengguilong-i00-standard--bfvxvwh/replay.mp4",
+  "duration_s": 58.6,
+  "fps": 10.0,
+  "frames": 586,
+  "sha256": "f2686e3a2eb7cf7d1248352bc2b3ff082db03d0767e26a02306ba3b1ca7f708d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_ink_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": 60,
+      "text_zh": "观察：视频 7.1–7.7 s，Panda机械臂将安装毛笔竖直下探至圆形砚台，侧视图可见笔尖降到砚台内；log step 60记录这次深蘸动作已执行。首次入墨取约视频 7.5 s，精度约半秒。"
+     },
+     {
+      "t": 10.2,
+      "log_step": 63,
+      "text_zh": "观察：视频 10.2 s，侧视图中练习纸上出现新的黑色墨点，视频 11.5–14.0 s随后出现更多墨点；这是毛笔此前已装墨的充分证据。log step 63执行练习纸点墨；视频 32.5–58.5 s主纸也持续留有黑色笔迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：浸蘸。视频 7.1–7.7 s，Panda臂端固定安装毛笔的笔尖下探圆形砚台，随后纸上出现墨点；作用端是笔毫，对象是墨液。浸蘸不属于压擦固体或舀取承托，现有接触方式没有对应项。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": 224,
+      "text_zh": "观察：视频 0–31.8 s主纸基本空白，机器人先在旁边练习纸试点、划线；视频 32.5–33.0 s主纸右上开始留下少数粗黑笔迹，视频 34.5–38.0 s继续组成“麟”的部分结构。log step 224执行主纸前三笔，log step 252、272继续书写；这里按视频定位，没有把agent工作时间换成视频时间。"
+     },
+     {
+      "t": 54.0,
+      "log_step": 282,
+      "text_zh": "观察：视频 38.0–54.0 s，机器人依次在左上、右下、左下字位落墨，但左上“龜”的围框与内部结构、左下“龍”的大片笔画仍缺失；右上和右下也有粗墨团与断缺。成功参考录像视频 59.4 s的同一右下纸面视图清楚显示四字完整结构，仅作为外观参照。"
+     },
+     {
+      "t": 58.5,
+      "log_step": 295,
+      "text_zh": "观察：视频 57.5–58.5 s逐帧检查到末帧，机器人最后在左上字位补描后抬笔，四字仍明显残缺，部分笔画并成粗墨团；未出现与成功参考相同的完整临帖。评分器reward给出iou=0.222978、boundary_f=0.355449、min_stroke_coverage=0、stray_frac=0.491452、n_strokes=72，均未满足本节点相应门槛，live_matches_replay=1、deterministic=1。log step 300、304的agent自述“71笔”与评分器72笔不一致，采用评分器计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 32.5–58.3 s，Panda单臂用固定安装毛笔的笔毫下压主纸并沿纸面移动，实际留下四个字位的墨迹，末段还补描左上字位。前段练习纸试点和划线属于这一书写尝试的校准；不虚构夹爪握笔或底盘移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.222978
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.355449
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.491452
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 72.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 1783.06
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 5.5153
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 33.0,
+   "log_step": 224,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 32.5–33.0 s机器人开始在主纸右上字位落墨，早期笔迹粗细和轮廓已偏离成功参考的细致笔画；视频 38.0 s右上结构残缺，随后转写另外三个字位，至视频 58.5 s仍未修成完整四字。log step 249、265的agent图像分析也报告已画笔画覆盖很低；最终评分器iou=0.222978、最小笔画覆盖率=0且有墨主纸接触数72>71，故失败步骤为整幅临帖，时间取早期错误落墨的粗略导航点。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔画残缺与粗细失真",
+    "t": 38.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 38.0 s右上“麟”多处笔画并成粗墨团；视频 54.0 s及57.5–58.5 s，左上“龜”缺少完整围框，左下“龍”只剩零散横画、点和斜线，右下“鳳”内部也残缺。成功参考录像视频 59.4 s的同一无遮挡纸面视图显示完整细分笔画。机器人已实际压纸落墨，问题是墨迹轮廓与连续结构没有写出。",
+    "note_zh": "候选：笔画残缺与粗细失真。现有现象项没有描述画写材料结果的缺笔、粗细失真和墨团；不能把这一可见结果等同于未接触、失握，或仅重述图像分数未达标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 275,
+    "evidence_zh": "推断：毛笔压纸与落墨控制未能实现所需笔形。log step 113的agent脚本用笔宽到下压深度的线性模型生成轨迹；log step 252改变模型增益并加入平移修正，log step 270又重标增益、撤销平移，说明模型和补偿持续调整。log step 275的agent图像测量中，一笔期望宽3.41毫米而有效宽约0.81毫米，另一笔期望3.33毫米而有效宽约7.90毫米；视频 38.0 s及58.5 s直接可见对应的残缺、粗墨团。结合实际落墨结果，支持控制层归因；这些agent自算宽度不是评分器或笔毫状态读数，不能据此确诊具体力控或耗墨机制。",
+    "source_zh": "日志 / 视频",
+    "note_zh": "子类型证据不足，保留控制。agent在log step 294、304自述“缺墨”及“墨面下降”，但inputs/run.json的task_text明确写装墨后never runs dry，且没有笔毫含墨量记录，故不把其解释当作已证实根因。"
+   }
+  ],
+  "gap_zh": "没有状态日志或笔毫接触形变、含墨量读数，无法区分各次缺笔来自笔毫响应、压纸深度还是局部轨迹执行；不将agent自述缺墨视为事实。蘸墨时刻按视频下探与随后新墨点定位，约半秒精度。评分器未报告n_strokes_counted与scribble_share，原生指标留null；scribble_max不是曲折路径份额，不代填。",
+  "unmet": {
+   "exemplar_copied": false
+  }
+ },
+ "summary_zh": "机器人约在视频 7.5 s完成蘸墨，随后校准并在主纸四个字位书写，终态完成1/2节点；整幅临帖从未达标。失败位于整幅临帖操作中，视频 38.0 s及58.5 s显示缺笔、粗细失真和墨团，评分器IoU为0.222978且计72笔，日志与视频支持毛笔落墨控制未调好。没有笔毫状态日志，具体机制不能确认，agent自述的耗墨解释未经证实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点（整幅临帖，操作中）与评分器数字和视频末帧一致；根因停在“控制”并明确标为推断，未发现需要改动的内容。蘸墨时刻（约7.5 s）只能由下探帧与10.2 s墨点间接支持，但与标注的半秒精度说明相符。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:02:33Z",
+  "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-kaishu-linfengguilong-i00-standard--bfvxvwh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--bfvxvwh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "03ac96b31ed4149a54927df208590a065f242e85dde3ce89e548ff1812532652",
+   "video_sha256": "f2686e3a2eb7cf7d1248352bc2b3ff082db03d0767e26a02306ba3b1ca7f708d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--eizrour.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--eizrour.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8449c2cdd426ab8dabf5f2c394a69d20dfce46f
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--eizrour.json
@@ -0,0 +1,419 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-kaishu-linfengguilong-i00-standard--eizrour",
+ "taskKey": "robopaint/kaishu_linfengguilong",
+ "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed",
+ "outcome": {
+  "success": 0,
+  "reward": 0.495592,
+  "source": "catalog",
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+   "boundary_precision": 0.630038,
+   "boundary_recall": 0.526199,
+   "boundary_f": 0.573456,
+   "ink_precision": 0.69018,
+   "ink_recall": 0.637393,
+   "min_stroke_coverage": 0.0,
+   "mean_stroke_coverage": 0.574813,
+   "stray_frac": 0.118995,
+   "missing_frac": 0.219931,
+   "ink_area_mm2": 7420.92,
+   "target_area_mm2": 8035.51,
+   "n_target_strokes": 71.0,
+   "stroke_coverage_01": 0.629006,
+   "stroke_coverage_02": 0.660674,
+   "stroke_coverage_03": 0.674424,
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+   "stroke_coverage_20": 0.0,
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+   "stroke_coverage_23": 0.871197,
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+   "stroke_coverage_33": 0.444588,
+   "stroke_coverage_34": 0.516346,
+   "stroke_coverage_35": 0.449675,
+   "stroke_coverage_36": 0.409326,
+   "stroke_coverage_37": 0.524564,
+   "stroke_coverage_38": 0.957576,
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+   "stroke_coverage_42": 0.787425,
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+   "stroke_coverage_44": 0.53443,
+   "stroke_coverage_45": 0.814671,
+   "stroke_coverage_46": 0.535915,
+   "stroke_coverage_47": 0.698867,
+   "stroke_coverage_48": 0.099747,
+   "stroke_coverage_49": 0.433876,
+   "stroke_coverage_50": 0.723573,
+   "stroke_coverage_51": 0.728271,
+   "stroke_coverage_52": 0.460828,
+   "stroke_coverage_53": 0.536654,
+   "stroke_coverage_54": 0.703846,
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+   "stroke_coverage_56": 0.496732,
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+   "stroke_coverage_60": 0.785988,
+   "stroke_coverage_61": 0.761075,
+   "stroke_coverage_62": 0.679404,
+   "stroke_coverage_63": 0.234801,
+   "stroke_coverage_64": 0.207207,
+   "stroke_coverage_65": 0.562861,
+   "stroke_coverage_66": 0.541754,
+   "stroke_coverage_67": 0.542112,
+   "stroke_coverage_68": 0.726813,
+   "stroke_coverage_69": 0.581315,
+   "stroke_coverage_70": 0.5952,
+   "stroke_coverage_71": 0.702114,
+   "n_strokes": 71.0,
+   "n_practice_strokes": 36.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.993506,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 56.0,
+   "max_strokes": 71.0,
+   "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,
+   "iou_unregistered": 0.47668,
+   "boundary_f_unregistered": 0.569626,
+   "min_stroke_coverage_unregistered": 0.0,
+   "stray_frac_unregistered": 0.134431,
+   "success": 0,
+   "final_reward": 0.495592,
+   "path_mm": 2315.62,
+   "longest_stroke_mm": 283.13,
+   "mark_width_mm": 3.9195,
+   "max_path_mm": 7880.0,
+   "min_mark_width_mm": 0.99,
+   "colour_in": 0.0,
+   "scribble_max": 3.5935,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.495592,
+   "sim_steps": 6505,
+   "resets": 1.0,
+   "n_contacts": 107.0,
+   "samples": 32525.0,
+   "contact_samples": 13720.0,
+   "max_press_m": 0.009802,
+   "max_tilt_deg_in_contact": 0.416978,
+   "max_speed_in_contact_mps": 0.043539,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 593.0,
+   "replay_wall_s": 111.04,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 6505,
+   "physics_steps": 32525,
+   "steps": 6500,
+   "calls": 52,
+   "elapsed_s": 1525.7,
+   "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,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-kaishu-linfengguilong-i00-standard--eizrour/replay.mp4",
+  "duration_s": 59.3,
+  "fps": 10.0,
+  "frames": 593,
+  "sha256": "81be53b6d50a55b7779909d6a8c988b7513b89dcccf0aa6d01d483e50c8634d0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_ink_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 43,
+      "text_zh": "观察：视频 0.5–0.8 s，Panda 臂端毛笔在圆形砚台位置下探，侧视图可见笔尖下降至墨池处；log step 43 记录机器人执行了砚台处下探、停留及抬笔动作。"
+     },
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.8–2.0 s，侧视图可见机器人用黑色笔毫划过练习纸，纸上留下新的黑色斜线；后续练习和主纸书写持续落墨。"
+     },
+     {
+      "t": 0.6,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.5–0.8 s 的下探与视频 2.0 s 的实际新墨迹，首次装墨约在视频 0.6 s 完成，时间精度约半秒；评分器 n_dips=1、n_dry_strokes=0 与之相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.5–0.8 s，Panda 固定安装毛笔的笔毫下探圆形砚台，随后练习纸出现新墨迹。候选：浸蘸；实际作用端是笔毫，对象为砚台墨液，现有抓握、托/舀、压/擦等取值不能准确表示入液装墨。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 283,
+      "text_zh": "观察：视频约 44–50 s，机器人在主纸左上写“龜”；视频 50.0 s 可见其上部框形与内部笔画挤连，右侧内部未呈现成功参考视频 59.0 s 中清楚分开的框形与交叉笔画。此前机器人已写右列“麟”“鳳”，此时整幅作品尚未完成。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "观察：视频 58.3–59.2 s 逐帧可见最终四字；“龜”上部框形和内部横竖粘成团，“龍”左侧下部框形内的横画缺漏。成功参考视频 59.0 s 的无遮挡纸面显示对应框形与内部笔画清楚分开；参考只用于辨认达标外观。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 评分器记录 IoU=0.495592<0.80、boundary_f=0.573456<0.75、min_stroke_coverage=0<0.80、stray_frac=0.118995>0.04，image_success=0；n_strokes=71、strict_ok=1。deterministic=1、live_matches_replay=1，支持将该最终评分用于本次视频作品的验收。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "推断：视频中作品从不完整逐步写至四字，先写出的缺漏粘连未返修，最终图像评分仍不达标，故整幅临帖没有达到验收状态；不能把写了四字或计数达上限当作完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 24.5–59.0 s，Panda 臂端固定安装的毛笔笔毫反复下压主纸、沿笔画滑动落墨，再抬笔移往下一笔，依次写右上“麟”、右下“鳳”、左上“龜”、左下“龍”；视频前段另在练习纸上压擦试笔。不另虚构握笔接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.495592
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.573456
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.118995
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 71.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 2315.62
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 3.9195
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 50.0,
+   "log_step": 283,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 50.0 s，机器人正在写主纸左上“龜”，其上部框形与内部笔画挤连，未呈现成功参考视频 59.0 s 中清楚的内部框形与交叉笔画；此后机器人继续完成“龜”并写左下“龍”，视频 59.2 s“龜”的粘连仍在，“龍”左侧下部框形内的横画亦缺漏。inputs/run.json 评分器最终四项图像门槛未过，断在完成整幅临帖这一步；视频 50.0 s 为可见缺陷的粗略导航锚点。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "缺笔与笔形粘连",
+    "t": 50.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 50.0 s 的“龜”上部框形与内部笔画挤连，至视频 59.2 s 末态仍未形成成功参考视频 59.0 s 中分明的内部框形与交叉笔画；本次末态“龍”左侧下部框形内的横画也较参考缺漏。这是落墨结果中具体可见的缺笔和粘连。",
+    "note_zh": "候选：缺笔与笔形粘连；现有现象条目没有材料图案缺陷的准确名称。笔纸接触已建立，视频也不能直接区分目标轨迹错误、跟踪偏差或笔毫变形，故不将结果缺陷强归为某一种接触或运动失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "log_step": 305,
+    "evidence_zh": "推断：agent 的相机验算脚本在 log step 290 得到实际作品 IoU=0.4898，log step 294 换阈值后仍为 0.4771；但 agent 在 log step 305 声称任务完成，列出 IoU=0.8617、各笔覆盖通过等达标数值，而没有修复主纸。其先前 log step 260、278 的检查代码是按目标路径叠加理想圆形墨迹的离线绘制，并非实体执行的评分；把这种达标判断用于结束实际任务，解释了可见缺陷为何留在交付末态。run.json 的 wall_s=1506、time_limit_s=3600 表明结束时尚有工作预算。",
+    "source_zh": "日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，蘸墨时刻由下探画面及随后新墨迹推定，无法直接量出入墨深度。视频与评分足以判定作品未达标，但无法确定缺笔粘连具体来自路径生成、运动跟踪还是笔毫接触变形，故不追加控制子类根因；log step 282 的代码正文还存在中段省略。评分器未报告 n_strokes_counted 与 scribble_share 的具体数值，原生指标保留 null，不用 n_strokes 或 scribble_max 替代。"
+ },
+ "summary_zh": "机器人完成首次蘸墨，并在练习后用毛笔压擦主纸写出四字，最终达到 1/2 个节点。整幅临帖在视频约 50.0 s 可见“龜”内部笔画粘连，末态“龍”亦有缺笔，四项图像指标未达门槛；agent 在实际相机验算约 0.49 的 IoU 后仍宣称达标并停止，支持误以为完成。缺少逐帧状态及完整控制代码，具体落墨偏差的物理成因无法细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（蘸墨达成、整幅临帖未达成）、final=1/2、contact_actual、根因“误以为完成”（log step 290/294 实测 IoU≈0.49 而 step 305 自称 0.8617 通过）均与视频和日志一致。唯一需改的是断点/现象的视频锚点：把“麟”鹿部短缩粘连当作与成功参考视频不同的首个可见缺陷，视频帧不支持，最明显的缺陷在后写的“龜”“龍”。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "蘸墨达成、整幅临帖未达成（final=1/2）、contact_actual、断点 exemplar_copied、根因“误以为完成”（log step 290/294 实测 IoU 0.49/0.48，step 305 自称达标，wall_s 1506<3600）均与视频、日志、评分字段一致；第一轮意见已采纳，现无新问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:08:07Z",
+  "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-kaishu-linfengguilong-i00-standard--eizrour/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--eizrour/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--eizrour/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--eizrour/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ed2d1ed280986f7bc19c1d85d5dc32a0b8aba2d90584d5762f3e005d0f28736",
+   "video_sha256": "81be53b6d50a55b7779909d6a8c988b7513b89dcccf0aa6d01d483e50c8634d0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--evtcmfm.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--evtcmfm.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2c37a96b040e19ba0c0bdc0a126408a9f1bcc2a
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--evtcmfm.json
@@ -0,0 +1,409 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-kaishu-linfengguilong-i00-standard--evtcmfm",
+ "taskKey": "robopaint/kaishu_linfengguilong",
+ "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed",
+ "outcome": {
+  "success": 0,
+  "reward": 0.711299,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.711299,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.711299,
+   "boundary_precision": 0.822481,
+   "boundary_recall": 0.797594,
+   "boundary_f": 0.809846,
+   "ink_precision": 0.837497,
+   "ink_recall": 0.825189,
+   "min_stroke_coverage": 0.416285,
+   "mean_stroke_coverage": 0.791451,
+   "stray_frac": 0.053115,
+   "missing_frac": 0.061733,
+   "ink_area_mm2": 7917.43,
+   "target_area_mm2": 8035.51,
+   "n_target_strokes": 71.0,
+   "stroke_coverage_01": 0.481571,
+   "stroke_coverage_02": 0.860112,
+   "stroke_coverage_03": 0.924368,
+   "stroke_coverage_04": 0.860288,
+   "stroke_coverage_05": 0.919571,
+   "stroke_coverage_06": 0.918569,
+   "stroke_coverage_07": 0.866972,
+   "stroke_coverage_08": 0.700521,
+   "stroke_coverage_09": 0.74525,
+   "stroke_coverage_10": 0.766376,
+   "stroke_coverage_11": 0.831733,
+   "stroke_coverage_12": 0.568369,
+   "stroke_coverage_13": 0.74804,
+   "stroke_coverage_14": 0.85524,
+   "stroke_coverage_15": 0.84443,
+   "stroke_coverage_16": 0.848039,
+   "stroke_coverage_17": 0.857757,
+   "stroke_coverage_18": 0.847134,
+   "stroke_coverage_19": 0.878242,
+   "stroke_coverage_20": 0.5,
+   "stroke_coverage_21": 0.820809,
+   "stroke_coverage_22": 0.739783,
+   "stroke_coverage_23": 0.93474,
+   "stroke_coverage_24": 0.968395,
+   "stroke_coverage_25": 0.926002,
+   "stroke_coverage_26": 0.911307,
+   "stroke_coverage_27": 0.756333,
+   "stroke_coverage_28": 0.87562,
+   "stroke_coverage_29": 0.798432,
+   "stroke_coverage_30": 0.920354,
+   "stroke_coverage_31": 0.907801,
+   "stroke_coverage_32": 0.892788,
+   "stroke_coverage_33": 0.786901,
+   "stroke_coverage_34": 0.774038,
+   "stroke_coverage_35": 0.728896,
+   "stroke_coverage_36": 0.696028,
+   "stroke_coverage_37": 0.729002,
+   "stroke_coverage_38": 0.896465,
+   "stroke_coverage_39": 0.742749,
+   "stroke_coverage_40": 0.760331,
+   "stroke_coverage_41": 0.940633,
+   "stroke_coverage_42": 0.711078,
+   "stroke_coverage_43": 0.821186,
+   "stroke_coverage_44": 0.912641,
+   "stroke_coverage_45": 0.898408,
+   "stroke_coverage_46": 0.666667,
+   "stroke_coverage_47": 0.948035,
+   "stroke_coverage_48": 0.464646,
+   "stroke_coverage_49": 0.746185,
+   "stroke_coverage_50": 0.94926,
+   "stroke_coverage_51": 0.416285,
+   "stroke_coverage_52": 0.723986,
+   "stroke_coverage_53": 0.838346,
+   "stroke_coverage_54": 0.651282,
+   "stroke_coverage_55": 0.722642,
+   "stroke_coverage_56": 0.739379,
+   "stroke_coverage_57": 0.883316,
+   "stroke_coverage_58": 0.684298,
+   "stroke_coverage_59": 0.654854,
+   "stroke_coverage_60": 0.853989,
+   "stroke_coverage_61": 0.762504,
+   "stroke_coverage_62": 0.577307,
+   "stroke_coverage_63": 0.748428,
+   "stroke_coverage_64": 0.796396,
+   "stroke_coverage_65": 0.848988,
+   "stroke_coverage_66": 0.719041,
+   "stroke_coverage_67": 0.72861,
+   "stroke_coverage_68": 0.789102,
+   "stroke_coverage_69": 0.875433,
+   "stroke_coverage_70": 0.8608,
+   "stroke_coverage_71": 0.869955,
+   "n_strokes": 71.0,
+   "n_practice_strokes": 45.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.307163,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 58.0,
+   "max_strokes": 71.0,
+   "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,
+   "iou_unregistered": 0.710162,
+   "boundary_f_unregistered": 0.80369,
+   "min_stroke_coverage_unregistered": 0.406221,
+   "stray_frac_unregistered": 0.054566,
+   "path_mm": 2508.09,
+   "longest_stroke_mm": 162.14,
+   "mark_width_mm": 3.3288,
+   "max_path_mm": 7880.0,
+   "min_mark_width_mm": 0.99,
+   "colour_in": 0.0,
+   "scribble_max": 2.0974,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.711299,
+   "sim_steps": 22345,
+   "resets": 1.0,
+   "n_contacts": 116.0,
+   "samples": 111725.0,
+   "contact_samples": 29304.0,
+   "max_press_m": 0.008169,
+   "max_tilt_deg_in_contact": 0.060648,
+   "max_speed_in_contact_mps": 0.059449,
+   "handle_contact_samples": 0.0,
+   "n_dips": 88.0,
+   "dry_strokes": 0.0,
+   "n_frames": 590.0,
+   "replay_wall_s": 155.97,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 22345,
+   "physics_steps": 111725,
+   "steps": 22341,
+   "calls": 189,
+   "elapsed_s": 3255.1,
+   "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-kaishu-linfengguilong-i00-standard--evtcmfm/replay.mp4",
+  "duration_s": 59.0,
+  "fps": 10.0,
+  "frames": 590,
+  "sha256": "ec25976b6da6e5033de1da76c05a3d3ef9aa63e5ba4e49d9a4dd75228f7cea74"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_ink_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.1,
+      "log_step": 10,
+      "text_zh": "观察：视频 0.1 s 的侧视图中，机器人将安装毛笔的笔尖下探至圆形黑色砚台处，视频 0.3 s 已移向练习纸；log step 10 的机器人命令为移至砚台中心并下探、停留后抬笔。"
+     },
+     {
+      "t": 1.2,
+      "log_step": 12,
+      "text_zh": "观察：视频 1.2–1.3 s 的场景及侧视图可见练习纸上已有多条新黑色短线，主纸仍空白。"
+     },
+     {
+      "t": 0.1,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.1 s 的砚台下探和视频 1.2 s 的实际墨迹，首次装墨已在视频约 0.1 s 完成；入墨深度不能从画面精确量测，时刻精度约半秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.1 s 机器人臂端安装的毛笔笔毫下探砚台，随后在练习纸留下墨迹。候选：浸蘸；接触对象为砚台墨液，现有接触项不能准确表达浸蘸。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": 51,
+      "text_zh": "观察：视频 17.5 s 主纸仍空白，视频 18.0 s 主纸左下出现第一条黑色横画；随后机器人先写左下“龍”，再写右下“鳳”、左上“龜”和右上“麟”，过程中反复抬笔、蘸墨并落笔。log step 51 记录开始主纸第一笔。"
+     },
+     {
+      "t": 58.9,
+      "log_step": 92,
+      "text_zh": "观察：视频 54.0–58.5 s 机器人继续在主纸局部补笔，视频 58.7–58.9 s 抬笔停在纸面上方；右下无遮挡纸面呈两列四字，但“龍”的左下部笔画细弱、局部连接和转折形状与成功参考视频 59.4 s 的作品不同，多处收笔呈尖细延伸。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "观察：本次评分字段 iou=0.711299<0.80、min_stroke_coverage=0.416285<0.80、stray_frac=0.053115>0.04，image_success=0；boundary_f=0.809846、n_strokes=71、strict_ok=1，live_matches_replay=1。"
+     },
+     {
+      "t": 58.9,
+      "log_step": null,
+      "text_zh": "推断：视频前段作品尚不完整，写齐四字并完成补笔后的图像仍被本次评分判为不达标，因此“完成整幅临帖”没有达到；并非由零成功分数推断未书写。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 18.0–58.5 s，机器人通过臂端固定安装毛笔，使笔毫接触主纸并沿纸面移动留下黑色线条；抬笔转移后再次落笔，末段有局部补写。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.711299
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.809846
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.416285
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.053115
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 71.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 2508.09
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 3.3288
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 23.5,
+   "log_step": 64,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 23.5 s 机器人已写出左下“龍”，其左侧竖弯及内侧短画的形状、粗细与成功参考作品有差异；随后继续写其余三字并补笔，视频 58.9 s 仍有局部细弱和偏离范本的线条。log step 64 的 agent 图像比较脚本报告当时“龍”IoU约0.572；最终评分 iou=0.711299、最低单笔覆盖率0.416285、杂墨比例0.053115，整幅临帖始终未达标。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 58.9,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.9 s 的无遮挡纸面中，“龍”左下部的线条较细弱，多处转折和末端轮廓与成功参考视频 59.4 s 不同，例如“鳳”外框右下收笔有粗重末端，内部曲折线条的形状也有差异。推断：这些局部落墨位置及轮廓偏差使部分范本区域漏覆，同时在范本外留下墨迹；本次评分分别给出最低单笔覆盖率0.416285和杂墨比例0.053115。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 对软笔毫动态及起落笔的运动补偿不足，使实际墨迹偏离计划轮廓。log step 52 的图像测量脚本估算第一笔向起点后方多出约5.5毫米；log step 57 的脚本估算“龍”转折后横向偏移可达约2.44毫米，log step 59 的练习轨迹分析同时报告机械臂横向跟踪误差很小；log step 77 的自建笔迹模型预测整幅IoU约0.917，而log step 83 明确自述转折补偿在一处钩画上过度，随后更改补偿。结合视频 58.9 s 的残留形状偏差，支持控制层归因；这些脚本估算不作为逐帧状态真值，现有证据不足以唯一细分控制子类。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态或笔毫形变日志，蘸墨深度和软笔接触中心不能直接量测；最终像素及过程阈值按评分字段判断，不能从低分辨率视频重算。n_strokes_counted和scribble_share未报告，保持null；不能以scribble_max代替scribble_share。控制机制依据agent的比较脚本与诊断作推断，无法独立核实其全部毫米级估计；未将agent工作时间或控制步数换算为视频时间。"
+ },
+ "summary_zh": "机器人完成毛笔蘸墨，并在主纸写出两列四字及末段补笔，最终完成1/2个节点。整幅临帖断在书写操作中：局部转折、收笔和细弱线条未准确覆盖范本，IoU、最低单笔覆盖率与杂墨比例均未达标；日志支持软笔动态补偿不足的控制归因。没有逐帧笔毫状态，毫米级机制只作推断，最终阈值以本次评分为据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "蘸墨已完成、整幅临帖未达标与评分字段一致；断点、位姿不准现象及停在控制层的根因均有评分与画面支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:56:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--evtcmfm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--evtcmfm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--mkw6qpu.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--mkw6qpu.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ed7ef3eb9c604ed60da7d791727f5d2ce16832c
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--mkw6qpu.json
@@ -0,0 +1,408 @@
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+   "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,
+   "iou_unregistered": 0.758407,
+   "boundary_f_unregistered": 0.857397,
+   "min_stroke_coverage_unregistered": 0.638384,
+   "stray_frac_unregistered": 0.049262,
+   "path_mm": 2421.56,
+   "longest_stroke_mm": 173.44,
+   "mark_width_mm": 3.8767,
+   "max_path_mm": 7880.0,
+   "min_mark_width_mm": 0.99,
+   "colour_in": 0.0,
+   "n_marked_pieces": 71.0,
+   "n_strokes_counted": 71.0,
+   "max_stroke_path_mm": 920.0,
+   "longest_counted_stroke_mm": 173.15,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 1.8767,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.758407,
+   "sim_steps": 6154,
+   "resets": 1.0,
+   "n_contacts": 102.0,
+   "samples": 30770.0,
+   "contact_samples": 19760.0,
+   "max_press_m": 0.011878,
+   "max_tilt_deg_in_contact": 0.234757,
+   "max_speed_in_contact_mps": 0.254609,
+   "handle_contact_samples": 0.0,
+   "n_dips": 5.0,
+   "dry_strokes": 0.0,
+   "n_frames": 561.0,
+   "replay_wall_s": 92.19,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 6154,
+   "physics_steps": 30770,
+   "steps": 2467,
+   "calls": 67,
+   "elapsed_s": 3482.5,
+   "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": 0.309,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.372,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-kaishu-linfengguilong-i00-standard--mkw6qpu/replay.mp4",
+  "duration_s": 56.1,
+  "fps": 10.0,
+  "frames": 561,
+  "sha256": "9dd57fe823a8399f8800f5e721c75d4f2ac8567e8d54746354b0f6ca54917788"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_ink_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.5–0.7 s，Panda 臂端毛笔移至圆形砚台上方，下探后提起；视频 1.1–1.4 s，毛笔在练习纸留下新的黑色线条。log step 13 的机器人调用先下探砚台，再画练习线；评分器 n_dips=5、n_dry_strokes=0。"
+     },
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "推断：首次实际墨迹证明此前已装墨；结合视频 0.6 s 的下探画面，将首次蘸墨锚定在视频约 0.6 s，误差约 0.2 s。入墨深度不能由画面精确测量；此事件完成后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：浸蘸。Panda 臂端固定毛笔的笔毫下探砚台墨液装墨，随后练习纸实际出现墨线；液体浸蘸不属于抓握、托/舀或固体压擦，故用其他。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.25,
+      "log_step": 102,
+      "text_zh": "观察：视频 16.5 s 主纸仍空白，视频 17.25 s 主纸开始出现黑色笔画；随后机器人依次写右上“麟”、右下“鳳”、左上“龜”、左下“龍”。视频 54.0 s 四字主体已形成，视频 55.0–55.8 s 机器人返回已有字形处修补，视频 56.0 s 毛笔离开纸面。log step 102 执行主纸脚本，log step 115 追加四笔修补。"
+     },
+     {
+      "t": 56.0,
+      "log_step": null,
+      "text_zh": "观察：视频 56.0 s 的无遮挡纸面显示四字齐全，但“龜”右下弯钩收笔形成膨大墨团，“龍”左下框上缘有断续、右上转折偏粗；与成功参考视频 59.4 s 的相应连续轮廓存在差异。评分器 iou=0.758407<0.80、min_stroke_coverage=0.638384<0.80、stray_frac=0.049262>0.04，image_success=0；boundary_f=0.857397、两类笔画数均为71且 strict_ok=1。"
+     },
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "推断：主纸从空白逐步形成四字，视频 54.0 s 的主体成品及最后修补仍保留局部缺墨和轮廓偏差；结合评分器的三个失败图像指标，未见整幅临帖节点达标。无逐帧像素评分，不能给每笔误差的精确形成时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频 17.25–55.8 s，Panda 臂端固定毛笔的笔毫反复落到主纸，按压并沿笔画滑动，实际留下四字墨迹和局部修补墨迹；同一工具接触链只记笔毫对纸的压擦。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.758407
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.857397
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.638384
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.049262
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 71.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 71.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 2421.56
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 3.8767
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 54.0,
+   "log_step": 115,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54.0 s 四字主体已经写出，随后机器人仍在原字形上补笔，视频 55.0–55.8 s 可见返回修补；视频 56.0 s 收笔后局部断续和膨大墨团仍在。评分器给出 iou=0.758407、min_stroke_coverage=0.638384、stray_frac=0.049262，分别未过0.80、0.80、0.04的门槛，故失败步骤为完成整幅临帖；视频 54.0 s 仅为成品偏差已可见的导航锚点。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0–56.0 s 形成的四字中，“龜”右下弯钩收笔膨大，“龍”左下框上缘呈断续，右上转折较粗；成功参考视频 59.4 s 的相应位置轮廓较连续、收笔较窄。机器人已接触纸面并落墨，但局部落墨位置及笔画轮廓偏离，修补后这些形状差异仍保留。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 99 的代理脚本把目标骨架转换为末端轨迹，log step 119 自述使用笔宽—按压深度和拖尾补偿模型；在实际试笔后，代理自算的 log step 75 仍报告不同局部需不同方向的平移才能对齐。主纸书写后的 log step 105 自算对齐 IoU 仅0.7597，log step 115 再执行四笔修补，log step 116 自算仍为0.7640且杂墨0.0466；视频 56.0 s 也显示断续与膨大收笔，评分器最终确认图像未达标。这支持将目标笔形实现为实际毛笔运动与落墨的控制精度不足；现有证据不能再区分具体补偿参数、轨迹跟踪或笔毫接触模型误差。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有模拟器状态日志或逐帧像素评分，视频无法精确重算每笔覆盖率，也无法定位全部轮廓误差的首次形成时刻。首次蘸墨由视频约 0.6 s 的下探及视频 1.1–1.4 s 的首次墨线联合判断，深度未被直接测量；根因仅推断到控制层，不把代理自算图像指标当成评分器值，亦不细分具体控制子类。"
+ },
+ "summary_zh": "机器人完成蘸墨，先在练习纸试笔，再在主纸写出“麟鳳龜龍”并追加四笔修补，最终完成1/2个节点。整幅临帖仍有局部断续和膨大收笔，评分器的整体重合度、最低单笔覆盖率及杂墨比例未达标，根因推断为毛笔落墨控制精度不足。没有状态日志和逐帧像素评分，不能精确定位每处偏差的形成时刻或进一步区分控制子类。",
+ "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（蘸墨达成、整幅临帖未达成）、接触、断点、现象（位姿不准）与根因（控制，不细分）均有视频与评分器字段支持；引用的 log step id 均存在且内容与描述一致，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": "2026-10-30T22:58:29Z",
+  "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-kaishu-linfengguilong-i00-standard--mkw6qpu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--mkw6qpu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "362735293de6b1a3e8e49a9ee4bb070a832723286982d41db83b3f969d6ee40d",
+   "video_sha256": "9dd57fe823a8399f8800f5e721c75d4f2ac8567e8d54746354b0f6ca54917788",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--urlakjr.json b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--urlakjr.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b0bede0732a723977f1875d57af64775c948dc5
--- /dev/null
+++ b/phase2/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--urlakjr.json
@@ -0,0 +1,415 @@
+{
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+   "n_strokes_counted": 80.0,
+   "max_stroke_path_mm": 920.0,
+   "longest_counted_stroke_mm": 159.46,
+   "strokes_counted_ok": 0.0,
+   "scribble_max": 1.9223,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 0.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.501891,
+   "sim_steps": 7450,
+   "resets": 0.0,
+   "n_contacts": 92.0,
+   "samples": 37250.0,
+   "contact_samples": 22833.0,
+   "max_press_m": 0.006808,
+   "max_tilt_deg_in_contact": 0.290099,
+   "max_speed_in_contact_mps": 0.070956,
+   "handle_contact_samples": 0.0,
+   "n_dips": 2.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 7450,
+   "physics_steps": 37250,
+   "steps": 4184,
+   "calls": 53,
+   "elapsed_s": 2514.6,
+   "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-kaishu-linfengguilong-i00-standard--urlakjr/replay.mp4",
+  "duration_s": 57.5,
+  "fps": 10.0,
+  "frames": 575,
+  "sha256": "b8dca7c1c0de64ea2bf775ad28cc0b34112e4707868e195f60449b095364d72e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_ink_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": 17,
+      "text_zh": "观察：视频 0.3–0.4 s 的场景及侧视画面中，Panda 臂端毛笔下探圆形砚台，视频 0.4 s 笔尖位于砚台内；视频 3.8 s 侧视可见练习纸上新增黑色横线。log step 17 的服务返回首次 dip 已执行，评分字段 n_dips=2。"
+     },
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "推断：结合初始干笔、砚台下探及随后实际落墨，首次装墨取视频约 0.4 s（约有 0.2 s 视觉定位误差）；没有逐帧笔毫含墨或浸入深度记录，后续黑色墨迹确认已蘸墨，装墨事件持续到录像结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约 0.4 s，Panda 固定安装毛笔的笔尖下探圆形砚台；后续练习纸出现黑色墨迹。候选：浸蘸；工具作用端为笔毫、对象为砚台墨液，现有方式词表没有浸蘸，故用其他；不另记握笔。"
+     }
+    ]
+   },
+   "exemplar_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s 主纸仍空白，视频 9.0–18.0 s 右上逐渐出现“麟”的墨迹，之后机械臂依次写右下“鳳”、左上“龜”和左下“龍”；视频约 46.5 s 四字已有完整布局，视频 47.0–57.0 s 继续在已有字形上补描。"
+     },
+     {
+      "t": 57.4,
+      "log_step": null,
+      "text_zh": "观察：视频 56.5–57.4 s 右下无遮挡纸面及视频 57.4 s 左上主纸俯视图均显示四字，但“鳳”的外框转折、右下收笔和内部笔画形成较厚墨团，“麟”细小笔画及“龜”的短横轮廓也不同于成功参考视频 59.4 s 的字形；此前帧为缺字或缺笔状态，补描后仍未消除这些差异。"
+     },
+     {
+      "t": 57.4,
+      "log_step": null,
+      "text_zh": "观察：本次评分器报告 IoU=0.565511<0.80、boundary_f=0.666422<0.75、min_stroke_coverage=0.287338<0.80、stray_frac=0.121347>0.04；n_strokes 与 n_strokes_counted 均为80>71，live_success=0。整幅图像与笔数验收均未通过；视频中的四字可辨认不等于该节点达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 9.0–46.5 s，Panda 臂端安装毛笔的笔毫压在主纸上滑动落墨，先右列再左列写出四字；视频约 47.0–57.0 s 又沿已有笔画补描加墨。接触链为笔毫与主纸，不重复标机械臂握笔；固定底座未移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.565511
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.666422
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.287338
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.121347
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 80.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 71,
+   "direction": "lower_better",
+   "value": 80.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 7880,
+   "direction": "lower_better",
+   "value": 2917.13
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 0.99,
+   "direction": "higher_better",
+   "value": 4.0549
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "exemplar_copied",
+   "t": 46.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 46.5 s，机械臂已写出两列四字，但右下无遮挡画面中“鳳”等字的笔画边缘及收笔明显粗钝、墨团较重；视频 47.0–57.0 s 机械臂继续补描，至视频 57.4 s 仍保留轮廓差异。评分器最终图像阈值与两项笔数阈值均未通过，因此断点为完成整幅临帖，时间锚点取首次写完四字而仍需修补的位置。"
+  },
+  "unmet": {
+   "exemplar_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "其他",
+    "t": 46.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 46.5–57.4 s，主纸“鳳”的外框转折与右下钩端出现较大的黑色块，内部短笔画局部粘连；“麟”的若干细笔及“龜”的短横粗细、端部轮廓也与成功参考视频 59.4 s 不同，补描后仍存在。候选：笔画轮廓失真；这是可见的粗细、转折和端部形状偏差，现有接触失败或整体位姿偏差条目不能准确涵盖，故用其他。",
+    "note_zh": "候选：笔画轮廓失真；不把未达标分数本身另标为现象，也不把笔数验收重记为约束现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 31,
+    "evidence_zh": "推断：log step 21–22 的脚本用练习纸直线标定按压深度与墨宽；log step 31、35–37 随后按骨架路径、固定宽度换算和6毫米宽度滞后补偿执行主纸书写。视频 46.5–57.4 s 可见四字位置布局已形成，但局部粗细与转折轮廓仍失真；log step 42、45 的代理自算图像差异也显示补描未消除缺墨和杂墨。证据支持书写控制没有复现目标轮廓；不能仅据 agent 在 log step 43、47 的自述把具体原因认定为速度依赖笔毫展开，也不足以区分接触建模、轨迹跟踪或某一参数错误，故停在控制。",
+    "source_zh": "日志 / 视频"
+   },
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 43,
+    "evidence_zh": "推断：log step 35–36 已明确输出并执行70笔计划，log step 43 却以“about 10 spare counting strokes”为依据安排额外10笔补描，log step 44 返回补描执行完成；这与任务总上限71笔不相容。视频约 47.0–57.0 s 的已有字形继续加墨与该操作一致，最终评分 n_strokes=n_strokes_counted=80，支持余量计算及补描策略错误直接造成笔数验收失败；这一归因来自执行前的规划与执行记录，不来自最后报告中的错误断言。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧评分，首次入墨深度及局部笔毫形变无法精确重建；装墨时间由可见下探和后续黑色墨迹确认。视频末帧纸面无遮挡，节点终值可判定，像素及过程数值采用最终评分器字段；agent 关于速度依赖导致墨宽误差的具体解释尚未独立验证。所有视频锚点均从帧读取，未把 agent 工作时间或 control_steps 换算成视频时间。"
+ },
+ "summary_zh": "本次完成毛笔蘸墨，随后机械臂在主纸写出两列四字并补描，但完成整幅临帖节点始终未达标，最终为1/2节点。视频 46.5–57.4 s 可见笔画粗细、转折和收笔轮廓失真，评分同时确认图像门槛未过且80笔超过71笔上限；日志支持书写控制不足及补描余量规划错误。无状态日志，具体笔毫动态原因与精确入墨深度不能细分；agent 最终声称笔数未超限与评分器记录不符。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（蘸墨达成、整幅临帖未达成，1/2）、断点（exemplar_copied，操作中）、两项根因（控制；补描余量规划错误致80>71笔）与评分器字段和日志一致；视频 46.5 s 前后的时间锚点（control_steps 6000/7450≈视频 46.3 s）与帧吻合，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:07:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--urlakjr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--urlakjr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a106b6b15ed85f1e239ec275cb1fa119d64c554a456ad486a4eb457de3e49c16",
+   "video_sha256": "b8dca7c1c0de64ea2bf775ad28cc0b34112e4707868e195f60449b095364d72e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--7ekghxs.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--7ekghxs.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c43b97e6959132245bdb7a0ece2d75b0c6a8224
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--7ekghxs.json
@@ -0,0 +1,298 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-privileged--7ekghxs",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.4669,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 10.662,
+   "de_p90": 20.8087,
+   "de_bad_frac": 0.444145,
+   "de_mean_sheet": 10.662,
+   "ssim_L": 0.592676,
+   "paint_iou": 0.99582,
+   "paint_area_mm2": 44423.5,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 8.2477,
+   "ssim_L_fine": 0.405109,
+   "edge_corr": 0.316982,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.582603,
+   "n_regions": 211.0,
+   "n_strokes": 2475.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 2517.0,
+   "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,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 10.7432,
+   "de_p90_unregistered": 20.9916,
+   "ssim_L_unregistered": 0.589632,
+   "edge_corr_unregistered": 0.299196,
+   "paint_iou_unregistered": 0.995796,
+   "success": 0,
+   "final_reward": 0.4669,
+   "path_mm": 36666.39,
+   "longest_stroke_mm": 28.29,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.8696,
+   "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": 0.4669,
+   "sim_steps": 55444.0,
+   "resets": 1.0,
+   "n_contacts": 2475.0,
+   "samples": 277220.0,
+   "contact_samples": 179919.0,
+   "max_press_m": 0.004193,
+   "max_tilt_deg_in_contact": 0.178356,
+   "max_speed_in_contact_mps": 0.057079,
+   "handle_contact_samples": 0.0,
+   "n_dips": 16.0,
+   "dry_strokes": 0.0,
+   "n_frames": 598.0,
+   "replay_wall_s": 266.8,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 55444,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 46,
+   "agent_resets": 20,
+   "agent_sim_steps": 342517,
+   "agent_records": 9,
+   "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-oil-starrynight-i01-privileged--7ekghxs/replay.mp4",
+  "duration_s": 59.8,
+  "fps": 10.0,
+  "frames": 598,
+  "sha256": "470edb54232513d4db0c7736dfd2e7014d034ba28d91af46fe55ff988b99fe82"
+ },
+ "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 的主纸为空白，视频 0.1 s 的主纸俯视图左侧已出现第一小段深色笔迹，视频 0.2–0.9 s 笔迹持续延长；评分器终态字段 n_dips=16、n_dry_strokes=0。"
+     },
+     {
+      "t": 0.1,
+      "log_step": 400,
+      "text_zh": "推断：结合 DAG 已核实的干笔初态与视频 0.1 s 的实际着色，画笔最迟在视频 0.1 s 前已蘸上颜料；log step 400 的交付生成脚本在每批绘画前让安装画笔进入颜料槽再抬起，log step 410 确认该版本保存了 55444 个控制目标。首次入槽的精确瞬间未被视频采样清楚呈现，事件时间取首次可见着色的上界，非由 agent 时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：蘸取。推断：机械臂末端固定安装画笔的刷毛进入颜料槽装载颜料，依据视频 0.1 s 起的有色笔迹、评分器 n_dips=16 及 log step 400 的入槽动作；既有抓握、压/擦、托/舀不能准确表示刷毛浸入颜料的装载接触，不另标握笔。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.2–10.0 s，机械臂以末端画笔在主纸上反复下压、拖动画出左侧柏树和下部深色笔迹；视频 12.0–38.0 s 逐步铺出蓝色天空与山丘，但仍有大片白区；视频 40.0–54.0 s 继续补入浅蓝、浅绿及星点。以上过程未呈现完整达标画面。"
+     },
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频 56.0、57.0、58.0、58.8–59.7 s 的主纸俯视图显示主体已铺满，天空下沿却是一条宽而较平的浅绿色带，中央旋涡与下部村庄呈粗块状；相比成功参考视频 59.8 s 的分层弯曲亮带和细碎明暗纹理，本次细节较粗。最后一秒补入黄色仍未消除这些差异。"
+     },
+     {
+      "t": 59.7,
+      "log_step": null,
+      "text_zh": "观察：本次评分器终态 de_mean=10.662>6.5、de_p90=20.8087>11.5、ssim_L=0.592676<0.68、edge_corr=0.316982<0.52，image_success=0；paint_iou=0.99582、2475 笔、path_mm=36666.39、scribble_share=0 均满足各自阈值。推断：结合全程从局部着色到末段粗化成画的可见过程，画成星夜节点未达成，不能把高覆盖率当作图像验收通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.1–59.7 s，机械臂末端固定油画笔的刷毛接触主画纸并沿纸面移动，依次铺深色、蓝色、浅色和黄色笔迹；侧视图可见笔尖贴纸与抬笔交替，不虚构夹爪抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 10.662
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 20.8087
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.592676
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.316982
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.99582
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 2475.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 36666.39
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "starry_night_painted",
+   "t": 58.8,
+   "log_step": 410,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.8 s，机械臂仍在补最后的亮色笔迹，主纸已画出星夜构图，但天空亮带宽平、旋涡和村庄纹理粗化，至视频 59.7 s 仍在；评分器 image_success=0，四项颜色、结构与边缘指标未通过。log step 410 保存的 55444 控制目标、2475 笔与本次 reward 一致，评分器 deterministic=1、missing_trajectory=0；断点归于这次实际交付的绘画步骤，视频 58.8 s 仅作末段缺陷的导航锚点。"
+  },
+  "unmet": {
+   "starry_night_painted": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "色带过宽、纹理粗化",
+    "t": 58.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 56.0–59.7 s，机器人画出的天空下沿是一条连续而宽平的浅绿色色带，中央旋涡主要剩粗线轮廓，下部村庄是碎块而缺少清楚层次；成功参考视频 59.8 s 对应区域有更细的弯曲亮带和明暗纹理。此为本次画面可见缺陷，非仅复述评分不达标。",
+    "note_zh": "候选：色带过宽、纹理粗化。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已着色画面的局部形状与纹理失真，使用其他。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志或逐帧图像评分，无法确定各数值阈值随绘画变化的精确时间；首次蘸料以视频 0.1 s 首次着色作上界。本目录未提供独立 target.png，画面比较仅使用已给的成功参考视频。log step 400 的生成脚本中段在记录中被截去，虽能核实分色批次、入槽、压笔、保存与确定性重放，现有证据不能可靠区分笔画布局、叠色顺序和实际刷毛接触效果各自对粗化结果的贡献，故根因留空；会话中的调参试验不冒充本次轨迹事实。"
+ },
+ "summary_zh": "机器人最迟在视频 0.1 s 已装载颜料并留下深色笔迹，随后完成整幅铺色，最终节点为 1/2。断点为“主纸画成星夜”：视频 56.0–59.7 s 可见天空亮带过宽、旋涡与村庄纹理粗化，覆盖率及笔画、路径规则通过，但颜色、明暗结构和边缘四项验收未通过。无状态日志及独立目标图，首次蘸料时刻为上界，导致画面粗化的具体根因证据不足。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点（蘸料约视频 0.1 s 起、画成星夜未达成）、断点、其他现象与空根因均有帧与评分字段支持；log step 400/410 为 steps[].id，核实存在且内容与引用一致，未见需改之处。",
+    "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": "2026-10-30T22:39:24Z",
+  "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-oil-starrynight-i01-privileged--7ekghxs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-privileged--7ekghxs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f20091559caea174ac66f5b8d95655a0577180b97d9fa08cc13156b21023557d",
+   "video_sha256": "470edb54232513d4db0c7736dfd2e7014d034ba28d91af46fe55ff988b99fe82",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--8dfsed8.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--8dfsed8.json
new file mode 100644
index 0000000000000000000000000000000000000000..494e4a46e69c31b626d777cd74129b56fce90cf4
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--8dfsed8.json
@@ -0,0 +1,308 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-privileged--8dfsed8",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 1,
+  "reward": 0.72165,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "final_reward": 0.72165,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 5.567,
+   "de_p90": 9.4305,
+   "de_bad_frac": 0.077633,
+   "de_mean_sheet": 5.567,
+   "ssim_L": 0.736302,
+   "paint_iou": 0.999362,
+   "paint_area_mm2": 44581.5,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 2.4151,
+   "ssim_L_fine": 0.523595,
+   "edge_corr": 0.563218,
+   "region_cov_min": 0.019037,
+   "region_cov_mean": 0.937602,
+   "n_regions": 211.0,
+   "n_strokes": 2487.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 2517.0,
+   "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,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 5.5854,
+   "de_p90_unregistered": 9.4666,
+   "ssim_L_unregistered": 0.735222,
+   "edge_corr_unregistered": 0.558034,
+   "paint_iou_unregistered": 0.999362,
+   "path_mm": 26706.84,
+   "longest_stroke_mm": 54.72,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.3466,
+   "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": 0.72165,
+   "sim_steps": 48428.0,
+   "resets": 1.0,
+   "n_contacts": 2487.0,
+   "samples": 242140.0,
+   "contact_samples": 85880.0,
+   "max_press_m": 0.006144,
+   "max_tilt_deg_in_contact": 0.176517,
+   "max_speed_in_contact_mps": 0.069451,
+   "handle_contact_samples": 0.0,
+   "n_dips": 311.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 252.2,
+   "all_success": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 48428,
+   "video_rendered": 1,
+   "agent_sessions": 17,
+   "agent_resets": 3,
+   "agent_sim_steps": 731319,
+   "agent_records": 10,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-oil-starrynight-i01-privileged--8dfsed8/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "3ed151869424717d6fecd26d55bd19d1c847d7ac46f041f7edcc4ea2048d6779"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主画纸为空白，机械臂末端安装画笔；任务文本说明画笔初始为干笔。"
+     },
+     {
+      "t": 0.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0.1 s 的右下画布视图已出现首段深色笔迹，视频 0.2–0.9 s 笔迹继续扩展为左侧树形轮廓；评分器终态字段 n_dips=311、n_dry_strokes=0。"
+     },
+     {
+      "t": 0.1,
+      "log_step": null,
+      "text_zh": "推断：结合干笔初态、视频 0.1 s 已出现的有色笔迹及评分器蘸料计数，首次装载在视频 0.0–0.1 s 内已经完成，取视频 0.1 s 为确认锚点；入槽瞬间未被视频采样清楚呈现，不声称看见了精确浸入深度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端安装画笔的刷毛浸入调色盘颜料槽以装载颜料；依据视频 0.1 s 起的有色笔迹及评分器 n_dips=311，首次入槽瞬间未清楚呈现。候选：蘸取；液体装载不适合归为抓握、压/擦或托/舀，故用其他。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸空白；视频 2.0–8.0 s 机械臂用末端画笔陆续铺出左侧深色柏树、下部山丘和蓝色天空旋涡，但天空仍有大片露白，尚未画成。"
+     },
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–30.0 s 主纸已被蓝色、深色和黄色色块基本覆盖，旋涡天空、左侧柏树、右上月亮和星点可辨；视频 32.0–58.0 s 机械臂继续在已有底色上补充短笔画，山丘与村庄细节逐步增加。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频 58.8–59.8 s，右下画布视图始终显示完整星夜构图，天空、星月、柏树及下部村庄山丘可辨，评分内区无大片露白，末段未见画面被破坏。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 30,
+      "text_zh": "观察：log step 28 保存最终 F 配置轨迹；log step 30 报告该交付文件的两次全新 CLI 重放均 success=1，终态哈希同为 ba35a547d02b0b65；与本次评分器 success=1、deterministic=1 及各项终态指标一致。评分器记录平均色差 5.567、第90百分位色差 9.4305、亮度 SSIM 0.736302、边缘相关 0.563218、颜料 IoU 0.999362、2487 笔、路径 26706.84 毫米及曲折路径占比 0，均满足 DAG 阈值。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "推断：最终画面和评分器判定共同确认主纸画成星夜；视频 59.8 s 是可核验的达标锚点，区间从该帧保守记起。没有逐帧相似度评分或状态日志，且未提供目标图，无法确定各阈值首次同时通过的精确视频时刻，实际可能更早；不把会话中其他配置的测试结果用于本轨迹进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.1–10.0 s 画布笔迹随机械臂末端画笔运动增加，视频 12.0–59.8 s 机械臂继续以近竖直画笔在主纸上铺色并补短笔画；侧视画面可见笔尖贴近纸面，实际作用端为安装画笔的刷毛，对主纸压/擦。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 5.567
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 9.4305
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.736302
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.563218
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.999362
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 2487.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 26706.84
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次交付轨迹完成笔刷蘸料和主纸画成星夜两个节点，终态为 2/2：视频 0.1 s 已见有色笔迹，视频 59.8 s 显示完整蓝色旋涡天空、黄色星月、深色柏树及下部山丘村庄。评分器八项验收指标均达标，最终文件的两次全新重放均成功且终态哈希一致，无失败断点。证据缺口是首次入槽瞬间未清楚采到，且没有状态日志、逐帧评分及目标图，绘画状态以视频 59.8 s 作为保守确认时刻，首次达标可能更早；oracle 与本运行相同，不作为独立参考。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "2/2 节点、终态成功、无失败断点均与视频和评分器一致；视频 59.8 s 画面完整，0.1 s 已见笔迹；59.8 s 的保守锚点已如实说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:36:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "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-oil-starrynight-i01-privileged--8dfsed8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-privileged--8dfsed8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "93b57f46edf0b657fed35b9bea067f7e4a5b2aa062995df6e8cd77626eaa6c3c",
+   "video_sha256": "3ed151869424717d6fecd26d55bd19d1c847d7ac46f041f7edcc4ea2048d6779",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--9etd4vs.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--9etd4vs.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b46810fefc9b847c221006aad9415324d2e146c
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--9etd4vs.json
@@ -0,0 +1,318 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-privileged--9etd4vs",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.637705,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.637705,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 7.2459,
+   "de_p90": 13.132,
+   "de_bad_frac": 0.224366,
+   "de_mean_sheet": 7.2459,
+   "ssim_L": 0.583135,
+   "paint_iou": 0.985812,
+   "paint_area_mm2": 43977.0,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 3.3671,
+   "ssim_L_fine": 0.37454,
+   "edge_corr": 0.202543,
+   "region_cov_min": 0.021438,
+   "region_cov_mean": 0.800831,
+   "n_regions": 211.0,
+   "n_strokes": 2513.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 2517.0,
+   "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,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 7.4038,
+   "de_p90_unregistered": 13.554,
+   "ssim_L_unregistered": 0.577698,
+   "edge_corr_unregistered": 0.194163,
+   "paint_iou_unregistered": 0.985953,
+   "path_mm": 20540.52,
+   "longest_stroke_mm": 11.35,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.1352,
+   "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": 0.637705,
+   "sim_steps": 48162.0,
+   "resets": 1.0,
+   "n_contacts": 2513.0,
+   "samples": 240810.0,
+   "contact_samples": 72488.0,
+   "max_press_m": 0.004508,
+   "max_tilt_deg_in_contact": 0.379515,
+   "max_speed_in_contact_mps": 0.072529,
+   "handle_contact_samples": 0.0,
+   "n_dips": 43.0,
+   "dry_strokes": 0.0,
+   "n_frames": 596.0,
+   "replay_wall_s": 269.2,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 48162,
+   "video_rendered": 1,
+   "agent_sessions": 20,
+   "agent_resets": 9,
+   "agent_sim_steps": 845384,
+   "agent_records": 9,
+   "agent_replays": 9,
+   "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-oil-starrynight-i01-privileged--9etd4vs/replay.mp4",
+  "duration_s": 59.6,
+  "fps": 10.0,
+  "frames": 596,
+  "sha256": "6f79ad96665837d08ae353af2d8404f3606760b58d8540237e435c45f563a376"
+ },
+ "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 的主纸俯视图为空白，视频 0.2 s 已出现首批蓝色笔迹；侧视图可见机械臂安装画笔在纸面上作画。评分器终态字段 n_dips=43、n_dry_strokes=0。"
+     },
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "推断：任务给定画笔初始干燥，首次蓝色笔迹确认此前已蘸上颜料；首次入槽瞬间未被这段加速视频清楚呈现，以视频 0.2 s 的首次可见有色笔迹作完成锚点，实际装载发生于视频 0.0–0.2 s 内。"
+     }
+    ],
+    "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刷毛蘸取调色盘颜料；由干笔初态、视频 0.2 s 的有色笔迹及评分器 n_dips=43 确认。候选：蘸取；液体装载不属于现有抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.2–1.5 s，机械臂末端画笔在主纸上留下分散蓝色短笔迹；全片粗采样显示后续依次增加蓝灰色天空、深色柏树与地面、浅色旋涡和黄色星月，持续进行绘画。"
+     },
+     {
+      "t": 58.0,
+      "log_step": null,
+      "text_zh": "观察：视频 58.0–59.5 s 逐帧检查中，主纸已形成星夜构图，但柏树和下部暗区布满明显白色碎点，天空旋涡边界呈零碎块状，下部村庄轮廓不清；成功参考视频 59.8 s 同一主纸俯视通道中的暗区更连贯、旋涡轮廓更完整。该比较仅用于识别完成形态，不作为本次动作证据。"
+     },
+     {
+      "t": 59.5,
+      "log_step": 139,
+      "text_zh": "观察：本次评分器 image_success=0；de_mean=7.2459>6.5、de_p90=13.132>11.5、ssim_L=0.583135<0.68、edge_corr=0.202543<0.52；paint_iou=0.985812、2513 笔、path_mm=20540.52、scribble_share=0 均满足各自阈值。agent 在 log step 139 也明确自述画面阈值未达，交付的是该未达标轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.2–1.5 s 及后续绘画画面中，机械臂末端固定画笔的刷毛压在主纸上移动并留下笔迹，重复抬笔、落笔和铺色；仅记录刷毛对主纸的作用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 7.2459
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 13.132
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.583135
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.202543
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.985812
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 2513.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 20540.52
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "starry_night_painted",
+   "t": 58.0,
+   "log_step": 139,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.0 s 机械臂仍在进行末段补画，画面已有星夜主体但暗区白色碎点及破碎的旋涡边界仍在；视频 59.5 s 最后一帧未修复这些缺陷。评分器确认颜色、结构和边缘四项指标未达标，而覆盖率和过程预算合格；log step 139 的最终交付报告承认画面未达标。视频 58.0 s 是末段缺陷的导航锚点，并非推定的不可逆失败起点。"
+  },
+  "unmet": {
+   "starry_night_painted": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "其他",
+    "t": 58.0,
+    "log_step": null,
+    "note_zh": "候选：画面碎点与轮廓破碎；现有接触、运动、全身等现象条目不能准确表达已落色作品的局部纹理缺陷。",
+    "evidence_zh": "观察：视频 58.0–59.5 s 的主纸俯视图中，左侧柏树和下部暗色区域有密集白色短点，天空旋涡由零碎色块组成，村庄轮廓较模糊；成功参考视频 59.8 s 的暗区更完整、旋涡边界更连续。机器人已实际接触并落色，缺陷出现在成画结果中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 在 log step 26 自述以约2400个局部短宽扫笔近似目标纹理；log step 118 的最终生成过程仍记录2401个基础笔触，log step 115 展示其补画控制为逐笔落下、直扫、抬起，log step 129 记录增加75与35笔补画。结合视频 58.0–59.5 s 仍存的碎点与不连续轮廓，绘画控制对局部铺色和细轮廓的重现不足。现有证据不能进一步区分笔触布局、压力、湿颜料混合或跟踪误差的各自贡献，故停在控制大类。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或逐笔评分；输入未提供原始目标图，只能对照成功参考视频和本次终态评分，无法精确还原每一局部笔迹应有的形状，或确定哪一笔导致了最终差异。首次入槽发生于加速视频的相邻帧之间，完成时间使用首次有色笔迹的上界锚点。根因是结合会话中的控制方案与最终画面的推断，不能定位到具体控制参数；各次会话试验不计作本次节点进度。"
+ },
+ "summary_zh": "机械臂完成蘸料并持续在主纸绘制星夜，最终节点为1/2；主图虽已呈现星月、旋涡和柏树，仍有暗区白色碎点及破碎轮廓，颜色、结构和边缘相似度未达标。断点为主纸画成星夜，推断局部短笔触绘画控制未能充分重现细节；覆盖率、笔画数、路径和曲折占比均合格。缺少逐笔状态与原始目标图，具体参数原因及首次入槽精确时刻不能确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点进度（蘸料 0.2 s 达成、主纸画成星夜未达成）、断点（starry_night_painted）和评分器四项未达标均与视频及评分字段一致；根因停在控制大类有 log step 26/118/129 支撑，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": "2026-10-30T22:42:12Z",
+  "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-oil-starrynight-i01-privileged--9etd4vs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-privileged--9etd4vs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "606efcc03695a25e8a988e4dd104457e578c95e9a4c2ac90a0bfa5aa500700e6",
+   "video_sha256": "6f79ad96665837d08ae353af2d8404f3606760b58d8540237e435c45f563a376",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--axsrdbq.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--axsrdbq.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4b8bb171f215c444f37be89d6dd6e3b24ca9366
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--axsrdbq.json
@@ -0,0 +1,298 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-privileged--axsrdbq",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 1,
+  "reward": 0.75734,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "final_reward": 0.75734,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 4.8532,
+   "de_p90": 8.2178,
+   "de_bad_frac": 0.043936,
+   "de_mean_sheet": 4.8532,
+   "ssim_L": 0.806873,
+   "paint_iou": 0.999993,
+   "paint_area_mm2": 44609.6,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 2.3681,
+   "ssim_L_fine": 0.621447,
+   "edge_corr": 0.695642,
+   "region_cov_min": 0.30105,
+   "region_cov_mean": 0.956581,
+   "n_regions": 211.0,
+   "n_strokes": 2467.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 2517.0,
+   "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,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 4.8532,
+   "de_p90_unregistered": 8.2178,
+   "ssim_L_unregistered": 0.806873,
+   "edge_corr_unregistered": 0.695642,
+   "paint_iou_unregistered": 0.999993,
+   "path_mm": 24085.09,
+   "longest_stroke_mm": 74.93,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.5186,
+   "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": 0.75734,
+   "sim_steps": 48961.0,
+   "resets": 1.0,
+   "n_contacts": 2467.0,
+   "samples": 244805.0,
+   "contact_samples": 94596.0,
+   "max_press_m": 0.006292,
+   "max_tilt_deg_in_contact": 0.29175,
+   "max_speed_in_contact_mps": 0.109736,
+   "handle_contact_samples": 0.0,
+   "n_dips": 127.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 221.1,
+   "all_success": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 48961,
+   "video_rendered": 1,
+   "agent_sessions": 30,
+   "agent_resets": 6,
+   "agent_sim_steps": 227793,
+   "agent_records": 3,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.021,
+   "peak_memory_gb": 1.253,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.071,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-oil-starrynight-i01-privileged--axsrdbq/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "651ccdbad1d6ff12084121afbbf059e0db3ae3b75022e1389b32a9f5b4af6f9e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "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 的右下主纸俯视图已出现第一条黄绿色笔迹，视频 0.2–0.3 s 笔迹继续增加，侧视图可见机械臂末端安装画笔向纸面落笔。"
+     },
+     {
+      "t": 0.1,
+      "log_step": null,
+      "text_zh": "推断：结合 DAG 核实的干笔初态、视频 0.1 s 已有有色笔迹，以及本次评分器 reward.n_dips=127、n_dry_strokes=0，首次蘸料已在视频 0.0–0.1 s 间完成；以首次显色的 视频 0.1 s 为事件锚点。加速视频未清楚保留首次笔尖入槽的液面瞬间，不能由画面测量入槽深度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：蘸取。机械臂末端固定油画笔的刷毛装载调色盘颜料，随后留下黄绿色及蓝色笔迹；首次装载由初始显色和评分器蘸料计数共同推断。液体装载不适合抓握、压/擦或托/舀，不重复标记笔柄的安装接触。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.1–6.0 s，机械臂用安装画笔在主纸上逐次留下黄绿、蓝色和深色竖向笔迹；视频 6.0 s 仍主要是分立色块，下部尚有露白，不能视为画成星夜。侧视图显示笔尖在纸面落下、移动和抬起，与俯视图新增笔迹相符。"
+     },
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "推断：视频 10.0–18.0 s 逐步形成旋涡与下部景物；视频 19.0–21.0 s 密集查看的主纸俯视图已有蓝色旋涡天空、黄色星月、左侧深色柏树和下部山丘村庄，评分内区不见大片露白，与成功参考视频末段的主体构图相符。将视频约 20.0 s 作为视觉完成锚点；首次通过全部数值阈值不能从这些帧精确判定，可能早于或晚于此锚点数秒。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "观察：视频后半段持续细化笔触，视频 58.8–59.8 s 逐帧检查的右下主纸图保持完整星夜构图，无清除画面或大片露白。本次评分器终态 success=1、image_success=1、strict_ok=1；de_mean=4.8532、de_p90=8.2178、ssim_L=0.806873、edge_corr=0.695642、paint_iou=0.999993，且 n_strokes=2467、path_mm=24085.09、scribble_share=0，八项均满足 DAG 阈值，确认最终完成。"
+     },
+     {
+      "t": null,
+      "log_step": 106,
+      "text_zh": "观察：log step 106 中 agent 将 v3 轨迹复制为最终 trajectory.npz 并启动独立重放；log step 110 自述已验证重放，列出的终态八项指标与本次 reward 相同。该记录用于确认交付版本，未将 agent 时间或会话中早期测试的得分换算为视频达标时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂末端安装油画笔的刷毛在主画纸上压下并移动铺色，再抬笔转移；视频初段竖向色条及后续旋涡、星月和村庄笔迹随此增加。本次评分器记录 2467 次有效接触笔画、无干笔笔画；作用端为刷毛，对象为主画纸及其已有颜料。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 4.8532
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 8.2178
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.806873
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.695642
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.999993
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 2467.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 24085.09
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次交付完成笔刷蘸料和主纸画成星夜两个节点，终态 2/2；视频约 20.0 s 已具备星夜主体构图，随后继续细化，视频 59.8 s 保持完整画面，评分器八项指标全部通过。log step 106 确认最终交付为 v3 轨迹，本次 success=1、deterministic=1，无失败断点。没有逐帧状态或评分日志，首次蘸料以视频 0.1 s 的显色推断，绘画节点的起点是视觉估计，不能精确确认全部数值阈值首次同时通过的时刻。",
+ "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，两个节点均达成，终态 2/2 与评分器八项指标一致；无失败断点。视频约 20 s 的完成锚点已如实标注为不确定，蘸料以视频 0.1 s 显色推断并标为推断，contact_actual 合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:37:18Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-privileged--axsrdbq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-privileged--axsrdbq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1a346d99d329149b9273a0aec81396b7b83429d895a29c934bb4e3cba05052bd",
+   "video_sha256": "651ccdbad1d6ff12084121afbbf059e0db3ae3b75022e1389b32a9f5b4af6f9e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--ehzfeic.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--ehzfeic.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3d153c34a8adc81df5d615b269849ac78df016d
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--ehzfeic.json
@@ -0,0 +1,318 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-privileged--ehzfeic",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.649575,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.649575,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 7.0085,
+   "de_p90": 12.8272,
+   "de_bad_frac": 0.201367,
+   "de_mean_sheet": 7.0085,
+   "ssim_L": 0.662202,
+   "paint_iou": 0.999999,
+   "paint_area_mm2": 44609.9,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 3.1959,
+   "ssim_L_fine": 0.46018,
+   "edge_corr": 0.445513,
+   "region_cov_min": 0.065574,
+   "region_cov_mean": 0.818854,
+   "n_regions": 211.0,
+   "n_strokes": 1460.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 2517.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.6656,
+   "register_dy_mm": -2.6623,
+   "register_shift_mm": 2.7443,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 9.2111,
+   "de_p90_unregistered": 18.0899,
+   "ssim_L_unregistered": 0.501087,
+   "edge_corr_unregistered": 0.24882,
+   "paint_iou_unregistered": 0.999999,
+   "path_mm": 27399.45,
+   "longest_stroke_mm": 113.9,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2292,
+   "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": 0.649575,
+   "sim_steps": 64048.0,
+   "resets": 1.0,
+   "n_contacts": 1460.0,
+   "samples": 320240.0,
+   "contact_samples": 81368.0,
+   "max_press_m": 0.005289,
+   "max_tilt_deg_in_contact": 0.410574,
+   "max_speed_in_contact_mps": 0.124936,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1436.0,
+   "dry_strokes": 0.0,
+   "n_frames": 600.0,
+   "replay_wall_s": 266.5,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 64048,
+   "video_rendered": 1,
+   "agent_sessions": 39,
+   "agent_resets": 91,
+   "agent_sim_steps": 1102111,
+   "agent_records": 12,
+   "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-oil-starrynight-i01-privileged--ehzfeic/replay.mp4",
+  "duration_s": 60.0,
+  "fps": 10.0,
+  "frames": 600,
+  "sha256": "5452abbac8d5f1650b92c6f555f52bfa77aa5a70df431a8676d647a820218e9b"
+ },
+ "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 主纸空白，视频 0.1 s 的画纸近景已出现第一段蓝色笔迹，视频 0.2–0.4 s 该笔迹继续延长；侧视可见机械臂末端安装画笔在主纸与调色盘方向间移动。"
+     },
+     {
+      "t": 0.1,
+      "log_step": 207,
+      "text_zh": "推断：任务记录明确画笔初始为干笔，有色笔迹确认首次装载已在视频 0.1 s 前完成；以首个可见有色痕迹的视频 0.1 s 作近似锚点，入槽瞬间被遮挡且视频经过压缩，不能精确定位。评分器终态 reward.n_dips=1436、dry_strokes=0，log step 207 对交付文件的重放分数与评分结果一致，支持确实蘸料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装画笔的刷毛浸入调色盘颜料槽装载颜料；依据视频 0.1 s 后的有色刷痕及评分器 n_dips=1436。候选：蘸取；现有抓握、压/擦、托/舀均不能准确表达刷毛浸入液体装载，故用其他，不另记握笔。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频从开头到视频 30.0 s，机械臂反复往返调色盘与主纸，沿主纸由上向下逐带铺色；视频 30.0 s 上半部出现星点和蓝色旋涡，下半部仍大幅露白。"
+     },
+     {
+      "t": 59.9,
+      "log_step": 207,
+      "text_zh": "观察：视频 45.0、55.0、58.0–59.9 s 及最后一帧可辨蓝色天空、黄星月、左侧黑色柏树和下部地景，纸面逐步覆盖；但旋涡被横向断续色带切开，星点边缘拉成短横块。相比成功参考视频 30.0、55.0、59.8 s，参考的旋涡轮廓及柏树尖端更连续；本次这些差异到末帧仍在。log step 207 交付重放与评分器终态均为 de_mean=7.0085>6.5、de_p90=12.8272>11.5、ssim_L=0.662202<0.68、edge_corr=0.445513<0.52，image_success=0；paint_iou=0.999999 且 strict_ok=1。"
+     },
+     {
+      "t": 59.9,
+      "log_step": 204,
+      "text_zh": "推断：早中段因大片未画区域不满足全画验收，末段已形成整幅构图但色块与边缘仍有可见偏差，且评分器确认四项图像指标未过；未见先达到后失去的时段，因此本节点无达成区间。log step 204 保存的最终轨迹含 64048 个动作，log step 207 重放相同分数、log step 209 确认交付文件同为 64048 个动作；更早会话试验的分数和错误不作为本视频进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.1–59.9 s 机械臂末端固定安装画笔反复落在主画纸上移动，留下逐带延展的有色刷痕；侧视可见笔尖下降、接触作画及抬起，作用端为刷毛、对象为主画纸，不另标握笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 7.0085
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 12.8272
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.662202
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.445513
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.999999
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 1460.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 27399.45
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "starry_night_painted",
+   "t": 30.0,
+   "log_step": 207,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 30.0 s 机械臂仍在逐带临摹，已画出的天空旋涡出现断续的横向色块；视频 55.0–59.9 s 完成大部分铺色后这些轮廓差异仍未修复。log step 207 对交付文件重放确认 image_success=0，四项图像相似度未过而覆盖率与过程规则通过。推断：失败在主纸临摹步骤，视频 30.0 s 仅作已能看清失真的导航锚点，无法定位单笔造成差异的瞬间。"
+  },
+  "unmet": {
+   "starry_night_painted": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "旋涡轮廓断裂与色块横向拉宽",
+    "t": 30.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 30.0、45.0、55.0、59.9 s 的主纸近景中，天空旋涡边界呈多段粗横条，星点由短横色块组成，左侧柏树尖端也较短钝；对照成功参考视频 30.0、55.0、59.8 s，参考的旋涡边界连贯、星点轮廓更完整。本次已画区域的这些形状偏差持续到末帧。",
+    "note_zh": "候选：旋涡轮廓断裂与色块横向拉宽。现有接触或运动现象不能准确表达纸上沉积颜料的形状失真；这是成画中可见的具体缺陷，故使用其他，不以未达分数充当现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志、视频、评分器字段",
+    "evidence_zh": "推断：agent 将目标转换为固定宽度的逐带扫笔，真实刷痕与其理想栅格模型之间仍有未补偿的差异。log step 132 对同组 W=7、间距=2.5、最短段=9 的离线模型计算为 de=6.325、p90=11.359、ssim=0.7147、edge=0.5558，均过阈值；log step 193 的脚本明确用固定条带取色及刷宽模型生成运动。log step 202 已把扫笔端点预领先量改为零，log step 204 用这组参数生成最终文件，log step 207 实际重放仍四项图像指标不达标；视频 30.0–59.9 s 则显示对应的色带与轮廓偏差。该比较支持绘画运动与刷痕生成控制精度不足，但不足以确定是轨迹跟踪、接触形状还是叠色模型的单一问题，保留上位控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧刷尖位姿、颜料及评分记录，首次入槽被遮挡，只能用视频 0.1 s 的首个有色笔迹近似定位首次蘸料；现有 inputs 中也未提供原始 target.png，成功参考视频只能作形态对照。无法精确确定四项指标各自在何时失配，亦不能量化理想栅格模型误差、实际刷痕及 log step 204 脚本在 64048 个控制动作处截断各自的贡献，故不细分控制子类；未将 agent 关于执行损失或步数上限的自述视为已证实事实。"
+ },
+ "summary_zh": "机械臂已蘸上颜料并逐带铺出可辨识的星夜构图，最终完成 1/2 个节点；覆盖率及笔画、路径、曲折占比规则通过，但四项图像相似度均未达标。失败位于主纸临摹：旋涡轮廓断续、星点色块横向拉宽，日志中理想条带模型与真实刷痕的差异支持上位控制归因。无逐帧状态和原始目标图，首次蘸料时间及具体控制子因只能近似或推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 brush_loaded 达成（视频 0.1 s 已有蓝色笔迹）、starry_night_painted 未达成，与评分器四项图像指标未过一致；断点、现象与上位控制归因有日志与视频支撑，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": "2026-10-30T22:43:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-privileged--ehzfeic/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-privileged--ehzfeic/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e781edf158810d2d4d822e9446d65658117f18308e336c437aec2cd22a374cca",
+   "video_sha256": "5452abbac8d5f1650b92c6f555f52bfa77aa5a70df431a8676d647a820218e9b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--iq5i82h.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--iq5i82h.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3783f386d27dbdbd605a7f49eeae9a55a69bb7f
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--iq5i82h.json
@@ -0,0 +1,354 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-privileged--iq5i82h",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.54261,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.54261,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 9.1478,
+   "de_p90": 18.474,
+   "de_bad_frac": 0.313472,
+   "de_mean_sheet": 9.1478,
+   "ssim_L": 0.585843,
+   "paint_iou": 0.999054,
+   "paint_area_mm2": 44567.7,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 6.3595,
+   "ssim_L_fine": 0.388746,
+   "edge_corr": 0.209287,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.710852,
+   "n_regions": 211.0,
+   "n_strokes": 1571.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 2517.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 1.9967,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 1.9967,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 9.2588,
+   "de_p90_unregistered": 19.0444,
+   "ssim_L_unregistered": 0.577967,
+   "edge_corr_unregistered": 0.139129,
+   "paint_iou_unregistered": 0.999057,
+   "path_mm": 21374.54,
+   "longest_stroke_mm": 111.44,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.44,
+   "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": 0.54261,
+   "sim_steps": 47875.0,
+   "resets": 1.0,
+   "n_contacts": 1571.0,
+   "samples": 239375.0,
+   "contact_samples": 105030.0,
+   "max_press_m": 0.004071,
+   "max_tilt_deg_in_contact": 0.150207,
+   "max_speed_in_contact_mps": 0.039398,
+   "handle_contact_samples": 0.0,
+   "n_dips": 16.0,
+   "dry_strokes": 0.0,
+   "n_frames": 600.0,
+   "replay_wall_s": 258.4,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 47875,
+   "video_rendered": 1,
+   "agent_sessions": 15,
+   "agent_resets": 15,
+   "agent_sim_steps": 300456,
+   "agent_records": 6,
+   "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-oil-starrynight-i01-privileged--iq5i82h/replay.mp4",
+  "duration_s": 60.0,
+  "fps": 10.0,
+  "frames": 600,
+  "sha256": "a930de151ffb83eae97e481ad2574df136dfea506db71e077d29f35808a5a0e0"
+ },
+ "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 主纸空白，视频 0.1 s 主纸俯视图上缘已出现黄绿色有色笔迹，视频 0.2–1.0 s 同色笔迹继续增加；侧视可见机械臂末端画笔落向纸面。"
+     },
+     {
+      "t": 0.1,
+      "log_step": null,
+      "text_zh": "推断：结合 run.json 的任务文本所述干笔初态、有色笔迹及评分器 n_dips=16、n_dry_strokes=0，机械臂已让画笔进入颜料槽并装载颜料。首次入槽被机械臂遮挡或加速采样跳过，事件以视频 0.1 s 首次可确认的有色笔迹为锚点，实际装载发生在此前。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端安装画笔的刷毛浸入颜料槽中的颜料；依据视频 0.1 s 起的有色笔迹及评分器 n_dips=16 确认装载接触。候选“蘸取”：液体装载不适合归为抓握、压/擦或托/舀；不额外虚构握持画笔的动作。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.4 s 侧视中机械臂末端画笔尖接触主纸并留下黄绿色笔迹；视频 3.0–33.0 s 机械臂分色铺画，主纸仍有大片空白，没有形成完整星夜。"
+     },
+     {
+      "t": 36.0,
+      "log_step": null,
+      "text_zh": "观察：视频 34.0–38.0 s 天空由多条粗横向色块组成，中央旋涡的细弧线不清晰，画面下部仍有大片未填区域；视频 39.0–57.0 s 机械臂继续补深色山丘与左侧柏树。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "观察：视频 58.8–59.9 s 主纸已有蓝天、星月、左侧深色柏树与下部山丘，但天空仍是粗横向斑块，旋涡轮廓断碎、星体呈模糊色团；成功参考视频 59.8 s 的中央旋涡弧线和星体边缘较连贯。"
+     },
+     {
+      "t": 59.9,
+      "log_step": 57,
+      "text_zh": "观察：log step 57 的最终 run6 读数 de_mean=9.1478、ssim_L=0.585843、edge_corr=0.209287、paint_iou=0.999054 与 run.json 评分器结果一致；评分器还报告 de_p90=18.474、image_success=0、deterministic=1。颜色两项、结构及边缘指标分别未达到 DAG 的 6.5、11.5、0.68、0.52 阈值，覆盖率和过程限制通过。"
+     },
+     {
+      "t": 59.9,
+      "log_step": 58,
+      "text_zh": "推断：log step 55–58 显示 agent 修复代码后重新运行直线分带脚本 gen.py，并将 run6 的轨迹留作交付；其评分与本次重放相同。结合全片初中段空白和末段可见的粗糙轮廓，绘画节点从未达到判据；此前会话试画及流线脚本 gen2.py 的结果不计为本轨迹进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.4 s、34.0–38.0 s 和 58.8–59.8 s 侧视可见机械臂末端安装画笔的笔尖落在主纸上移动，俯视有色笔迹随之增加；实际作用端是刷毛，作用对象是主画纸。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 9.1478
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 18.474
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.585843
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.209287
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.999054
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 1571.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 21374.54
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "starry_night_painted",
+   "t": 36.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 34.0–38.0 s 机械臂正在主纸铺画，天空已有明显粗横向色块，中央旋涡轮廓不清；视频 58.8–59.9 s 后续绘画补齐主体后，这种断碎轮廓仍保留。评分器 image_success=0，颜色、结构和边缘指标未达标。推断：失败发生在“主纸画成星夜”步骤，视频 36.0 s 是可见偏差的粗略导航锚点，并非精确的阈值首次失败时刻。"
+  },
+  "unmet": {
+   "starry_night_painted": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "其他",
+    "t": 58.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.8–59.9 s 的成画天空有粗横向、块状的深浅蓝笔迹，中央旋涡弧线断碎，浅色星体边界模糊；成功参考视频 59.8 s 同一区域的旋涡弧线较连贯、星体轮廓较完整。",
+    "note_zh": "候选“笔触色块粗糙、旋涡轮廓碎裂”。这是绘画材料形成的可见图像缺陷；现有接触失败、位姿不准、全身、约束或汇报条目不能准确描述，故用其他，不用评分数值本身充当现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 36.0,
+    "log_step": 55,
+    "source_zh": "视频",
+    "evidence_zh": "推断：画笔与主纸的实际接触形成过粗、块状的笔迹并损伤细节，指向刷毛接触宽度、压深及湿颜料涂抹相关的接触设计不适配；不能据此断定直线分带布局本身是原因。观察依据是视频 36.0 s 的粗横向色块及视频 59.0–59.9 s 仍断碎的旋涡、模糊的星体边界；inputs/run.json reward 与 log step 57 均报告 edge_corr=0.209287、de_mean=9.1478，未达 DAG 的 0.52 与 6.5 阈值。log step 22 的会话校准输出在压深 4.0 mm、速度 0.05 m/s 时笔宽约 5.99 mm，log step 55 为最终脚本设置 3.6 mm 行距、4.0 mm 压深及 0.035 m/s 扫速，仅辅助定位接触设计。log step 24/36 的理想预览分别为 edge_corr=0.639/0.713、de_mean=6.50/5.77，与 log step 41/57 的实际执行读数有差距；这些是会话内线索，既不证明布局不适配，也不单独证明具体材料机制。log step 36 关于湿画叠色污染的说法是 agent 自述，尚未独立验证。",
+    "note_zh": "此处为画笔与纸面的接触设计，不是抓取。没有对最终交付配置做控制变量试验，无法分离刷毛宽度、压深与湿颜料涂抹混色的贡献；未验证可通过验收的替代接触方案，alt_feasible 保持未知。会话早期试画及 agent 的解释不作为本次重放的失败现象。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧评分，无法给出各图像阈值的精确变化时刻；首次蘸料瞬间未被视频直接捕获，以视频 0.1 s 首批有色笔迹和评分器蘸料计数确认。当前输入没有目标原图，只能以 DAG 判据、成功参考画面及最终评分判断画面偏差。接触设计根因是画面与日志结合的推断，缺少最终配置的控制变量试验；会话理想预览与实际执行的差距及 agent 的湿画叠色解释仅为线索，不能独立确认刷毛宽度、压深或湿颜料混色各自的贡献，也不能归因于直线分带布局本身。"
+ },
+ "summary_zh": "本次交付完成笔刷蘸料，并在主纸画出星夜的大体构图，最终节点进度为 1/2；覆盖率、笔画数、路径与曲折占比均通过，但颜色、结构及边缘验收未通过。断点是“主纸画成星夜”的操作中，成画的粗块状笔迹与碎裂旋涡支持接触设计不适配的推断，具体刷毛宽度、压深及湿颜料涂抹机制尚未分离。conf 从 7 降为 6：无状态日志、逐帧评分及目标原图，首次蘸料时刻和根因仍需推断，会话预览与自述不足以确认具体机制或布局本身的责任。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点进度（brush_loaded 达成、starry_night_painted 未达成）、断点与现象基本与视频和评分器一致；根因的证据写法过度归因于“直线分带布局”，需改写。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "brush_loaded 达成、starry_night_painted 未达成，断点与评分器数值一致；根因已按上一轮改为接触设计推断并保留不确定性，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": "2026-10-30T23:06:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-privileged--iq5i82h/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-privileged--iq5i82h/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-privileged--iq5i82h/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-privileged--iq5i82h/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0f5b3455521c70b3900a25dd0ef81612ba1fb9ee402a5f8d04bd81c6f653bbc1",
+   "video_sha256": "a930de151ffb83eae97e481ad2574df136dfea506db71e077d29f35808a5a0e0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--2jb6cjo.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--2jb6cjo.json
new file mode 100644
index 0000000000000000000000000000000000000000..a61e8c4e5565cb851970a4b315796563f49f2eac
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--2jb6cjo.json
@@ -0,0 +1,325 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-standard--2jb6cjo",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.219665,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.219665,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 15.6067,
+   "de_p90": 31.4006,
+   "de_bad_frac": 0.60777,
+   "de_mean_sheet": 15.6067,
+   "ssim_L": 0.379099,
+   "paint_iou": 0.781765,
+   "paint_area_mm2": 34874.5,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 13.4002,
+   "ssim_L_fine": 0.218315,
+   "edge_corr": 0.175256,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.416238,
+   "n_regions": 211.0,
+   "n_strokes": 2517.0,
+   "n_practice_strokes": 21.0,
+   "n_dry_strokes": 1.0,
+   "max_strokes": 2517.0,
+   "stroke_count_ok": 1.0,
+   "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,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 15.7708,
+   "de_p90_unregistered": 31.6467,
+   "ssim_L_unregistered": 0.382402,
+   "edge_corr_unregistered": 0.185088,
+   "paint_iou_unregistered": 0.780693,
+   "path_mm": 14202.45,
+   "longest_stroke_mm": 8.48,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 0.8476,
+   "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": 0.219665,
+   "sim_steps": 56549,
+   "resets": 0.0,
+   "n_contacts": 2539.0,
+   "samples": 282745.0,
+   "contact_samples": 53367.0,
+   "max_press_m": 0.010141,
+   "max_tilt_deg_in_contact": 0.505379,
+   "max_speed_in_contact_mps": 0.115245,
+   "handle_contact_samples": 0.0,
+   "n_dips": 175.0,
+   "dry_strokes": 1.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 56549,
+   "physics_steps": 282745,
+   "steps": 13628,
+   "calls": 279,
+   "elapsed_s": 1978.5,
+   "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-oil-starrynight-i01-standard--2jb6cjo/replay.mp4",
+  "duration_s": 59.7,
+  "fps": 10.0,
+  "frames": 597,
+  "sha256": "541eaab50969b4f8b9fc787e4585f05b0b30ac66db7968bb1c1b38f8307c9bc1"
+ },
+ "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 笔尖呈浅色；视频 0.1–0.2 s 侧视图笔尖变为黄绿色，视频 0.3–0.5 s 练习纸上出现同色笔迹。"
+     },
+     {
+      "t": 0.3,
+      "log_step": 29,
+      "text_zh": "推断：结合干笔初态、视频 0.2 s 已染色的刷毛与视频 0.3 s 的有色练习笔迹，首次装载约在视频 0.2 s 前完成，按首次可确认帧记时；入槽瞬间被加速采样省略，时间精度约半秒。log step 29 的脚本先将笔尖送往颜料槽再画练习线；评分器终态 n_dips=175 支持本次确有反复蘸料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：蘸取。机械臂末端固定画笔的刷毛装载调色盘颜料；视频 0.2 s 刷毛染黄并随后留下黄色练习笔迹支持实际蘸料，首次入槽瞬间未被采样。液体装载不适合抓握、压/擦或托/舀，不另记握笔接触。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.2,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0 s 主纸仍空白，视频 2.2–3.0 s 主纸左上开始出现深色笔迹；随后机械臂反复落笔、抬笔，逐块画出蓝色天空和深色下部轮廓。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "观察：已按约一秒间隔查看整段视频，并密看视频 58.5–59.6 s；终帧主纸虽有左侧深色柏树和蓝色旋涡方向的短笔触，天空中部仍遍布规则露白缝隙，下部细节破碎，未呈现连续铺色的星夜。成功参考视频 59.8 s 的同一画纸视图显示连贯蓝色天空、黄色星月及下部景物，仅用于形态比较。"
+     },
+     {
+      "t": 59.6,
+      "log_step": 103,
+      "text_zh": "观察：本次评分器记录 image_success=0，de_mean=15.6067、de_p90=31.4006、ssim_L=0.379099、edge_corr=0.175256、paint_iou=0.781765，五项图像指标均未通过 DAG 阈值；n_strokes=2517、path_mm=14202.45、scribble_share=0 三项过程限制通过。log step 103 的最终报告也仅称粗略比较未达到严格色差和边缘阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 2.2 s 起，机械臂末端固定油画笔的刷毛反复压在主画纸上作短距离擦移并留下颜料，随后抬离再落笔；视频 58.5–59.6 s 仍有局部补画。只记刷毛与画纸的工具接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 15.6067
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 31.4006
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.379099
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.175256
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.781765
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 2517.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 14202.45
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "starry_night_painted",
+   "t": 58.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 58.5–59.6 s 机械臂仍在局部补画，主纸中央天空持续存在密集纸色缝隙，下部景物笔迹零散，至末帧未修复；评分器 image_success=0，五项图像验收均失败，笔画数、总路径和曲折占比限制均通过。断点为正在完成但始终未达标的整幅绘画步骤，视频 58.5 s 仅作导航锚点。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔迹间露白",
+    "t": 59.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.5–59.6 s 的主纸俯视图和无机械臂遮挡的末帧中，蓝色天空笔迹之间留下密集浅色网状缝隙，下部深色区域也有露白点；成功参考视频 59.8 s 的对应区域连续着色。",
+    "note_zh": "候选：笔迹间露白。现有现象项没有绘画铺色缺口；刷毛已经接触纸面并留下笔迹，不能标没建立接触，也没有证据表明是单次末端位姿偏差、碰撞或接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 52 的脚本把主纸铺成 49×50 个网格短扫笔触；log step 60 自测首块画面仍有纸色间隙，log step 68 仍决定按相同刷压继续其余区域。视频 12–59.6 s 已画区域逐渐形成相同的细密露白纹理，说明这套短扫接触覆盖范围与网格搭接不足，未能把主纸连续铺色；后续 log step 90 的补画以及 log step 95 的七笔星心高光仍未消除视频末帧缺口。此处归因于笔触与覆盖布局，未证实某个刷压、时长参数或逆解单独造成缺口。",
+    "note_zh": "是否存在可行替代：未知。成功参考可确认任务可完成，但未对本次网格的替代接触布局作同条件验证。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志，视频为约一分钟的加速多视图记录，首次蘸料入槽和逐笔接触过程有采样缺口；日志部分脚本内容本身被截断。推断：可由有色笔迹确认装载，并由末帧和评分器确定绘画未完成，但不能独立复算逐帧图像阈值，或进一步区分刷压、笔触实际宽度与跟踪滞后各自的贡献；根因限于有证据支持的接触覆盖布局不足。",
+  "unmet": {
+   "starry_night_painted": false
+  }
+ },
+ "summary_zh": "观察：本次单一现场回合无重置，视频约 0.2 s 已确认画笔装载，随后完成了 2517 笔主纸绘画，最终达到两个节点中的一个。观察：视频 59.6 s 的成画仍有密集露白缝隙，五项图像指标均未通过；推断：网格短扫的接触覆盖与搭接不足使绘画步骤失败，后续局部补画未修复。观察：无状态日志且视频加速采样，首次入槽时刻及具体刷压、跟踪因素不能精确确定。",
+ "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（brush_loaded 约视频 0.2 s 达成、starry_night_painted 未达成）、断点、现象（笔迹间露白）和根因（抓取和接触设计，alt_feasible 未知）均有视频末帧与评分器数值支持，未发现需要修改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:04:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-standard--2jb6cjo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-standard--2jb6cjo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "272d4b703584a6e7fce6dbdfd964d65b483425b89706486bc1d00af4d7e2d446",
+   "video_sha256": "541eaab50969b4f8b9fc787e4585f05b0b30ac66db7968bb1c1b38f8307c9bc1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--fp3ep5y.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--fp3ep5y.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfefcd1645f3184a6e5b67ecd1bb6dc31735d65a
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--fp3ep5y.json
@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-standard--fp3ep5y",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.54105,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.54105,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 9.179,
+   "de_p90": 18.6602,
+   "de_bad_frac": 0.317488,
+   "de_mean_sheet": 9.179,
+   "ssim_L": 0.511018,
+   "paint_iou": 0.940465,
+   "paint_area_mm2": 41954.1,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 6.6943,
+   "ssim_L_fine": 0.33064,
+   "edge_corr": 0.28833,
+   "region_cov_min": 0.00317,
+   "region_cov_mean": 0.716605,
+   "n_regions": 211.0,
+   "n_strokes": 2164.0,
+   "n_practice_strokes": 20.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 2517.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.8874,
+   "register_dy_mm": 0.8874,
+   "register_shift_mm": 1.255,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 9.584,
+   "de_p90_unregistered": 19.9599,
+   "ssim_L_unregistered": 0.490189,
+   "edge_corr_unregistered": 0.236941,
+   "paint_iou_unregistered": 0.940251,
+   "path_mm": 16025.38,
+   "longest_stroke_mm": 107.89,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.0396,
+   "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": 0.54105,
+   "sim_steps": 38266,
+   "resets": 1.0,
+   "n_contacts": 2184.0,
+   "samples": 191330.0,
+   "contact_samples": 37090.0,
+   "max_press_m": 0.008137,
+   "max_tilt_deg_in_contact": 0.429821,
+   "max_speed_in_contact_mps": 0.136188,
+   "handle_contact_samples": 0.0,
+   "n_dips": 33.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 143.18,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 38266,
+   "physics_steps": 191330,
+   "steps": 38123,
+   "calls": 240,
+   "elapsed_s": 1775.6,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.273,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.395,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-oil-starrynight-i01-standard--fp3ep5y/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "d83a3ed857ef00145af154ff58f80f8930784a2bd84f9fd0380f81bc24863485"
+ },
+ "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 主纸与练习纸为空白；视频 0.2 s 侧视图中笔尖呈黄色，视频 0.3 s 练习纸出现黄色横向笔迹。"
+     },
+     {
+      "t": 0.3,
+      "log_step": 44,
+      "text_zh": "推断：结合 log step 44 机器人将安装画笔移入颜料槽再画练习笔画的指令、视频 0.3 s 的黄色笔迹和评分器 n_dips=33、n_dry_strokes=0，首次装载已完成。以视频 0.3 s 首次可确认着色为到达锚点；真实首次浸入发生在视频 0.0–0.3 s 内，加速画面未完整捕获浸入瞬间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：蘸取。机械臂末端固定画笔的刷毛从调色盘颜料槽装载颜料，随后在练习纸和主纸留下颜色；由着色及评分器蘸料计数确认实际装载。液体蘸取不适合归入抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.3–2.9 s 主纸左侧逐渐出现深色柏树轮廓，机械臂安装画笔接触纸面移动；通览视频的后续绘画可见其逐色补入蓝色天空与亮色星月。早期主纸大部分空白，未达到完整成画判据。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "观察：视频 54.0–59.8 s 的无遮挡画纸视图可辨认左侧柏树、蓝色旋涡及黄色星月，但天空、山丘和村庄区域仍密布浅白缝隙，色块呈破碎斑点状；视频 59.8 s 末帧仍如此。成功参考视频 59.8 s 的对应画纸视图呈连续铺色，旋涡和下部结构更完整；参考仅用于判据外观比较。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 152,
+      "text_zh": "观察：inputs/run.json 的终态评分为 de_mean=9.179、de_p90=18.6602、ssim_L=0.511018、edge_corr=0.28833、paint_iou=0.940465，五项图像条件均未过阈值；n_strokes=2164、path_mm=16025.38、scribble_share=0 则合格。评分器 live_matches_replay=1、deterministic=1；log step 152 的服务终态 control_steps=38266 与评分器一致。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "推断：全片由零散深色笔迹逐步补色，最后仍有明显露白与结构缺失，未观察到达到后再失去的完整星夜状态；结合终态评分，本节点始终未达到。未将控制步数或 agent 工作时间转换为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂末端固定安装画笔，刷毛实际压在主纸上往复移动并留下深色、蓝色和黄绿色笔迹；记录刷毛对主纸的铺色接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 9.179
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 18.6602
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.511018
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.28833
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.940465
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 2164.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 16025.38
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "starry_night_painted",
+   "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亮色区域，天空旋涡及下部地景布满未连合的白色缝隙；视频 58.8–59.8 s 这些缺陷仍未消除。终态评分五项图像条件均不合格而笔画、路径与曲折占比合格，断点为持续作画仍未达到的“主纸画成星夜”；视频 54.0 s 是末轮补色中可见缺陷的导航锚点。"
+  },
+  "unmet": {
+   "starry_night_painted": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "铺色留白、色块破碎",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0–59.8 s，机器人补画后的天空、旋涡带和下部山丘村庄仍散布大量白色小孔与缝隙，蓝色和深色色块被浅白斑点割裂。成功参考视频 59.8 s 相同视图中的对应区域基本连续覆盖；本次缺陷在视频 59.8 s 仍清楚可见。",
+    "note_zh": "候选：铺色留白、色块破碎。现有接触、运动和全身条目没有准确描述成画中的遗漏着色与色块碎裂；画笔已经实际着色，不能据此声称从未建立接触，也没有证据将缺陷归为碰撞或位姿偏移。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "log_step": 153,
+    "evidence_zh": "推断：log step 138 的代码在本地数组上用 cv2.line 绘制理想笔画并计算预测指标，输出 de_mean≈5.85、SSIM≈0.7222、edge_corr≈0.5222；这些并非机器人实际终态评分。log step 150 查看成画后，agent 在 log step 153 仍引用同组“Expected”数值及 IoU=1.00，并明确宣告绘画已完成而结束。实际终态评分为 de_mean=9.179、SSIM=0.511018、edge_corr=0.28833、IoU=0.940465，且视频 59.8 s 仍有明显白隙；run.json 记录总工作耗时 1757 s、预算 3600 s，尚有余量。错误完成判断使未达标画面被当作已完成结果保留。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志，逐笔实际压深、跟踪误差和颜料覆盖演化不可核对，不能进一步确定白隙由哪种具体控制机制形成。输入未提供目标原图，只能以成功参考视频比较外观并用评分器终态数值判断精确阈值；首次蘸料由视频 0.3 s 的着色结果及蘸料计数确认，浸入瞬间未完整捕获。"
+ },
+ "summary_zh": "机器人已蘸取颜料，并在主纸画出可辨认的柏树、蓝色旋涡与星月，最终完成 1/2 个节点。绘画步骤仍留下密集白隙和破碎色块，五项图像验收均未通过；agent 在 log step 153 将离线预测质量作为完成依据而停止。无状态日志和目标原图，具体铺色控制缺陷无法进一步归因，首次蘸料时刻以视频 0.3 s 的着色确认作近似锚点。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点、现象与根因（误以为完成，log step 138/150/153 与评分器终态数值一致）均有证据支持；视频 0.3 s 已见黄色笔迹，59.8 s 仍有大量白隙，starry_night_painted 未达到。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:43:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-standard--fp3ep5y/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-standard--fp3ep5y/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d0ba002ef012ec95129c193d04868eab51e8d3108d6c8cee7a1e42610f82aa04",
+   "video_sha256": "d83a3ed857ef00145af154ff58f80f8930784a2bd84f9fd0380f81bc24863485",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--gdqdah3.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--gdqdah3.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0be25645a4e8a9d1b49fd7ceb23cd93cee72a6e
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--gdqdah3.json
@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-standard--gdqdah3",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "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": 30.6908,
+   "de_p90": 58.5226,
+   "de_bad_frac": 0.763671,
+   "de_mean_sheet": 30.6908,
+   "ssim_L": 0.308294,
+   "paint_iou": 0.911632,
+   "paint_area_mm2": 40667.8,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 27.2072,
+   "ssim_L_fine": 0.198071,
+   "edge_corr": 0.041084,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.242312,
+   "n_regions": 211.0,
+   "n_strokes": 2359.0,
+   "n_practice_strokes": 77.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 2517.0,
+   "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,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 30.6908,
+   "de_p90_unregistered": 58.5226,
+   "ssim_L_unregistered": 0.308294,
+   "edge_corr_unregistered": 0.041084,
+   "paint_iou_unregistered": 0.911632,
+   "path_mm": 21109.54,
+   "longest_stroke_mm": 43.46,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.1222,
+   "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": 71850,
+   "resets": 1.0,
+   "n_contacts": 2436.0,
+   "samples": 359250.0,
+   "contact_samples": 46985.0,
+   "max_press_m": 0.012146,
+   "max_tilt_deg_in_contact": 0.35233,
+   "max_speed_in_contact_mps": 0.167355,
+   "handle_contact_samples": 0.0,
+   "n_dips": 92.0,
+   "dry_strokes": 0.0,
+   "n_frames": 600.0,
+   "replay_wall_s": 226.06,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 71850,
+   "physics_steps": 359250,
+   "steps": 54620,
+   "calls": 351,
+   "elapsed_s": 6429.8,
+   "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-oil-starrynight-i01-standard--gdqdah3/replay.mp4",
+  "duration_s": 60.0,
+  "fps": 10.0,
+  "frames": 600,
+  "sha256": "5813e827cf78d02cb499adc92413bbae411158961407211d73fd69cb49d39da0"
+ },
+ "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": 56,
+      "text_zh": "观察：视频 0.2 s 侧视中的机械臂安装笔尖已呈黄绿色，视频 1.2 s 练习纸上可见新增黄绿色长笔迹；log step 56 的机器人执行脚本先将笔尖降入颜料槽再在练习纸试画。"
+     },
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "推断：结合干笔初态、视频 0.2 s 已着色的笔尖及随后练习纸的有色笔迹，首次蘸料已在视频约 0.2 s 前完成；入槽瞬间受机械臂遮挡及加速采样影响，将视频 0.2 s 作为近似到达时刻。评分器记录 n_dips=92、n_dry_strokes=0，支持确实装载过颜料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：蘸取。机械臂末端固定安装画笔，刷毛进入调色盘颜料槽装载颜料，随后笔尖着色并留下有色笔迹；液体装载不适合抓握、压/擦或托/舀，首次入槽瞬间未被完整采到。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.2,
+      "log_step": 237,
+      "text_zh": "观察：视频 9.2 s 主纸开始出现分离的深色细笔迹，机械臂安装画笔在纸面移动；视频 12.0–48.0 s 笔迹逐渐铺开，但仍是间隔明显的细条和大片露白。"
+     },
+     {
+      "t": 50.4,
+      "log_step": 281,
+      "text_zh": "观察：视频 49.5–50.3 s 主纸仍遍布稀疏细条；视频 50.4 s 起机器人画笔在左下部增加宽黄绿色笔迹，视频 51.0–57.0 s 这些笔迹扩展为大面积黄绿色覆盖。"
+     },
+     {
+      "t": 59.9,
+      "log_step": 301,
+      "text_zh": "观察：视频 59.0–59.9 s 的俯视和局部画面显示主纸为蓝灰色、深蓝色和黄绿色粗横条，夹有成片露白；没有成功参考视频 59.8 s 可见的星月、旋涡天空、左侧深色柏树及下部村庄轮廓。"
+     },
+     {
+      "t": 59.9,
+      "log_step": null,
+      "text_zh": "观察：评分器终态 image_success=0、live_matches_replay=1、infra_error=0；de_mean=30.6908、de_p90=58.5226、ssim_L=0.308294、edge_corr=0.041084、paint_iou=0.911632，均未达到任务图的图像阈值；n_strokes=2359、path_mm=21109.54、scribble_share=0，三项过程预算均通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频 9.2–59.8 s 机械臂末端固定安装画笔的刷毛反复压到主画纸并移动铺色，先留下细条，后留下宽黄绿色及蓝灰色笔迹；只记刷毛对画纸的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 30.6908
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 58.5226
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.308294
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.041084
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.911632
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 2359.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 21109.54
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "starry_night_painted",
+   "t": 50.4,
+   "log_step": 281,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 49.5–50.3 s 首轮绘画留下稀疏细条和大量露白；视频 50.4 s 起机器人补画的宽黄绿色笔迹逐渐覆盖主纸，视频 57.0 s 已形成大片黄绿色，随后虽补入蓝灰色，视频 59.9 s 仍只有粗色条，未画成星夜。断点属于持续未完成的主纸绘画步骤，视频 50.4 s 取作明显错误补色的导航锚点。"
+  },
+  "unmet": {
+   "starry_night_painted": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "画面颜色与结构失真",
+    "t": 50.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 49.5 s 画面是细而间隔明显的条纹；视频 50.4–57.0 s 补画变成大片黄绿色，视频 59.0–59.9 s 终态为粗蓝灰横条、黄绿色残块及白缝，缺少成功参考视频 59.8 s 的星月、天空旋涡和柏树结构。",
+    "note_zh": "候选：画面颜色与结构失真。现有接触、运动、全身、约束及汇报现象不能准确表达颜料已落纸但颜色分布、形状和细节明显不符的绘画结果，不将连续图像指标本身当作现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：补画执行脚本的蘸料目标发生单位转换错误，使机器人未换到计划颜色而持续使用旧颜料。log step 54、101 的 wells() 将毫米除以 1000 后返回米；log step 278 的 correct.py 又执行 wx,wy=[v/1000. for v in wells()[k]]，log step 281 启动此脚本，log step 285 输出多个不同颜色批次已执行，但视频 50.4–57.0 s 新增笔迹持续呈黄绿色；log step 293 改为直接使用 wells()[k]，视频 58.0–59.9 s 随后出现不同蓝灰色覆盖。代码与画面共同支持控制脚本坐标错误导致补色失真；首轮压笔过快的解释仅有 agent 在 log step 277、312 的自述，未据此细分反馈控制原因。",
+    "source_zh": "日志 / 视频",
+    "note_zh": "蘸料坐标的重复单位转换是已核对的执行代码错误；保持控制大类，不将其归为感知错误或未经验证的参数调试。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，首次蘸料瞬间被遮挡且视频经过加速采样，到达时间只能近似为视频 0.2 s；未提供原始目标 PNG，构图以成功参考视频核对，精确阈值使用本次评分器字段。首轮实际压深及跟踪误差没有逐帧证据，因此不能独立验证 agent 关于压笔过快的诊断。"
+ },
+ "summary_zh": "机械臂完成首次蘸料并持续在主纸绘画，最终完成 1/2 个节点，未画成星夜。首轮画面稀疏，补画脚本又将颜料槽米制坐标重复除以 1000，视频 50.4–57.0 s 出现大片错误黄绿色覆盖；最终仍是粗色条和露白，五项图像验收均未通过，笔画与路径预算则合格。首次蘸料时刻受遮挡和加速采样限制，首轮压笔过快的自述也缺少逐帧控制证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点值与时间可由视频核实：蘸料约 0.2–0.4 s 完成，星夜终态未达；断点在主纸绘画，现象与根因有日志代码（补画脚本对 wells() 重复除以 1000，log step 278/281/293）和视频 50.4–57.0 s 黄绿色覆盖共同支持；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": "2026-10-30T22:45:07Z",
+  "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-oil-starrynight-i01-standard--gdqdah3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-standard--gdqdah3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b1abf5e88f9de8e274e091bb9326043591d11c829bf45dac40a2aa3a8b8738a0",
+   "video_sha256": "5813e827cf78d02cb499adc92413bbae411158961407211d73fd69cb49d39da0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--jerbw6b.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--jerbw6b.json
new file mode 100644
index 0000000000000000000000000000000000000000..d17b7bf98524047a8eea55864a576948a2025ba9
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--jerbw6b.json
@@ -0,0 +1,302 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-standard--jerbw6b",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "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": 64.7817,
+   "de_p90": 84.044,
+   "de_bad_frac": 1.0,
+   "de_mean_sheet": 64.7817,
+   "ssim_L": 0.273563,
+   "paint_iou": 0.0,
+   "paint_area_mm2": 0.0,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 64.1115,
+   "ssim_L_fine": 0.170121,
+   "edge_corr": 0.0,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.0,
+   "n_regions": 211.0,
+   "n_strokes": 0.0,
+   "n_practice_strokes": 23.0,
+   "n_dry_strokes": 6.0,
+   "max_strokes": 2517.0,
+   "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,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 64.7817,
+   "de_p90_unregistered": 84.044,
+   "ssim_L_unregistered": 0.273563,
+   "edge_corr_unregistered": 0.0,
+   "paint_iou_unregistered": 0.0,
+   "path_mm": 0.0,
+   "longest_stroke_mm": 0.0,
+   "max_path_mm": 62300.0,
+   "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": 1179,
+   "resets": 1.0,
+   "n_contacts": 29.0,
+   "samples": 5895.0,
+   "contact_samples": 1287.0,
+   "max_press_m": 0.011782,
+   "max_tilt_deg_in_contact": 0.357828,
+   "max_speed_in_contact_mps": 0.224369,
+   "handle_contact_samples": 0.0,
+   "n_dips": 4.0,
+   "dry_strokes": 6.0,
+   "n_frames": 591.0,
+   "replay_wall_s": 57.79,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 1179,
+   "physics_steps": 5895,
+   "steps": 467,
+   "calls": 18,
+   "elapsed_s": 1769.4,
+   "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,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.173,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.283,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-oil-starrynight-i01-standard--jerbw6b/replay.mp4",
+  "duration_s": 59.1,
+  "fps": 10.0,
+  "frames": 591,
+  "sha256": "f7afb832836bf610e01c87345e4f28a08342da66d8e36da3434a9ec6fd6e33da"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.3,
+      "log_step": 13,
+      "text_zh": "观察：视频 13.2–13.4 s，机械臂末端安装画笔在调色盘圆槽处下降后抬起；视频 15.0 s 笔尖呈蓝色，视频 16.5 s 侧视及场景视图可见练习纸新增蓝色长线。此前视频 4.5–11.5 s 的练习纸试划未留下这些有色笔迹。"
+     },
+     {
+      "t": 13.3,
+      "log_step": null,
+      "text_zh": "推断：结合视频 13.2–13.4 s 的入槽动作和随后蓝色笔迹，将首次成功装载记为视频约 13.3 s（精度约半秒）；评分器 n_dips=4、n_practice_strokes=23 支持确有蘸料。该节点为首次装载事件，后续换色不撤销完成记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约 13.3 s，机械臂末端固定安装画笔的刷毛进入颜料槽，随后笔尖带蓝色并在练习纸留下蓝线。候选：蘸取；刷毛装载槽内颜料不属于抓握、压/擦或托/舀，工具固定安装，不另标握笔。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–59.0 s 已按粗采样及试画段密集帧检查；主纸俯视画面始终为空白，新增蓝、黄及深色试笔均位于相邻练习纸。视频 58.0–59.0 s 的逐帧检查仍未见主纸着色；成功参考视频 59.8 s 的相同视角则清楚呈现蓝色旋涡、黄星月和深色柏树。"
+     },
+     {
+      "t": 59.0,
+      "log_step": null,
+      "text_zh": "观察：本次评分器记录主纸 n_strokes=0、paint_area_mm2=0、paint_iou=0、edge_corr=0，练习纸 n_practice_strokes=23，live_matches_replay=1；与主纸空白的视频终态一致。"
+     },
+     {
+      "t": null,
+      "log_step": 70,
+      "text_zh": "观察：log step 62 中 agent 表示仍在验证计划、尚待在主纸执行；log step 67–70 生成并分块测试了 2407 笔的离线计划，log step 71 随即出现模型服务过滤器中断提示，后面没有主纸执行记录。未记录此节点的 contact_actual，因为视频中实际刷纸接触仅发生在练习纸。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 64.7817
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 84.044
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.273563
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "starry_night_painted",
+   "t": null,
+   "log_step": 71,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 59.0 s 主纸仍为空白，机械臂结束于练习纸上方；log step 70 仅完成主纸计划的分块测试，log step 71 为模型服务过滤器的中断提示。推断：尚未启动的目标步骤是主纸画成星夜；中断发生在执行前，没有可定位到视频时钟的物理失败瞬间，故 t=null。"
+  },
+  "unmet": {
+   "starry_night_painted": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 71 明确出现模型提供方过滤器中断；此前 log step 62、67–70 仍在准备主纸计划，没有主纸执行或主动结束现场任务的记录。评分器虽记录 finalized=1，但日志未显示过滤器中断前已完成现场终结或验证过最终绘画结果。推断：这是结果确定前的外部中断，应按 CASES.md FAIL-5／DECISIONS.md D37 重测并排除在机器人失败归因之外，因此现象和根因均留空，不标“没尝试”。已有现场轨迹可判断蘸料与主纸进度，但未观察到中断前未修复的主纸物理失败；无状态日志，首次入槽的准确装载帧由前后画面推定，过滤器中断的 agent 时刻不能换算成视频时刻。"
+ },
+ "summary_zh": "机械臂在视频约 13.3 s 成功蘸料，随后只在练习纸试画，主纸到视频 59.0 s 仍为空白，最终进度为 1/2。主纸绘画计划在 log step 70 完成分块测试后，log step 71 出现模型服务过滤器中断，主纸步骤尚未启动；按外部中断处理并建议重测，不归因于机器人现象或根因。无状态日志，首次装载时间依据入槽动作及随后有色笔迹推定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与证据一致：视频约13.3 s入槽蘸料，59 s主纸仍空白；log step 71 是 Gemini 过滤器拦截（agent 自己没有停止），属于结果确定前的外部中断，现象和根因留空并写了 gap_zh，处理合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:49:58Z",
+  "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-oil-starrynight-i01-standard--jerbw6b/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-standard--jerbw6b/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1e9a94d444c684dcca84798c4c8ceb9b67fd68e5492feb70eb7e06c163955a33",
+   "video_sha256": "f7afb832836bf610e01c87345e4f28a08342da66d8e36da3434a9ec6fd6e33da",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--jsafths.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--jsafths.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f820fe4d82729887a368eb72abe635c60a758e5
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--jsafths.json
@@ -0,0 +1,329 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-standard--jsafths",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.17232,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.17232,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 16.5536,
+   "de_p90": 36.5905,
+   "de_bad_frac": 0.573916,
+   "de_mean_sheet": 16.5536,
+   "ssim_L": 0.304387,
+   "paint_iou": 0.964624,
+   "paint_area_mm2": 43031.8,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 11.3538,
+   "ssim_L_fine": 0.191549,
+   "edge_corr": 0.020644,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.441775,
+   "n_regions": 211.0,
+   "n_strokes": 1209.0,
+   "n_practice_strokes": 23.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 2517.0,
+   "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,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 16.5536,
+   "de_p90_unregistered": 36.5905,
+   "ssim_L_unregistered": 0.304387,
+   "edge_corr_unregistered": 0.020644,
+   "paint_iou_unregistered": 0.964624,
+   "path_mm": 18080.47,
+   "longest_stroke_mm": 191.39,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.1526,
+   "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": 0.17232,
+   "sim_steps": 32057,
+   "resets": 0.0,
+   "n_contacts": 1232.0,
+   "samples": 160285.0,
+   "contact_samples": 22483.0,
+   "max_press_m": 0.009756,
+   "max_tilt_deg_in_contact": 2.687018,
+   "max_speed_in_contact_mps": 0.263932,
+   "handle_contact_samples": 0.0,
+   "n_dips": 153.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 32057,
+   "physics_steps": 160285,
+   "steps": 29079,
+   "calls": 199,
+   "elapsed_s": 3404.3,
+   "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-oil-starrynight-i01-standard--jsafths/replay.mp4",
+  "duration_s": 59.5,
+  "fps": 10.0,
+  "frames": 595,
+  "sha256": "54d46104791c1cdb598fd9934cdbdacf88005bbad3e5dae260f9b59df93bc5f4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.9,
+      "log_step": null,
+      "text_zh": "观察：视频 6.9 s 的侧视画面中，Panda 机械臂末端画笔尖已呈黄绿色；视频 7.5 s 练习纸上出现多条带色短笔迹，视频 10.5 s 已有成组深浅色试笔。"
+     },
+     {
+      "t": 6.9,
+      "log_step": 43,
+      "text_zh": "推断：结合任务及 log step 5 的干笔初态、视频 6.8 s 画笔在调色盘附近的动作、视频 6.9 s 的带色笔尖及随后试笔，首次装载已完成，记在视频约 6.9 s（误差约 0.5 s）；入槽液面瞬间受遮挡。log step 43 的现场校准记录与视频先试笔再画主纸的顺序一致；评分器终态 n_dips=153、n_dry_strokes=0 支持发生过蘸料，但不用于确定首次时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：蘸取；Panda 末端安装画笔的刷毛实际装载调色盘颜料，依据带色笔尖、练习纸笔迹及评分器 n_dips=153 推断。液体装载不适合抓握、压/擦或托/舀；不重复标安装工具的握持。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主画纸空白；视频 10.5 s 至 22.0 s，机械臂在主纸留下零散短划，纸面大部分仍露白，未形成完成的构图。"
+     },
+     {
+      "t": 34.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–34.0 s 机械臂反复在主纸横向涂画，视频 34.0 s 画面成为蓝、灰、黑、黄的水平断续色带，带间留有大量浅色间隙；视频 36.0–58.0 s 后续重涂逐渐填充间隙，却未呈现成功参考视频末段清楚的旋涡、星月与村庄结构。"
+     },
+     {
+      "t": 59.4,
+      "log_step": null,
+      "text_zh": "观察：视频 58.5–59.4 s 的逐帧末段及视频 59.4 s 无遮挡主纸显示蓝色天空和左侧黑色树形，但旋涡被碎块切断、星月边界模糊，仍有散布的浅色笔迹间隙；成功参考视频 50.0 s、59.8 s 的旋涡轮廓与星月色块明显更连续清楚。参考仅用于辨认完成外观。"
+     },
+     {
+      "t": 59.4,
+      "log_step": null,
+      "text_zh": "观察：本次评分器给出 image_success=0；de_mean=16.5536>6.5、de_p90=36.5905>11.5、ssim_L=0.304387<0.68、edge_corr=0.020644<0.52；paint_iou=0.964624、笔画数 1209、累计路径 18080.47 mm 和 scribble_share=0 均满足对应阈值。颜色与结构验收失败，与视频可见的图案失真一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 10.5–58.0 s，Panda 末端安装画笔的刷毛多次下降接触主画纸并横向移动，留下、叠盖和混合有色笔迹；视频 34.0 s 的横向色带及之后新增色块可直接核对。固定底座未移动，不额外标底盘或虚构夹爪握笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 16.5536
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 36.5905
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.304387
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.020644
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.964624
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 1209.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 18080.47
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "starry_night_painted",
+   "t": 34.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 34.0 s 主纸已被画成断续的水平色带，仍有宽浅色间隙，未显现连续的星夜旋涡结构；视频 36.0–59.4 s 机械臂继续重涂，末段虽覆盖增加，旋涡、星月和村庄仍破碎模糊。该绘画步骤始终未完成，评分器 image_success=0；视频 34.0 s 仅作绘画缺陷的导航锚点，不表示该时刻发生不可逆判负。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔迹间隙与图案失真",
+    "t": 34.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 34.0 s 蓝、黑和黄色笔迹以水平条带分布，条带间有明显露白；视频 58.5–59.4 s 补画后仍可见碎片状浅色间隙，天空旋涡呈模糊碎块，黄色星月缺少成功参考视频 50.0 s、59.8 s 所见的清楚轮廓。机械臂确已留下颜料，缺陷在临摹结果。",
+    "note_zh": "候选：笔迹间隙与图案失真；现有接触、运动、全身、约束和汇报条目没有描述绘画成品的漏涂与色块结构破坏。不能把这类画面缺陷强称为没建立接触或位姿不准，也不以未通过相似度指标代替可见现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 64,
+    "evidence_zh": "推断：agent 的扫描线铺色计划系统性遗漏并错并色段，导致漏涂和颜色结构破坏。log step 45、52、62、64 的代码先提取一行所有颜色变化边界，却用 zip(ch[0::2], ch[1::2]) 只配对第1–2、第3–4等边界，跳过第2–3、第4–5等实际色段；log step 52、62 又将短段范围扩入前段并保留前段颜色。log step 64 的 agent 自述“over-merging destroyed color structure and left gaps”，其后代码以及 log step 66、68 的修改仍保留上述隔段配对，仅改变扫描行偏移、间距或模糊量。视频 24.0–34.0 s 的色带间隙及视频 59.4 s 的模糊色块与该铺色计划的缺陷相符；这是从目标色图生成覆盖与叠色计划的错误，不据早期已纠正的笔刷朝向问题解释终态失败。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或评分曲线，目标原图亦未随本次输入提供，不能逐像素复算各阈值或精确分离漏段、笔刷宽度、湿颜料混合的贡献。首次液面以下蘸料瞬间受遮挡，视频约 6.9 s 以带色笔尖及随后练习纸笔迹确认；未用 agent 工作时间换算视频时间。",
+  "unmet": {
+   "starry_night_painted": false
+  }
+ },
+ "summary_zh": "本次无重置现场轨迹在视频约 6.9 s 完成蘸料，随后反复在主纸铺色，最终完成 1/2 个节点。视频 34.0 s 已出现断续水平色带，补画至视频 59.4 s 仍有笔迹间隙和模糊破碎的旋涡、星月；颜色与结构四项指标未达标，日志中的扫描线漏段与跨色合并支持铺色规划错误这一根因。无逐帧状态和目标原图，首次蘸料时刻及各成像因素贡献只能近似判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 brush_loaded 约 6.9 s 与 starry_night_painted 未达成（image_success=0，四项指标未达标）均有帧与评分器支持；断点、现象和铺色规划根因与日志代码（log step 45/64，zip 隔段配对、跨色合并自述）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": "2026-10-30T23:05:55Z",
+  "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-oil-starrynight-i01-standard--jsafths/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-standard--jsafths/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "beca1223bebd686bcce53382b0bf60dffded821bc4b66faf27b0a7fa4e3f503c",
+   "video_sha256": "54d46104791c1cdb598fd9934cdbdacf88005bbad3e5dae260f9b59df93bc5f4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--pfwgsd7.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--pfwgsd7.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4a25cda74024f9310e99f82c9890d0bcd072fbf
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--pfwgsd7.json
@@ -0,0 +1,312 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-standard--pfwgsd7",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.195522,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 13.2449,
+   "de_p90": 26.0585,
+   "de_bad_frac": 0.527862,
+   "de_mean_sheet": 13.2449,
+   "ssim_L": 0.456306,
+   "paint_iou": 0.937058,
+   "paint_area_mm2": 41802.1,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 9.4083,
+   "ssim_L_fine": 0.314032,
+   "edge_corr": 0.164347,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.473516,
+   "n_regions": 211.0,
+   "n_strokes": 4348.0,
+   "n_practice_strokes": 36.0,
+   "n_dry_strokes": 7.0,
+   "max_strokes": 2517.0,
+   "stroke_count_ok": 0.0,
+   "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,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 13.2569,
+   "de_p90_unregistered": 26.0456,
+   "ssim_L_unregistered": 0.455611,
+   "edge_corr_unregistered": 0.162852,
+   "paint_iou_unregistered": 0.936499,
+   "success": 0,
+   "final_reward": 0.195522,
+   "path_mm": 26373.14,
+   "longest_stroke_mm": 167.5,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.8451,
+   "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": 0.195522,
+   "sim_steps": 72000,
+   "resets": 1.0,
+   "n_contacts": 4391.0,
+   "samples": 360000.0,
+   "contact_samples": 151670.0,
+   "max_press_m": 0.014996,
+   "max_tilt_deg_in_contact": 1.327959,
+   "max_speed_in_contact_mps": 0.246782,
+   "handle_contact_samples": 122.0,
+   "n_dips": 183.0,
+   "dry_strokes": 7.0,
+   "n_frames": 601.0,
+   "replay_wall_s": 195.5,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 72000,
+   "physics_steps": 360000,
+   "steps": 60577,
+   "calls": 585,
+   "elapsed_s": 6896.1,
+   "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,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-oil-starrynight-i01-standard--pfwgsd7/replay.mp4",
+  "duration_s": 60.1,
+  "fps": 10.0,
+  "frames": 601,
+  "sha256": "f0a207f8e0f54ad34304803e206443daccf0b54803240c2da011dad47d0c5795"
+ },
+ "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主纸和练习纸均无有色笔迹；视频0.4 s侧视中机械臂末端刷毛已呈黄色，视频0.5–0.7 s练习纸出现黄色笔迹，之后继续扩展。首次装载以首次可见带色刷毛定位，时刻约有0.2 s不确定性。"
+     },
+     {
+      "t": 0.5,
+      "log_step": 57,
+      "text_zh": "推断：结合任务记录的干笔初态、视频0.4–0.7 s带色刷毛及练习纸着色，可确认机械臂此前已通过颜料槽装载颜料；评分器终态n_dips=183进一步确认本次现场发生过蘸料。log step 50为颜料槽探深，log step 57为随后练习纸试画，不将agent时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：蘸取。推断：固定在机械臂末端的画笔刷毛接触槽内颜料并装载，由视频0.4–0.7 s黄色刷毛与练习纸笔迹及评分器n_dips=183支持；入槽瞬间在缩略场景视图中无法精确辨清。抓握、压/擦、托/舀均不能准确描述液体装载，不重复标握笔。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–2.0 s主纸基本空白，视频4.0 s出现边带蓝线；视频6.0–18.0 s机械臂通过刷毛接触纸面逐步画出左侧深色柏树、蓝色天空及黄色星月，但色块之间仍留大片空白。"
+     },
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频20.0–32.0 s逐步补色，视频28.0–32.0 s逐0.5 s检查仍见天空及下部大量笔迹间露白；视频34.0–58.0 s继续修补，视频59.0–60.0 s逐0.1 s检查的终态仍有明显白斑，尤其下部山丘村庄区域。成功示例视频20.0–55.0 s及59.8 s对应区域覆盖连续、色带更完整；本次未出现同样的完成状态。"
+     },
+     {
+      "t": 59.5,
+      "log_step": 228,
+      "text_zh": "观察：评分器报告de_mean=13.2449、de_p90=26.0585、ssim_L=0.456306、edge_corr=0.164347、paint_iou=0.937058及n_strokes=4348，分别未通过DAG的6.5、11.5、0.68、0.52、0.96及2517阈值；image_success=0、stroke_count_ok=0。live_matches_replay=1、deterministic=1，终态失败与视频中的残余露白一致。log step 228的agent最终报告也承认图像和笔画数未达标，其自算数值不代替评分器数值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频6.0–60.0 s，固定底座单臂以末端安装油画刷的刷毛压在主纸上移动并铺色，侧视可见笔尖落纸，俯视可见着色区域增加；仅标刷毛对纸的压/擦，不虚构夹爪抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 13.2449
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 26.0585
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.456306
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.164347
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.937058
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 4348.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 26373.14
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "starry_night_painted",
+   "t": 30.0,
+   "log_step": 203,
+   "where": "操作中",
+   "evidence_zh": "观察：视频28.0–32.0 s机械臂仍在主纸上铺色，画面已有星夜主体而天空及下部色块间残留大量露白；视频59.0–60.0 s同类缺陷仍未补全。log step 203记录基础计划2249笔执行完毕，log step 205、210、215继续追加修补；评分器最终图像未通过且4348笔超过2517笔。视频30.0 s只是定位这一步持续未解决问题的导航锚点，不是由日志工作时间换算的时刻。"
+  },
+  "unmet": {
+   "starry_night_painted": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔迹间露白",
+    "t": 30.0,
+    "log_step": 202,
+    "evidence_zh": "观察：视频28.0–32.0 s天空蓝色笔迹之间和下部深色色块之间存在密集白斑；视频59.0–60.0 s虽有补色，仍能清楚看到下部山丘村庄大片断续露白。成功示例视频59.8 s相应区域为连续蓝黑色覆盖。log step 202的agent也指出bare paper speckles，但本标签依据本次视频中的缺口。",
+    "note_zh": "候选：笔迹间露白。现有接触和运动现象不能准确描述已能接触并着色、但成画仍有未覆盖白斑的材料结果；不将连续图像评分不达标本身当作现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 205,
+    "evidence_zh": "推断：agent的追加修补策略没有统筹任务明示的2517笔上限，导致绘画验收无法通过。log step 203记录基础计划已经执行2249笔，log step 205仍安排并执行700笔修补，log step 210再安排850笔、log step 215再安排600笔；仅基础计划与首轮修补相加已超上限。log step 226及228中agent明确承认只跟踪控制步预算而漏查笔画上限，评分器实际n_strokes=4348、stroke_count_ok=0印证。此归因针对有证据的修补规划错误，不把最终step_guard当作根因。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频为加速采样的四视图，首次入颜料槽的精确接触时刻只能由随后带色刷毛和着色推断，首次装载锚点约有0.2 s误差。输入未提供独立目标图，成画外观以成功示例对照，精确指标取评分器终态；无法逐帧确定各指标数值。露白及色块失真的具体刷毛沉积、压深或跟踪成因证据不足，不追加控制子类；log step 217、228中agent所谓最小笔宽使任何方案都不能达标的说法未经验证，不据此归因任务或环境。"
+ },
+ "summary_zh": "本次机械臂先在练习纸留下黄色笔迹，随后在主纸画出可辨认的蓝色旋涡、星月与左侧柏树，完成蘸料节点，成画节点始终未达到要求，终态为1/2。视频末段仍有大量笔迹间露白，评分器图像五项指标均未通过且有效笔画4348笔超过2517笔；日志证实agent在2249笔基础计划后连续追加修补，漏查笔画预算。无状态日志及独立目标图，首次装载时刻与具体沉积控制成因仍有证据缺口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点、断点与根因与视频、评分器读数及日志一致：终态有残余露白（视频59.8 s），评分器n_strokes=4348>2517，日志显示基础计划后连续追加修补；未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:43:56Z",
+  "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-oil-starrynight-i01-standard--pfwgsd7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-standard--pfwgsd7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "869020e3c4af4826b52f1b9eaa772ff5fe40bb93f03ba332d615960f822e4cdb",
+   "video_sha256": "f0a207f8e0f54ad34304803e206443daccf0b54803240c2da011dad47d0c5795",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--tm2vcp6.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--tm2vcp6.json
new file mode 100644
index 0000000000000000000000000000000000000000..e45dd02aa684ce8afe95b1c693923fc506468e79
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--tm2vcp6.json
@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-standard--tm2vcp6",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 1,
+  "reward": 0.73394,
+  "source": "catalog",
+  "raw": {
+   "de_mean": 5.3212,
+   "de_p90": 9.1169,
+   "de_bad_frac": 0.065397,
+   "de_mean_sheet": 5.3212,
+   "ssim_L": 0.756385,
+   "paint_iou": 0.998043,
+   "paint_area_mm2": 44522.6,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 2.3686,
+   "ssim_L_fine": 0.551766,
+   "edge_corr": 0.626455,
+   "region_cov_min": 0.141236,
+   "region_cov_mean": 0.946253,
+   "n_regions": 211.0,
+   "n_strokes": 1805.0,
+   "n_practice_strokes": 32.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 2517.0,
+   "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,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 5.3323,
+   "de_p90_unregistered": 9.098,
+   "ssim_L_unregistered": 0.755168,
+   "edge_corr_unregistered": 0.625068,
+   "paint_iou_unregistered": 0.998035,
+   "success": 1,
+   "final_reward": 0.73394,
+   "path_mm": 19478.37,
+   "longest_stroke_mm": 28.16,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.1728,
+   "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": 0.73394,
+   "sim_steps": 70646,
+   "resets": 1.0,
+   "n_contacts": 1837.0,
+   "samples": 353230.0,
+   "contact_samples": 90282.0,
+   "max_press_m": 0.011804,
+   "max_tilt_deg_in_contact": 16.437761,
+   "max_speed_in_contact_mps": 0.050004,
+   "handle_contact_samples": 0.0,
+   "n_dips": 216.0,
+   "dry_strokes": 0.0,
+   "n_frames": 600.0,
+   "replay_wall_s": 125.95,
+   "replay_success": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 70646,
+   "physics_steps": 353230,
+   "steps": 70581,
+   "calls": 628,
+   "elapsed_s": 2057.4,
+   "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-oil-starrynight-i01-standard--tm2vcp6/replay.mp4",
+  "duration_s": 60.0,
+  "fps": 10.0,
+  "frames": 600,
+  "sha256": "e7d333dbaf1744dff906f06b28f49c128a6953f1d12ca5afdc403f65aa503dbe"
+ },
+ "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": null,
+      "text_zh": "观察：视频0.0–0.1 s主纸及练习纸尚无明显笔迹；视频0.2–0.5 s侧视画面中，机械臂末端画笔在练习纸接触并留下蓝色短线，主纸仍空白。"
+     },
+     {
+      "t": 0.2,
+      "log_step": 11,
+      "text_zh": "推断：由干笔初态与视频0.2 s已出现蓝色练习笔迹，首次装载颜料至迟在视频0.2 s前完成，取视频0.2 s为近似达成锚点；log step 11的实际运行脚本先调用dip(7)，将安装画笔降到蓝色颜料槽中心、高度0.024 m，再执行练习笔画，与画面相符。视频压缩采样未清楚保留首次刷毛穿过液面的瞬间。"
+     },
+     {
+      "t": 59.9,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json的终态评分器字段n_dips=216、n_dry_strokes=0，且live_matches_replay=1、deterministic=1；这些终态记录支持已实际蘸料，不提供首次蘸料的精确视频时间。"
+     }
+    ],
+    "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刷毛浸入蓝色颜料槽装载颜料，由视频0.2 s起的有色练习笔迹、log step 11的蘸料动作及评分器n_dips=216共同确认。候选：蘸取；液体装载不属于抓握、压/擦或托/舀，首次入液瞬间因采样和遮挡未清楚显示。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.7,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–2.5 s主纸空白，机械臂主要在练习纸试笔；视频2.7–12.0 s主纸陆续增加蓝色及深色短笔画，但天空和下部仍有大片露白，尚未完成。"
+     },
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频16.0–20.0 s机械臂用画笔继续铺色，蓝天、黄色星月、左侧深色柏树和下部山丘已成形；下部仍有较多零散白缝，天空旋涡的细节尚粗。"
+     },
+     {
+      "t": 32.0,
+      "log_step": 67,
+      "text_zh": "推断：密查视频29.0–36.0 s，每0.5 s观察一帧，至视频约32.0 s，主纸评分内区已基本覆盖，蓝色旋涡及亮色弧带、黄色星月、柏树和下部村庄可辨，整体接近成功参考视频末段；据此将首次视觉达成近似标在视频32.0 s，存在约2 s不确定性。log step 59和67分别记录agent对当时相机图像自算的SSIM/边缘相关由0.6577/0.4535升至0.7048/0.5678，辅助支持细化阶段跨过验收附近；这些自算值并非逐帧官方评分，也未将agent工作时间换算为视频时间。"
+     },
+     {
+      "t": 59.9,
+      "log_step": 106,
+      "text_zh": "观察：视频38.0–58.0 s机械臂继续细化局部，构图和整体覆盖保持；视频58.0–59.9 s逐帧检查可见主纸仍保有完整星夜构图，视频59.9 s画笔已抬起离纸，与成功参考视频59.8 s的主体结构一致。log step 106取得终态相机观察，log step 107报告完成后停止。"
+     },
+     {
+      "t": 59.9,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json终态评分器报告success=1、image_success=1、strict_ok=1、replay_success=1、live_matches_replay=1；de_mean=5.3212≤6.5、de_p90=9.1169≤11.5、ssim_L=0.756385≥0.68、edge_corr=0.626455≥0.52、paint_iou=0.998043≥0.96，n_strokes=1805≤2517、path_mm=19478.37≤62300、scribble_share=0≤0.1。终态八项全部通过，最终节点为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频2.7–59.8 s机械臂末端安装画笔的刷毛反复下压接触主画纸，沿短线移动铺色并抬起换位；俯视图可见对应有色笔迹累积成画，标注刷毛与主纸之间的压/擦。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 5.3212
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 9.1169
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.756385
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.626455
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.998043
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 1805.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 19478.37
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机械臂先蘸取颜料并在练习纸试笔，再分层铺色和细化主纸，两个节点均完成；视频59.9 s呈现完整星夜构图，评分器确认图像五项和过程三项指标全部通过，现场与重放一致，无失败断点。首次蘸料以视频0.2 s出现有色笔迹近似定位，画成节点以视频约32.0 s的画面近似定位。没有状态日志、逐帧官方评分或独立目标图输入，无法精确恢复首次浸入液面及各阈值共同首次通过的时刻，画成时刻约有2 s不确定性。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均达成、无失败断点，与视频和评分器终态一致；画成时刻32 s符合帧（24 s仍有露白，32–40 s基本覆盖）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:47:32Z",
+  "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-oil-starrynight-i01-standard--tm2vcp6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-standard--tm2vcp6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f73ac128d0415bd3a98a773304aac0fb36caeaeab66e6f1908232d0b2dbbefa9",
+   "video_sha256": "e7d333dbaf1744dff906f06b28f49c128a6953f1d12ca5afdc403f65aa503dbe",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--zbfei6e.json b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--zbfei6e.json
new file mode 100644
index 0000000000000000000000000000000000000000..d670e377b64453b801e2d89534f86662679da5da
--- /dev/null
+++ b/phase2/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--zbfei6e.json
@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-oil-starrynight-i01-standard--zbfei6e",
+ "taskKey": "robopaint/oil_starrynight_i01",
+ "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.695375,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.695375,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 6.0925,
+   "de_p90": 10.727,
+   "de_bad_frac": 0.126952,
+   "de_mean_sheet": 6.0925,
+   "ssim_L": 0.700527,
+   "paint_iou": 0.999158,
+   "paint_area_mm2": 44572.4,
+   "target_paint_area_mm2": 44609.9,
+   "n_target_strokes": 1678.0,
+   "de_mean_coarse": 2.6929,
+   "ssim_L_fine": 0.489555,
+   "edge_corr": 0.517704,
+   "region_cov_min": 0.012318,
+   "region_cov_mean": 0.902409,
+   "n_regions": 211.0,
+   "n_strokes": 2473.0,
+   "n_practice_strokes": 41.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 2517.0,
+   "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,
+   "score_inset_mm": 7.987,
+   "de_mean_unregistered": 6.097,
+   "de_p90_unregistered": 10.7689,
+   "ssim_L_unregistered": 0.700502,
+   "edge_corr_unregistered": 0.518544,
+   "paint_iou_unregistered": 0.999159,
+   "path_mm": 43317.85,
+   "longest_stroke_mm": 67.27,
+   "max_path_mm": 62300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.2971,
+   "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": 0.695375,
+   "sim_steps": 54971,
+   "resets": 1.0,
+   "n_contacts": 2514.0,
+   "samples": 274855.0,
+   "contact_samples": 111652.0,
+   "max_press_m": 0.011009,
+   "max_tilt_deg_in_contact": 0.192829,
+   "max_speed_in_contact_mps": 0.253862,
+   "handle_contact_samples": 0.0,
+   "n_dips": 216.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 217.23,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 54971,
+   "physics_steps": 274855,
+   "steps": 54954,
+   "calls": 330,
+   "elapsed_s": 2414.0,
+   "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-oil-starrynight-i01-standard--zbfei6e/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "2e655de81f02c316aafe1ea8d5b7282fa78db8c1af4b5711fee134eb62ccf362"
+ },
+ "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 纸面空白，视频 0.2–0.4 s 侧视图显示机械臂末端画笔在练习纸留下深色短线；视频 0.6–1.0 s 又留下黄色条纹，随后视频 1.3 s 主纸出现黄色笔迹。"
+     },
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "推断：结合任务规定的干笔初态和视频 0.2 s 已出现有色笔迹，首次装载颜料发生在视频 0.0–0.2 s 内，以视频 0.2 s 作保守完成锚点，精确入槽瞬间未被采样画面清楚保留。评分器 reward.n_dips=216、n_dry_strokes=0 进一步支持机器人实际蘸料。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选：蘸取。机械臂末端固定安装的油画笔刷毛进入调色盘颜料槽并装载颜料；由干笔后出现深色及黄色笔迹与评分器 n_dips=216 共同确认。液体装载不适合标为抓握、压/擦或托/舀，不重复标安装笔柄的接触。"
+     }
+    ]
+   },
+   "starry_night_painted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.3,
+      "log_step": null,
+      "text_zh": "观察：视频 1.3–2.0 s 机械臂开始在主纸留下黄色笔迹，视频 4.0–8.0 s 铺上大片蓝色，仍有明显空白；视频 12.0–30.0 s 逐渐补出星月、旋涡及左侧柏树，视频 32.0–58.0 s 继续细化。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "观察：视频 58.0–59.8 s 已逐帧核查，机械臂继续修饰后抬笔离开，终帧呈现蓝色旋涡天空、黄色星月、深色柏树及下部村庄，主纸基本铺满；旋涡内侧和下部建筑仍主要由较粗的色块组成。成功参考视频 50.0、59.8 s 的相同视图可辨认更多细小明暗笔迹，仅作完成外观比较。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 68,
+      "text_zh": "观察：评分器终态 edge_corr=0.517704，低于 0.52；de_mean=6.0925、de_p90=10.727、ssim_L=0.700527、paint_iou=0.999158，以及 n_strokes=2473、path_mm=43317.85、scribble_share=0 均满足 DAG 阈值，image_success=0、live_matches_replay=1。log step 68 的 edge≈0.524 和主纸2515笔是 agent 自行估算，不是服务评分结果。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "推断：从早期不完整铺色到末段仍较粗的细部，未观察到可确认全部验收条件成立的阶段，故不记达成区间；最终不达成由评分器边缘相关字段直接决定，不能用 agent 的相机估分赋予成功状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂末端固定油画笔的刷毛实际压在主画纸上移动并铺色：视频 1.3–8.0 s 留下黄、蓝笔迹，随后多轮覆盖及修饰，视频 59.4 s 仍在纸面作画；没有夹爪抓取或底盘移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "unit": "DeltaE_ab",
+   "threshold": 6.5,
+   "direction": "lower_better",
+   "value": 6.0925
+  },
+  {
+   "name": "de_p90",
+   "unit": "DeltaE_ab",
+   "threshold": 11.5,
+   "direction": "lower_better",
+   "value": 10.727
+  },
+  {
+   "name": "ssim_L",
+   "unit": "ratio",
+   "threshold": 0.68,
+   "direction": "higher_better",
+   "value": 0.700527
+  },
+  {
+   "name": "edge_corr",
+   "unit": "correlation",
+   "threshold": 0.52,
+   "direction": "higher_better",
+   "value": 0.517704
+  },
+  {
+   "name": "paint_iou",
+   "unit": "ratio",
+   "threshold": 0.96,
+   "direction": "higher_better",
+   "value": 0.999158
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 2517,
+   "direction": "lower_better",
+   "value": 2473.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 62300,
+   "direction": "lower_better",
+   "value": 43317.85
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "starry_night_painted",
+   "t": 59.4,
+   "log_step": 62,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 59.4 s 机械臂仍在主纸上进行最后修饰，视频 59.8 s 抬笔后画面保留较粗的局部轮廓；评分器 edge_corr=0.517704<0.52，其他 DAG 指标通过，因此失败落在整幅星夜的绘画步骤。log step 62 是最后一批19笔的执行记录，log step 68 宣告结束；这里只以视频末段为连续绘画结果未达标的导航锚点，不将 agent 工作时间换算为视频时间。"
+  },
+  "unmet": {
+   "starry_night_painted": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部轮廓粗糙",
+    "t": 59.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 58.0–59.8 s 的无遮挡俯视图中，中央天空旋涡的内侧明暗线由较宽、断续的蓝灰色块构成，下部村庄的建筑主要呈零碎色块，细小轮廓不清楚；整体构图已可辨认且几乎没有大块露白。",
+    "note_zh": "候选：局部轮廓粗糙。词表中的接触失效、位姿不准等不能准确描述已绘成图像的细部缺陷；这里描述可见结果，不将边缘相关阈值未过本身作为现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "log_step": 50,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 绘画脚本的早期细笔画速度与盖色效果不匹配，使大量修饰笔画的实际效果弱于规划模型并消耗笔画额度。log step 20 的 stroke_wps 将扫笔速度设为0.12 m/s，log step 40、46、49 按该配置执行细化；log step 50 的练习纸对照测试在相同2毫米压深下测得深色像素占比由0.12 m/s时的0.74升到0.05 m/s时的0.99，3毫米压深下由0.81升到0.99。log step 52 才加入0.05 m/s慢扫与压深修正，log step 53–62 随后仅作有限补画；log step 68 中 agent 也自述早期快扫浪费大量细笔画。该参数差异有对照日志支持，但其对终态每个像素的贡献未逐笔验证。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧原生评分；inputs/ 未提供目标原图，现有视频也经过加速采样。首次入槽时间只能由视频 0.2 s 的带色笔迹反推；整图边缘指标仅有终态值，无法精确判定临界附近是否曾短暂全项通过，也不能确定哪一条旋涡或建筑边缘贡献了最终0.002296的差额。参数归因依据同一会话的对照测试和执行代码，缺少从一开始采用慢扫的完整反事实运行。"
+ },
+ "summary_zh": "机械臂在视频约 0.2 s 前已蘸上颜料，随后在主纸画出可辨认的星月、旋涡天空、柏树和村庄，最终完成1/2个节点。绘画步骤在末段仍未达成：边缘相关0.517704略低于0.52，其余原生验收指标均通过；日志对照测试支持早期扫笔速度过快、盖色不足的参数问题。缺少目标原图及逐帧评分，首次入槽与临界达标时刻不能精确复原。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与评分器终态一致：brush_loaded 达成、starry_night_painted 因 edge_corr=0.517704<0.52 未达成，断点、现象和根因（日志 step 50 对照测试支持的早期快扫参数问题）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": "2026-10-30T22:48:54Z",
+  "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-oil-starrynight-i01-standard--zbfei6e/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-oil-starrynight-i01-standard--zbfei6e/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9a1dc3789ca0f26cb1e15caf2529bedd79284899189ef378b852ccdaff5d6d45",
+   "video_sha256": "2e655de81f02c316aafe1ea8d5b7282fa78db8c1af4b5711fee134eb62ccf362",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--ahdjzsz.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--ahdjzsz.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eea564c474d3d7f2dd2dc8b19907e2e179e3dc2
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--ahdjzsz.json
@@ -0,0 +1,330 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-privileged--ahdjzsz",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.639418,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.639418,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.639418,
+   "boundary_precision": 0.234783,
+   "boundary_recall": 0.232743,
+   "boundary_f": 0.233758,
+   "ink_precision": 0.781509,
+   "ink_recall": 0.778606,
+   "min_stroke_coverage": 0.146465,
+   "mean_stroke_coverage": 0.671347,
+   "stray_frac": 0.148457,
+   "missing_frac": 0.150307,
+   "ink_area_mm2": 3340.24,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.146465,
+   "stroke_coverage_02": 0.810497,
+   "stroke_coverage_03": 0.9723,
+   "stroke_coverage_04": 0.818892,
+   "stroke_coverage_05": 0.729189,
+   "stroke_coverage_06": 0.43242,
+   "stroke_coverage_07": 0.789666,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 4.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.692308,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 4.0,
+   "max_strokes": 6.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 2.6623,
+   "register_dy_mm": -2.2186,
+   "register_shift_mm": 3.4656,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "iou_unregistered": 0.605201,
+   "boundary_f_unregistered": 0.173468,
+   "min_stroke_coverage_unregistered": 0.098788,
+   "stray_frac_unregistered": 0.169172,
+   "path_mm": 304.71,
+   "longest_stroke_mm": 65.22,
+   "mark_width_mm": 13.2777,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "scribble_max": 1.4988,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.639418,
+   "sim_steps": 1036.0,
+   "resets": 1.0,
+   "n_contacts": 10.0,
+   "samples": 5180.0,
+   "contact_samples": 2553.0,
+   "max_press_m": 0.015863,
+   "max_tilt_deg_in_contact": 0.44133,
+   "max_speed_in_contact_mps": 0.238332,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 519.0,
+   "replay_wall_s": 112.4,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1036,
+   "video_rendered": 1,
+   "agent_sessions": 43,
+   "agent_resets": 82,
+   "agent_sim_steps": 46327,
+   "agent_records": 14,
+   "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-xingshu-he-i00-privileged--ahdjzsz/replay.mp4",
+  "duration_s": 51.9,
+  "fps": 10.0,
+  "frames": 519,
+  "sha256": "ef0eb14e8bb494d29cf762ffa8601c6ccbc691a8b0af1dd3c67a7b9cac60d3c8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": null,
+      "text_zh": "观察：视频 1.0–2.1 s，机械臂末端毛笔向左侧砚台所在位置下探并短暂停留，视频 2.3–2.6 s 提起；侧视可见下探，墨液与笔毫交界较小且部分遮挡。"
+     },
+     {
+      "t": 4.5,
+      "log_step": 165,
+      "text_zh": "推断：起始为干笔，视频 4.5 s 主纸首次清楚出现黑墨，且 inputs/run.json 的评分器记录 n_dips=1、n_dry_strokes=0；结合视频 1.5–2.1 s 的下探，判定约视频 1.6 s 已蘸墨，时刻不确定度约 0.3 s。log step 165 对最终提交的官方重放核验得到相同终局指标和 1036 个动作，未把会话早期试验当作本次蘸墨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：视频 1.5–2.1 s 的下探、随后主纸落黑墨及评分器 n_dips=1 共同支持固定安装毛笔的笔毫浸入砚台墨液。候选接触名“浸蘸”：笔毫吸墨，不是抓握、推扫或舀出液体；液面接触细节部分遮挡。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5–7.5 s，机械臂以毛笔在主纸写出第一段短厚楔形墨迹；视频 13–22 s 加写禾部横向长笔，视频 29–33 s 写出下垂粗笔；视频 38–50 s 写右部，至视频 51.8 s 右部呈厚圆环、留白小而不规则，上撇仍短厚，与成功参考视频 43.3 s 的上撇及较方的口部明显不同。全程未见完整且形状相符的和字。"
+     },
+     {
+      "t": 51.8,
+      "log_step": 165,
+      "text_zh": "观察：视频 50.8–51.8 s 的最后一秒字形没有修正。评分器终局 iou=0.639418<0.80、boundary_f=0.233758<0.75、min_stroke_coverage=0.146465<0.80、stray_frac=0.148457>0.04；n_strokes=6、strict_ok=1、image_success=0。log step 161 生成最终 1036 动作轨迹，log step 165 官方重放核验得到相同四项图像指标及 instance_exact=True，支持该片段就是最终交付的失败字形。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4.5–7.5 s、13–22 s、29–33 s、38–50 s，机械臂末端固定安装的毛笔在主纸上按下并移动，右下纸面视图同步出现、延长黑墨笔迹。机械臂也往返练习纸作预备划动，主纸实际写入六笔（评分器 n_strokes=6、n_practice_strokes=4）；同一工具链不另加握笔接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.639418
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.233758
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.146465
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.148457
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 304.71
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 13.2777
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.639418
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "he_written",
+   "t": 7.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.5 s，机械臂写出的第一段上撇已呈短厚楔形，后续继续写禾部与口部，到视频 51.8 s 仍保留这一形状偏差，口部又成为厚圆环。评分器确认最终六笔及 strict_ok=1，但四项图像验收失败；失败步骤为“写成和字”，并非蘸墨或笔数约束。视频 7.5 s 是首段可见偏差的粗略导航锚点。"
+  },
+  "unmet": {
+   "he_written": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 7.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 7.5 s 的上撇短厚，视频 50.8–51.8 s 成字时该段与禾部主体的连接及轮廓仍偏离参考，右部“口”呈粗圆环，内白形状狭小、不规则；成功参考视频 43.3 s 可见较舒展的上撇与较方的口部留白。机器人确实使笔毫接触纸面落墨，但各笔墨迹的位置和轮廓没有合成目标字形。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：控制脚本未充分补偿毛笔按压后展宽及拖尾对实际落墨轮廓的影响。log step 133 的书写控制器按笔尖位置生成动作，并在练习纸预展笔毫；log step 146、154 调整落笔位置与压深后仍输出失败图像，最终版本在 log step 161 生成、log step 165 重放时保持相同失败指标。agent 在 log step 168 自述拖尾和转弯内切补偿不准、修正优化未收敛；这与视频 7.5 s 的短厚上撇及视频 51.8 s 的圆化口部相符。该证据支持控制层面的落墨误差，尚不足以单独确定反馈、轨迹求解或某个参数为唯一原因。",
+    "source_zh": "日志 / agent 自述 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧纸面评分；蘸墨的液面接触细节部分遮挡，约视频 1.6 s 的到达时刻由下探及首次黑墨佐证，非精确状态时间。可见字形和终局评分足以判定写字未达标，但无法从现有证据分离笔尖跟踪误差、笔毫拖尾与压深响应各自的贡献；评分器未报告 scribble_share，该原生指标保留 null。"
+ },
+ "summary_zh": "本次交付中机械臂完成蘸墨，并在主纸写入六笔，最终节点完成 1/2；写成和字始终未达标。断点在写字操作：上撇短厚、右部口形圆化且留白失真，四项图像指标均失败，而笔数与过程规则通过；日志和 agent 自述支持毛笔落墨动态补偿不足的控制问题。无状态日志和逐帧评分，蘸墨时刻为约值，控制根因不进一步细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（蘸墨约 1.6 s 达成、和字未达成）、断点（写和字，首笔覆盖 0.146 最低）、位姿不准与控制根因均与帧和评分器字段一致，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:48:32Z",
+  "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-xingshu-he-i00-privileged--ahdjzsz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--ahdjzsz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4e2047cba9616870b8f35881f7486b3c8db5c28d7eec21f4537b25726aab36b4",
+   "video_sha256": "ef0eb14e8bb494d29cf762ffa8601c6ccbc691a8b0af1dd3c67a7b9cac60d3c8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--cwpwexx.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--cwpwexx.json
new file mode 100644
index 0000000000000000000000000000000000000000..c74eddd8a8c8442b2ce5f640b17f3b06504e2fce
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--cwpwexx.json
@@ -0,0 +1,351 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-privileged--cwpwexx",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.746762,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.746762,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.746762,
+   "boundary_precision": 0.418583,
+   "boundary_recall": 0.414646,
+   "boundary_f": 0.416605,
+   "ink_precision": 0.833433,
+   "ink_recall": 0.877764,
+   "min_stroke_coverage": 0.252806,
+   "mean_stroke_coverage": 0.776527,
+   "stray_frac": 0.107584,
+   "missing_frac": 0.06724,
+   "ink_area_mm2": 3531.02,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.6382,
+   "stroke_coverage_02": 0.903524,
+   "stroke_coverage_03": 0.99934,
+   "stroke_coverage_04": 0.909589,
+   "stroke_coverage_05": 0.9322,
+   "stroke_coverage_06": 0.252806,
+   "stroke_coverage_07": 0.80003,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.636364,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 3.0,
+   "max_strokes": 6.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -1.9967,
+   "register_dy_mm": -1.7749,
+   "register_shift_mm": 2.6715,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "iou_unregistered": 0.680376,
+   "boundary_f_unregistered": 0.226922,
+   "min_stroke_coverage_unregistered": 0.198024,
+   "stray_frac_unregistered": 0.143025,
+   "path_mm": 446.59,
+   "longest_stroke_mm": 128.91,
+   "mark_width_mm": 10.7674,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "n_marked_pieces": 6.0,
+   "n_strokes_counted": 6.0,
+   "max_stroke_path_mm": 1770.0,
+   "longest_counted_stroke_mm": 128.88,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 2.602,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.746762,
+   "sim_steps": 1745.0,
+   "resets": 1.0,
+   "n_contacts": 6.0,
+   "samples": 8725.0,
+   "contact_samples": 6375.0,
+   "max_press_m": 0.015006,
+   "max_tilt_deg_in_contact": 0.073294,
+   "max_speed_in_contact_mps": 0.014737,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 583.0,
+   "replay_wall_s": 103.2,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1745,
+   "video_rendered": 1,
+   "agent_sessions": 53,
+   "agent_resets": 52,
+   "agent_sim_steps": 87131,
+   "agent_records": 50,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.048,
+   "peak_memory_gb": 0.476,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.835,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-xingshu-he-i00-privileged--cwpwexx/replay.mp4",
+  "duration_s": 58.3,
+  "fps": 10.0,
+  "frames": 583,
+  "sha256": "0f860de8d04072b11cce1af393a97b764b022f03159c5ec481e7b5c54d636aa5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "观察：视频 1.8–3.4 s，机器人将固定安装毛笔移到主纸旁的黑色圆形砚台位置并下探，之后抬起返回纸面；局部被腕部遮挡。"
+     },
+     {
+      "t": 6.5,
+      "log_step": 291,
+      "text_zh": "推断：视频 6.5 s 主纸首次已有黑墨，结合评分器 reward.n_dips=1、dry_strokes=0，以及最终交付文件重放结果 loaded=true（log step 291、293），可确认此前已蘸墨；首次载墨时刻约为视频 2.8 s，误差约0.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机器人末端固定安装的毛笔笔毫下探黑色砚台并载墨；候选接触名“浸蘸”，笔毫浸入墨液吸墨不能准确归为抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–5.5 s 主纸为空白；视频 6.5–29 s 机器人以毛笔逐步写出左部上撇、长笔与下垂竖笔，右部尚不完整；视频 30–40 s 又向右拖出较厚的连接墨带。"
+     },
+     {
+      "t": 47,
+      "log_step": null,
+      "text_zh": "观察：视频 43–49 s 机器人沿右部下侧及外缘运笔，形成圆弧底边的环状“口”；视频 50–58.2 s 的补笔与提笔后，该圆环及偏厚的横向墨带仍保留。成功参考的右下纸面在参考视频 39–43.3 s 显示更有棱角的口形及不同的连接轮廓。"
+     },
+     {
+      "t": 58.2,
+      "log_step": 291,
+      "text_zh": "观察：本次评分器 reward 给出 iou=0.746762<0.80、boundary_f=0.416605<0.75、min_stroke_coverage=0.252806<0.80、stray_frac=0.107584>0.04；n_strokes=n_strokes_counted=6、strict_ok=1。log step 291、293 对同一交付候选的两次重放得到相同图像分数和终态哈希，log step 309 最终恢复该候选。"
+     },
+     {
+      "t": 58.2,
+      "log_step": null,
+      "text_zh": "推断：此前纸面为缺少右部的未完成字，右部补齐后仍有可见轮廓与留白差异，且终局图像四项阈值均不合格，因此未观察到“写成和字”达标区间，终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频 6.5–57.3 s，机器人用末端固定毛笔的载墨笔毫按压主纸并沿各笔路径拖动，留下黑墨；最终交付共有六次主纸载墨连续接触，不另标机械臂握笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.746762
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.416605
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.252806
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.107584
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 446.59
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 10.7674
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.746762
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "he_written",
+   "t": 47,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 43–49 s，机器人在“写成和字”步骤中把右部写成圆弧底边的闭合环，视频 57.3–58.2 s 提笔后的纸面仍保留这一轮廓及偏厚的连接墨带；终局评分器 image_success=0，四项图像验收指标不达标。"
+  },
+  "unmet": {
+   "he_written": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔迹轮廓失真",
+    "t": 47,
+    "log_step": null,
+    "evidence_zh": "观察：视频 35–40 s，左部向右延伸出较厚且近水平的墨带；视频 47–58.2 s，右部“口”的底边为明显圆弧，内部留白也呈扁圆形。成功参考在参考视频 39–43.3 s 的同一纸面视图中呈现更有棱角的口形与连接轮廓。",
+    "note_zh": "候选名称“笔迹轮廓失真”：指实际墨迹的粗细、转折和留白形状偏离临写目标；现有接触失败、单个位姿偏差或碰撞条目不能准确表达这一材料成形结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 309,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 在 log step 258、271 根据墨迹比较调整各笔路径平移与压深，log step 277、280、309 记录最终候选采用逐笔位置偏移与压深偏移；但该候选在 log step 291、293 的独立重放仍稳定复现低边界分和低局部覆盖，且本次视频 47–58.2 s 可见对应的环状轮廓。说明书写路径和压深控制尚未把毛笔的动态成迹调到目标形状；证据不足以进一步指定反馈、逆解或某一个参数错误。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧纸面评分；蘸墨时笔毫部分被腕部遮挡，视频 2.8 s 的载墨时刻为下探动作、后续黑墨及终局蘸墨计数共同支持的近似值。日志可确认交付候选及其可复现的图像失败，但不能将轮廓偏差进一步区分为具体路径参数、笔毫滞后补偿或跟踪误差。"
+ },
+ "summary_zh": "机器人完成蘸墨并在主纸写出六笔，最终完成1/2个节点；整字从未观察到达标。断点为“写成和字”：右侧口形呈圆环、连接墨带偏厚，终局四项图像指标均未达标；日志支持书写控制未能调出目标轮廓，具体控制子因仍不确定。无状态日志，蘸墨时间及中间图像验收仅能结合视频近似判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（蘸墨达成、和字未达成）、断点 he_written、现象与根因均与视频和评分器数值一致，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:50:51Z",
+  "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-xingshu-he-i00-privileged--cwpwexx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--cwpwexx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ddd23367e6aaf945b2fbb9698101dec220a438b124404b4d6537b87f263cc7e0",
+   "video_sha256": "0f860de8d04072b11cce1af393a97b764b022f03159c5ec481e7b5c54d636aa5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--fpgqm3v.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--fpgqm3v.json
new file mode 100644
index 0000000000000000000000000000000000000000..36977bad4191672d968157255655b1dc8cc2dcf8
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--fpgqm3v.json
@@ -0,0 +1,347 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-privileged--fpgqm3v",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.762488,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.762488,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.762488,
+   "boundary_precision": 0.384845,
+   "boundary_recall": 0.402985,
+   "boundary_f": 0.393706,
+   "ink_precision": 0.843701,
+   "ink_recall": 0.887909,
+   "min_stroke_coverage": 0.613407,
+   "mean_stroke_coverage": 0.856709,
+   "stray_frac": 0.093564,
+   "missing_frac": 0.058123,
+   "ink_area_mm2": 3528.37,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.613407,
+   "stroke_coverage_02": 0.874169,
+   "stroke_coverage_03": 0.923825,
+   "stroke_coverage_04": 0.982146,
+   "stroke_coverage_05": 0.806897,
+   "stroke_coverage_06": 0.933543,
+   "stroke_coverage_07": 0.862978,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.545455,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 3.0,
+   "max_strokes": 6.0,
+   "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,
+   "iou_unregistered": 0.754106,
+   "boundary_f_unregistered": 0.394118,
+   "min_stroke_coverage_unregistered": 0.632231,
+   "stray_frac_unregistered": 0.099055,
+   "path_mm": 529.71,
+   "longest_stroke_mm": 206.82,
+   "mark_width_mm": 8.805,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "n_marked_pieces": 6.0,
+   "n_strokes_counted": 6.0,
+   "max_stroke_path_mm": 1770.0,
+   "longest_counted_stroke_mm": 206.68,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 2.5735,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.762488,
+   "sim_steps": 1812.0,
+   "resets": 1.0,
+   "n_contacts": 6.0,
+   "samples": 9060.0,
+   "contact_samples": 8079.0,
+   "max_press_m": 0.017898,
+   "max_tilt_deg_in_contact": 0.14743,
+   "max_speed_in_contact_mps": 0.038647,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 454.0,
+   "replay_wall_s": 121.5,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1812,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 7,
+   "agent_sim_steps": 12550,
+   "agent_records": 3,
+   "agent_replays": 4,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-xingshu-he-i00-privileged--fpgqm3v/replay.mp4",
+  "duration_s": 45.4,
+  "fps": 10.0,
+  "frames": 454,
+  "sha256": "247e1145b76a7b66c9cfc889c969d0f39481057c6f506a624d205e64f01e614b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": null,
+      "text_zh": "观察：视频0.6 s笔尖悬在侧视画面中的黑色砚台上方，视频0.8–1.0 s笔尖下探该位置，视频1.2 s已提起；视频1.9–2.0 s右下主纸图首次出现黑墨。"
+     },
+     {
+      "t": 0.8,
+      "log_step": 44,
+      "text_zh": "推断：结合起始干笔、视频0.8–1.0 s的下探及其后真实落墨，载墨在视频约0.8 s完成（约±0.3 s）；log step 44对最终交付文件的新进程重放报告loaded=true、n_dips=1，评分器终局也报告n_dips=1。蘸墨事件锁存至结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端固定毛笔的笔毫浸入砚台墨液并载墨，依据视频0.8–1.0 s下探、随后落墨及最终n_dips=1；候选接触名“浸蘸”，现有压/擦、抓握或托/舀不能准确表达笔毫浸液吸墨。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s主纸空白，视频2.0 s起毛笔在主纸留下黑墨；视频约6–15 s写出左部竖笔和向左长笔，视频约25–40 s补出右部口形，视频约41–44 s补写左部下侧。完整粗采样中此前字形尚不完整，未见达到整字判据。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频38.5–40.0 s右部口形闭合后，其左下与右侧外缘呈鼓包，内部白孔偏小；视频44.3–45.3 s这些形状仍保留，左部长笔最左端与竖笔下端另有细长拖尾。成功参考视频43.3 s的相同右下视图呈较规整的口形外缘和留白、较饱满的左部收笔；参考仅用于辨认可见形状差异。"
+     },
+     {
+      "t": 45.3,
+      "log_step": 44,
+      "text_zh": "观察：log step 43生成并保存最终1812动作的交付文件，log step 44对该文件的新进程重放报告IoU=0.762488、boundary_f=0.393706、min_stroke_coverage=0.613407、stray_frac=0.093564，与本次评分器终局字段一致，分别未满足≥0.80、≥0.75、≥0.80、≤0.04；六笔和strict_ok=1满足过程规则。视频45.3 s仍是上述偏差字形，写成和字终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频约1.9–44.8 s，固定在单机械臂末端的毛笔多次压向主纸并沿笔段移动，右下纸面图同步累积黑墨；实际接触链为毛笔笔毫与主纸。机器人底座固定，未另行抓取毛笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.762488
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.393706
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.613407
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.093564
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 529.71
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 8.805
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.762488
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "he_written",
+   "t": 38.5,
+   "log_step": 43,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约35.5–38.5 s机器人用毛笔补右部口形，视频38.5 s闭合处形成鼓包、白孔偏小；视频44.3–45.3 s整字仍有这些轮廓偏差及左部细尾，未修复。log step 43保存的最终轨迹及log step 44的重放均报告图像四项阈值未过、六笔与strict_ok=1；断在写成和字这一步的书写操作中。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "其他",
+    "t": 38.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频38.5–40.0 s右部口的左下端形成圆鼓包，右边缘起伏、口内留白小；视频45.3 s还可见左部长笔最左端和下垂竖笔末端的细长拖尾。与成功参考视频43.3 s相比，墨迹粗细和收笔轮廓明显不同，这些可见偏差保留至结束。",
+    "note_zh": "候选名“笔画轮廓失真”：这是墨迹局部粗细、鼓包及拖尾的形状缺陷；现有接触丢失、刚体位姿不准或碰撞等条目不能准确描述此材料书写结果，故用其他，不以评分低本身代替现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 38,
+    "evidence_zh": "推断：agent脚本在log step 17按目标中轴和局部宽度生成路径与压深，log step 25的离线直线试写已出现期望X=95–116毫米却落墨延至X约84.3毫米、末端变细的结果；log step 33加入宽度滞后和拖曳补偿，log step 38仍用预生成笔尖样本、固定提前量及逐步IK执行，未按实际纸面轮廓修正。log step 43最后只改部分笔段宽度后，真实重放仍为boundary_f=0.393706，且视频38.5–45.3 s保留鼓包与细尾，支持笔迹形成过程的运动/压深控制未充分匹配所需轮廓。离线试写只作根因线索，不作本次轨迹的节点或现象证据。",
+    "source_zh": "日志",
+    "note_zh": "证据不足以把偏差唯一归于某个压深/速度参数、逆解误差或反馈环节，按规范保留控制总类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧纸面评分，无法复算中间各时刻的精确图像阈值；整字未达依据已检查画面的缺笔/轮廓偏差及最终交付文件重放字段共同判断。砚台墨液与笔毫交界不够清晰，蘸墨时刻以视频约0.8 s的下探并结合随后落墨推定，误差约±0.3 s。根因仅能支持控制总类，不能据agent在log step 45对宽度滞后与拖尾的自述确定唯一动力学机制。",
+  "unmet": {
+   "he_written": false
+  }
+ },
+ "summary_zh": "机器人完成蘸墨，并在主纸以六笔写出可辨识的和字，最终完成1/2个节点；写成和字始终未达标。断点在写字操作中：右部口形鼓包、留白偏小，左部收笔带细尾，最终IoU、边界F、最小区域覆盖和杂墨四项均未过阈值；日志支持笔迹控制不足，过程规则本身通过。无状态日志和逐帧图像分数，蘸墨时间及控制细分机制存在上述证据缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（蘸墨已达、写成和字未达）、断点、现象与根因均与视频和评分器字段一致，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:50:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--fpgqm3v/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--fpgqm3v/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "de6ee795348239809974c2c11bd9f7dcb06dc78064a9c0b7f7907a4fbce83db7",
+   "video_sha256": "247e1145b76a7b66c9cfc889c969d0f39481057c6f506a624d205e64f01e614b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--ktydeej.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--ktydeej.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3f765ace47512298d79555ec9ae56ec1d0b1a7
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--ktydeej.json
@@ -0,0 +1,343 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-privileged--ktydeej",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.841877,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.841877,
+   "boundary_precision": 0.609258,
+   "boundary_recall": 0.671175,
+   "boundary_f": 0.638719,
+   "ink_precision": 0.956142,
+   "ink_recall": 0.875694,
+   "min_stroke_coverage": 0.556474,
+   "mean_stroke_coverage": 0.839654,
+   "stray_frac": 0.01151,
+   "missing_frac": 0.044602,
+   "ink_area_mm2": 3070.6,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.556474,
+   "stroke_coverage_02": 0.88809,
+   "stroke_coverage_03": 0.783842,
+   "stroke_coverage_04": 0.910102,
+   "stroke_coverage_05": 0.902477,
+   "stroke_coverage_06": 0.975752,
+   "stroke_coverage_07": 0.860844,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.769231,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 4.0,
+   "max_strokes": 6.0,
+   "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,
+   "iou_unregistered": 0.840397,
+   "boundary_f_unregistered": 0.631251,
+   "min_stroke_coverage_unregistered": 0.572544,
+   "stray_frac_unregistered": 0.012024,
+   "success": 0,
+   "final_reward": 0.841877,
+   "path_mm": 620.36,
+   "longest_stroke_mm": 145.87,
+   "mark_width_mm": 5.9099,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "scribble_max": 3.3946,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.841877,
+   "sim_steps": 902.0,
+   "resets": 1.0,
+   "n_contacts": 6.0,
+   "samples": 4510.0,
+   "contact_samples": 2826.0,
+   "max_press_m": 0.014186,
+   "max_tilt_deg_in_contact": 0.135109,
+   "max_speed_in_contact_mps": 0.121524,
+   "handle_contact_samples": 0.0,
+   "n_dips": 7.0,
+   "dry_strokes": 0.0,
+   "n_frames": 452.0,
+   "replay_wall_s": 82.5,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 902,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 19,
+   "agent_resets": 9,
+   "agent_sim_steps": 15770,
+   "agent_records": 8,
+   "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-xingshu-he-i00-privileged--ktydeej/replay.mp4",
+  "duration_s": 45.2,
+  "fps": 10.0,
+  "frames": 452,
+  "sha256": "e0e4ea4d618a823a00414695da6a6610e4a294048056b098f8acf7c725b7f946"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.8 s 毛笔仍在接近砚台，视频 1.0–1.4 s 侧视笔尖对准黑色圆砚并下探后抬起；视频 2.8–5.0 s 主纸出现并延长黑色笔迹。首次蘸墨记在视频约 1.2 s，误差约 0.3 s。"
+     },
+     {
+      "t": 2.8,
+      "log_step": 237,
+      "text_zh": "观察：log step 237 对最终交付文件的官方重放返回 loaded=true、n_dips=7、dry_strokes=0，评分记录亦给出 n_dips=7；与视频首次落纸即有黑墨相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约 1.0–1.4 s，单臂末端固定毛笔的笔毫下探圆砚墨液，随后主纸留下黑墨；接触候选名“浸蘸”，笔毫浸液吸墨不适合抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.8–6.0 s 机器人用毛笔在主纸写上部短笔；视频 8.0–14.0 s 增加下垂竖笔，视频 18.0–22.0 s 增加向左伸出的长笔，视频 24.0–42.0 s 写连接和右部口形。此前纸面为空白或字形不完整。"
+     },
+     {
+      "t": 45.1,
+      "log_step": null,
+      "text_zh": "观察：视频 41.5–45.1 s 右下主纸图保持完整但轮廓不符的和字：左部竖笔两边有明显鼓包与收窄、下端呈钝圆团块，右部口形内白洞较宽且上沿偏斜；对照成功参考视频 43.0 s，同视图的竖笔边缘更平顺、口内留白更窄。参考仅用于比较可见字形。"
+     },
+     {
+      "t": 45.1,
+      "log_step": 241,
+      "text_zh": "观察：log step 241 重新生成交付轨迹并确认动作相同，返回 boundary_f=0.638719、min_stroke_coverage=0.556474；评分记录相同，两者分别低于 0.75、0.80，区域 01 覆盖 0.556474、区域 03 覆盖 0.783842。IoU=0.841877、杂墨比例=0.01151、六次接触落笔及 strict_ok=1 均合格，仍不满足整字节点的联合判据。"
+     },
+     {
+      "t": 41.5,
+      "log_step": null,
+      "text_zh": "推断：视频写字过程中一直缺少后续笔段，视频约 41.5 s 补齐右部后仍有上述轮廓缺陷，末段未再修补且终局精确指标未通过，因此全程未达到写成和字节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 2.8–42.0 s，机器人单臂通过固定安装的毛笔在主纸落笔按压、沿笔段拖写并提笔，右下纸图随之形成永久黑墨；只记笔毫与主纸的接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "value": 0.841877,
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "boundary_f",
+   "value": 0.638719,
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better"
+  },
+  {
+   "name": "min_stroke_coverage",
+   "value": 0.556474,
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stray_frac",
+   "value": 0.01151,
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes",
+   "value": 6.0,
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes_counted",
+   "value": null,
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "path_mm",
+   "value": 620.36,
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better"
+  },
+  {
+   "name": "mark_width_mm",
+   "value": 5.9099,
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better"
+  },
+  {
+   "name": "scribble_share",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "final_reward",
+   "value": 0.841877,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "he_written",
+   "t": 41.5,
+   "log_step": 241,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 41.5 s 机器人完成右部最后的墨迹，视频 45.1 s 字形仍有不规则竖笔边缘和较宽的口内白洞；log step 241 保存并验证相同动作的交付轨迹，评分器的边界 F=0.638719、最低区域覆盖=0.556474，未达到写成和字的联合要求。视频此前只有部分笔段，未曾达到后又丢失整字节点。"
+  },
+  "unmet": {
+   "he_written": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔形与留白不符",
+    "t": 41.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 41.5–45.1 s 主纸上的左部竖笔轮廓呈多处鼓包和收窄，下端钝圆，右部口内白洞偏宽、上沿偏斜；成功参考视频 43.0 s 的相应竖笔更平顺、口内白洞更窄。这是本次墨迹形状的可见偏差。",
+    "note_zh": "候选名“笔形与留白不符”：现有接触和运动条目不能准确表达已经落墨的局部笔形粗细、轮廓及留白偏差，故用其他；不以未达评分阈值本身充当现象。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志或逐帧纸面评分，首次蘸墨时刻约有 0.3 s 误差，不能逐帧复算图像指标；n_strokes_counted 与 scribble_share 未在评分记录中报告，原生指标留空。log step 235–243 显示多版轨迹的试验背景、agent 自述的笔形/覆盖权衡以及选择并验证 v25 的记录，但其收尾决定不能证明任务规划错误（CASES.md FAIL-22）；视频中的轮廓偏差和终局评分也不足以将原因确定为抓取和接触设计、轨迹或逆解、反馈控制或已证实的错误参数，因此根因留空。agent 所称成功不可达未经独立证据证实。"
+ },
+ "summary_zh": "机器人在视频约 1.2 s 蘸墨，随后用六次落笔写出完整和字，最终完成 1/2 个节点；写成和字始终未达标，终局 IoU=0.841877 合格，但边界 F=0.638719、最低区域覆盖=0.556474 不合格。视频 41.5–45.1 s 可见竖笔边缘起伏和口内留白偏差。无状态日志及逐帧评分，蘸墨时间为近似；log step 235–243 的选版与收尾记录不足以证明规划错误，具体致因无法确定，根因留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（brush_inked 约 1.2 s、he_written 未达成、断点 he_written、contact_actual）与视频及评分数字一致；问题在根因：把 agent 的“成功不可达，改为最大化 IoU 并收尾”当作 认知·推理/规划，属于 agent 的收尾决定（FAIL-22），日志不能证明规划本身错误。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（brush_inked 约视频 1.2 s、he_written 未达成、断点 he_written、contact_actual）与视频帧及评分数字（boundary_f 0.6387、min_stroke_coverage 0.5565 均低于阈值）一致；根因已按上一轮清空并写明 gap_zh，其他现象有帧证据。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": "2026-10-30T23:07:12Z",
+  "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-xingshu-he-i00-privileged--ktydeej/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--ktydeej/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--ktydeej/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--ktydeej/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1526e3702cb28d60428637f5f054c7b101a0d368ef18106f36870d4913390b29",
+   "video_sha256": "e0e4ea4d618a823a00414695da6a6610e4a294048056b098f8acf7c725b7f946",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--lgyffz6.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--lgyffz6.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7a366053b1d78cf0db32f12fd188a4b8bfe4e0f
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--lgyffz6.json
@@ -0,0 +1,347 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-privileged--lgyffz6",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 1,
+  "reward": 0.949272,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "final_reward": 0.949272,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.949272,
+   "boundary_precision": 0.951452,
+   "boundary_recall": 0.945429,
+   "boundary_f": 0.948431,
+   "ink_precision": 0.96725,
+   "ink_recall": 0.980797,
+   "min_stroke_coverage": 0.955097,
+   "mean_stroke_coverage": 0.975529,
+   "stray_frac": 0.004801,
+   "missing_frac": 0.001424,
+   "ink_area_mm2": 3399.65,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.971993,
+   "stroke_coverage_02": 0.989907,
+   "stroke_coverage_03": 0.980379,
+   "stroke_coverage_04": 0.976784,
+   "stroke_coverage_05": 0.977562,
+   "stroke_coverage_06": 0.955097,
+   "stroke_coverage_07": 0.976985,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.636364,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 3.0,
+   "max_strokes": 6.0,
+   "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,
+   "iou_unregistered": 0.949272,
+   "boundary_f_unregistered": 0.948431,
+   "min_stroke_coverage_unregistered": 0.955097,
+   "stray_frac_unregistered": 0.004801,
+   "path_mm": 629.62,
+   "longest_stroke_mm": 185.49,
+   "mark_width_mm": 6.8962,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "n_marked_pieces": 6.0,
+   "n_strokes_counted": 6.0,
+   "max_stroke_path_mm": 1770.0,
+   "longest_counted_stroke_mm": 184.99,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 2.7977,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 1.0,
+   "image_final_reward": 0.949272,
+   "sim_steps": 1298.0,
+   "resets": 1.0,
+   "n_contacts": 6.0,
+   "samples": 6490.0,
+   "contact_samples": 4777.0,
+   "max_press_m": 0.014708,
+   "max_tilt_deg_in_contact": 0.088453,
+   "max_speed_in_contact_mps": 0.030174,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 434.0,
+   "replay_wall_s": 80.7,
+   "all_success": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1298,
+   "video_rendered": 1,
+   "agent_sessions": 15,
+   "agent_resets": 28,
+   "agent_sim_steps": 25213,
+   "agent_records": 3,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.04,
+   "peak_memory_gb": 0.761,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.061,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-xingshu-he-i00-privileged--lgyffz6/replay.mp4",
+  "duration_s": 43.4,
+  "fps": 10.0,
+  "frames": 434,
+  "sha256": "99c5df0d11831bad9cea22663db71ac469516040ba19c5ea7e627d1214a0d821"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.8–1.1 s 毛笔笔尖在黑色圆形砚台上方，视频 1.2–1.5 s 机械臂使笔尖下探到砚台处，随后在视频 1.8–2.3 s 提起；主纸仍空白，视频 4.0–5.0 s 才出现首段黑墨。"
+     },
+     {
+      "t": 1.3,
+      "log_step": null,
+      "text_zh": "推断：结合上述下探、提起和随后落黑墨的连续画面，以及 inputs/run.json 的评分器字段 n_dips=1、n_dry_strokes=0，载墨事件约在视频 1.3 s 完成，时间精度约±0.3 s；砚台局部被末端遮挡，无法直接量取笔尖浸液深度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端固定毛笔的笔毫在视频约 1.3 s 浸入黑色砚台墨液，随后载墨书写；候选名称“浸蘸”，液体吸附载墨不适合用抓握、压/擦或托/舀描述。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [
+     [
+      39.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 右下主纸图为空白；视频 4.0–6.0 s 出现上部撇形，视频 10.0–24.0 s 左部横向长笔和下垂竖笔陆续形成，视频 28.0–40.0 s 机械臂继续用毛笔写右部。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 39.0、39.5、40.0 s 的右下主纸图中，左部禾形、长笔、下垂竖笔与右部闭合的留白口形均已成形；视频 41.0–42.2 s 机械臂继续用毛笔补齐右侧外缘，视频 42.6、43.0、43.3 s 字形保持。"
+     },
+     {
+      "t": 43.3,
+      "log_step": 46,
+      "text_zh": "观察：inputs/run.json 的最终评分器报告 success=1、image_success=1、strict_ok=1、IoU=0.949272、boundary_f=0.948431、min_stroke_coverage=0.955097、stray_frac=0.004801，n_strokes=n_strokes_counted=6、colour_in=0、scribble_share=0；log step 46 也记录同一组终局图像分数及脚本已更新交付轨迹。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频 39–40 s 的整字轮廓、闭合口形和终局评分，将整字达标起点近似标为视频 39.5 s，时间精度约±1.5 s；判据为图像指标达标，无须等到毛笔收尾。独立对右下主纸图以灰度<100提取墨迹，与视频 43.3 s 终帧比较，视频 39.0、39.5、40.0 s 的像素 IoU 分别约0.940、0.943、0.949；这些是与终帧的比较，并非评分器对目标图的逐帧评分。缺少逐帧目标评分和状态日志，不能确定七个区域覆盖等所有阈值同时首次满足的精确帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机械臂末端固定毛笔的笔毫自视频约 4.0 s 起压在主纸并沿笔画移动，纸面黑墨随之增长，逐段完成左部与右部；只标毛笔笔毫对主纸的压/擦接触。评分器记录六次主纸载墨接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.949272
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.948431
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.955097
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.004801
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 629.62
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 6.8962
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.949272
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：交付视频显示机械臂先蘸墨，再在主纸写出完整行书“和”，两个节点终态均完成；评分器确认六笔、IoU=0.949272，图像和过程验收均通过。观察：log step 46 已记录成功评分和轨迹保存，log step 58 的模型过滤提示发生在此后，不改变已保存交付的成功结果。推断：蘸墨约在视频 1.3 s、整字约在视频 39.5 s 达成（约±1.5 s）；没有状态日志和逐帧评分，阈值首次满足时刻为视觉近似，且 oracle 与本次 runId 相同，未作独立参考。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "brush_inked 与 final、contact_actual 无误；但 he_written 的起点 42.2 s 偏晚：视频 39–40 s 右部口形已闭合，纸面与终帧重合度约 0.94，而节点判据是 IoU≥0.80 等阈值，不是笔画写完。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第 2 轮：he_written 起点已按第 1 轮改为视频 39.5 s，与终局评分（success=1、IoU=0.949）和 39–40 s 的字形相符；brush_inked 约 1.3 s、contact_actual、final、无 failure 均无误，未发现需改内容的问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:06:59Z",
+  "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-xingshu-he-i00-privileged--lgyffz6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--lgyffz6/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--lgyffz6/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--lgyffz6/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a9394bbbaf5710ee9494659949b8802c5689a183490a427944608a9fdadac5a2",
+   "video_sha256": "99c5df0d11831bad9cea22663db71ac469516040ba19c5ea7e627d1214a0d821",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--osq73mn.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--osq73mn.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8fe1a064fac3b862e7b9e843b0f8b8e07905ab9
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--osq73mn.json
@@ -0,0 +1,303 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-privileged--osq73mn",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 1,
+  "reward": 0.873998,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.873998,
+   "boundary_precision": 0.755708,
+   "boundary_recall": 0.754664,
+   "boundary_f": 0.755186,
+   "ink_precision": 0.942065,
+   "ink_recall": 0.923643,
+   "min_stroke_coverage": 0.857644,
+   "mean_stroke_coverage": 0.916106,
+   "stray_frac": 0.019306,
+   "missing_frac": 0.028658,
+   "ink_area_mm2": 3287.13,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.944904,
+   "stroke_coverage_02": 0.922828,
+   "stroke_coverage_03": 0.906183,
+   "stroke_coverage_04": 0.944327,
+   "stroke_coverage_05": 0.946867,
+   "stroke_coverage_06": 0.889987,
+   "stroke_coverage_07": 0.857644,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.857143,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 5.0,
+   "max_strokes": 6.0,
+   "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,
+   "iou_unregistered": 0.815534,
+   "boundary_f_unregistered": 0.4684,
+   "min_stroke_coverage_unregistered": 0.795689,
+   "stray_frac_unregistered": 0.030904,
+   "success": 1,
+   "final_reward": 0.873998,
+   "path_mm": 353.49,
+   "longest_stroke_mm": 87.34,
+   "mark_width_mm": 11.0115,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "scribble_max": 1.5478,
+   "strict_ok": 1.0,
+   "image_success": 1.0,
+   "image_final_reward": 0.873998,
+   "sim_steps": 1544.0,
+   "resets": 1.0,
+   "n_contacts": 6.0,
+   "samples": 7720.0,
+   "contact_samples": 5951.0,
+   "max_press_m": 0.014997,
+   "max_tilt_deg_in_contact": 0.04615,
+   "max_speed_in_contact_mps": 0.008926,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 516.0,
+   "replay_wall_s": 161.9,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1544,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 36,
+   "agent_resets": 81,
+   "agent_sim_steps": 102209,
+   "agent_records": 82,
+   "agent_replays": 7,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-xingshu-he-i00-privileged--osq73mn/replay.mp4",
+  "duration_s": 51.6,
+  "fps": 10.0,
+  "frames": 516,
+  "sha256": "589cd9b887c33498383aff96d819381c6cde30474f15542c63af2c2e93ab618a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.8–1.6 s，机械臂将固定安装的毛笔移到场景视角中主纸右侧的黑色圆形砚台上方；视频 1.7–2.1 s，侧视图可见笔尖下探至黑色墨面，随后提起并移向主纸。视频 6.0 s，右下主纸图已有第一段黑墨。"
+     },
+     {
+      "t": 1.8,
+      "log_step": null,
+      "text_zh": "推断：结合砚台处下探和随后主纸落墨，将首次载墨锚定在视频 1.8 s，时间约有 0.3 s 不确定性；inputs/run.json 的评分器终局字段 n_dips=1、dry_strokes=0 佐证本次交付确实蘸墨一次。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端固定毛笔的笔毫在视频约 1.8 s 下探砚台墨液，随后在主纸留下黑墨；候选接触名“浸蘸”，笔毫浸液吸墨没有对应的现有接触方式，故用其他。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [
+     [
+      50.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 48.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–38.0 s，机械臂用毛笔在主纸逐步形成上撇、下垂竖笔、向左长笔及通向右部的笔段；视频 40.0–48.0 s，右部上边和右边出现，但底边仍未补齐，尚不是完整“和”字。"
+     },
+     {
+      "t": 50.6,
+      "log_step": null,
+      "text_zh": "推断：视频 49.0–50.6 s 的密集帧显示机械臂补写右部底边，“口”形留白闭合；视频 50.6–51.5 s 的整字形状保持，末帧具有与 oracle 视频末段相同的完整禾形和右部口形结构。首次达标估计为视频 50.6 s，约有 0.5 s 不确定性；精确图像阈值的首次跨越不能仅凭录像复算。"
+     },
+     {
+      "t": 51.5,
+      "log_step": null,
+      "text_zh": "观察：视频 51.5 s，右下主纸图保留完整黑色“和”字。inputs/run.json 的评分器终局字段 success=1、image_success=1、strict_ok=1，IoU=0.873998、boundary_f=0.755186、min_stroke_coverage=0.857644、stray_frac=0.019306、n_strokes=6，均符合 DAG 对应验收；all_success=1、deterministic=1、instance_ok=1 表明交付重放通过。"
+     },
+     {
+      "t": null,
+      "log_step": 247,
+      "text_zh": "观察：log step 247 中 agent 写入最终生成脚本，先蘸墨，再执行六段有宽度控制的笔画并保存轨迹；log step 248 执行该脚本，log step 251、254 启动交付文件的新进程重放。上述是交付来源证据，节点时刻取自本次视频，没有将会话中的试写或 agent 工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频 6.0–50.6 s 可见机械臂固定安装的毛笔笔毫沿主纸移动并留下逐步延伸的黑墨，侧视图可见落笔和提笔；实际作用为笔毫压在纸面并沿笔画擦行。只记录毛笔与主纸的工具接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.873998
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.755186
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.857644
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.019306
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 353.49
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 11.0115
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.873998
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次交付在视频约 1.8 s 完成毛笔蘸墨，随后用六笔在主纸写出完整行书“和”，视频约 50.6 s 达标并保持至视频 51.5 s 末帧，最终完成 2/2 个节点。评分器报告图像与过程规则均通过，且交付重放成功、结果确定一致。没有状态日志或逐帧图像评分，蘸墨及首次整字达标时刻为视觉估计；原生指标 scribble_share 未报告，保留为 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两个节点（蘸墨约视频 1.8 s、整字约 50.6 s）与视频帧一致，终局 success=1，无失败标注，接触标签合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:54:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--osq73mn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--osq73mn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6a7d598f368b52fd0e6ea48799848f5887e91ef87d51b4a39f35b9c9c51f8680",
+   "video_sha256": "589cd9b887c33498383aff96d819381c6cde30474f15542c63af2c2e93ab618a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--ymsyvxj.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--ymsyvxj.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab7926126dec184aa1248124663df8d062572aec
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--ymsyvxj.json
@@ -0,0 +1,316 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-privileged--ymsyvxj",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 1,
+  "reward": 0.956073,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "final_reward": 0.956073,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.956073,
+   "boundary_precision": 0.984177,
+   "boundary_recall": 0.986007,
+   "boundary_f": 0.985091,
+   "ink_precision": 0.974761,
+   "ink_recall": 0.980342,
+   "min_stroke_coverage": 0.9304,
+   "mean_stroke_coverage": 0.972679,
+   "stray_frac": 0.000132,
+   "missing_frac": 0.000455,
+   "ink_area_mm2": 3371.89,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.973829,
+   "stroke_coverage_02": 0.98343,
+   "stroke_coverage_03": 0.985655,
+   "stroke_coverage_04": 0.988592,
+   "stroke_coverage_05": 0.97154,
+   "stroke_coverage_06": 0.9304,
+   "stroke_coverage_07": 0.975309,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.727273,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 3.0,
+   "max_strokes": 6.0,
+   "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,
+   "iou_unregistered": 0.956073,
+   "boundary_f_unregistered": 0.985091,
+   "min_stroke_coverage_unregistered": 0.9304,
+   "stray_frac_unregistered": 0.000132,
+   "path_mm": 483.73,
+   "longest_stroke_mm": 103.78,
+   "mark_width_mm": 9.2693,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "scribble_max": 1.9466,
+   "strict_ok": 1.0,
+   "image_success": 1.0,
+   "image_final_reward": 0.956073,
+   "sim_steps": 1378.0,
+   "resets": 1.0,
+   "n_contacts": 6.0,
+   "samples": 6890.0,
+   "contact_samples": 2742.0,
+   "max_press_m": 0.014237,
+   "max_tilt_deg_in_contact": 0.048514,
+   "max_speed_in_contact_mps": 0.031041,
+   "handle_contact_samples": 0.0,
+   "n_dips": 6.0,
+   "dry_strokes": 0.0,
+   "n_frames": 461.0,
+   "replay_wall_s": 94.4,
+   "all_success": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1378,
+   "video_rendered": 1,
+   "agent_sessions": 13,
+   "agent_resets": 35,
+   "agent_sim_steps": 43002,
+   "agent_records": 0,
+   "agent_replays": 7,
+   "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-xingshu-he-i00-privileged--ymsyvxj/replay.mp4",
+  "duration_s": 46.1,
+  "fps": 10.0,
+  "frames": 461,
+  "sha256": "51601e5aee2c2d5dcaa91caae246fb8297a271b505c6aed29fb14098d08065aa"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "观察：视频 1.2–1.7 s 的左下侧视图中，机器人将末端毛笔笔尖下探到左侧砚台的黑色墨点处，视频 1.4–1.6 s 笔尖与墨面相接，随后抬起；视频 4.0–5.5 s 右下主纸图由空白出现黑色上撇。"
+     },
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "推断：结合任务所述起始干笔及随后实际留下的黑墨，首次载墨约在视频 1.4 s，时间误差约 0.3 s；评分器 reward.n_dips=6、dry_strokes=0 佐证本次交付确实发生蘸墨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 1.4–1.6 s，机器人末端固定安装的毛笔笔毫下探砚台墨液后抬起；候选接触名“浸蘸”，笔毫浸液载墨不适合归入抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [
+     [
+      43.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸为空白；视频 4.0–6.5 s 机器人用毛笔写出上撇，视频 10.0–28.0 s 逐渐写出左部禾形，视频 32.0–43.9 s 增加右部口形。机器人笔毫在纸面按压、沿笔画移动，笔画间抬笔转移。"
+     },
+     {
+      "t": 43.4,
+      "log_step": null,
+      "text_zh": "观察：视频 42.8–43.3 s 右部尚有开口，视频 43.4–43.9 s 最后一笔补齐口形右下部，左部上撇、长笔、下垂笔与右部留白口形组成完整“和”；视频 45.1–46.0 s 机器人提笔离开，主纸字形保持不变。已与成功参考录像的完整字形作视觉比较，参考录像不作为本次轨迹的完成证据。"
+     },
+     {
+      "t": 43.4,
+      "log_step": null,
+      "text_zh": "推断：本次评分器报告 success=1、image_success=1、strict_ok=1，IoU=0.956073、边界F=0.985091、最小区域覆盖=0.9304、杂墨比例=0.000132、n_strokes=6，结合最后一笔闭合的画面，将首次达标近似定位为视频 43.4 s（约 ±0.5 s），并保持到结尾；没有逐帧评分，不能从图像精确确定阈值首次跨越的帧。"
+     },
+     {
+      "t": null,
+      "log_step": 46,
+      "text_zh": "观察：log step 45 保存最终 1378 行关节动作轨迹；log step 46 对该文件进行两次新进程重放，均报告 success=1、state_sha=6043ff34dc253499，且终局图像指标与本次 reward 一致。较早优化测试的分数不用于本次节点进度，agent 工作时间未换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4.0–43.9 s，机器人末端固定安装的毛笔笔毫分段压在主纸上并沿字形拖移，留下六笔黑色墨迹（本次评分器 n_strokes=6、n_contacts=6）；只记毛笔与纸面的接触链。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.956073
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.985091
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.9304
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.000132
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 483.73
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 9.2693
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.956073
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在视频约 1.4 s 完成首次蘸墨，随后分六笔临写“和”，约视频 43.4 s 形成完整字形，两个节点最终均完成。评分器终局 IoU=0.956073、边界F=0.985091、最小区域覆盖=0.9304、杂墨比例=0.000132，strict_ok=1 且两次独立重放成功，与视频结尾保持完整字形一致。无状态日志或逐帧图像评分，首次达标时间是约 ±0.5 s 的视觉估计；评分器未单列 n_strokes_counted 和 scribble_share，原生指标对应值保留 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点（蘸墨约 1.4 s、写成和字约 43.4 s）与视频一致，终局字形完整，评分器数值支持 final=true；接触标注合理，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:54:59Z",
+  "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-xingshu-he-i00-privileged--ymsyvxj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-privileged--ymsyvxj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c040db24b77082a5c2721399d44a6d85bb37818e68d594db0784225ba3054e43",
+   "video_sha256": "51601e5aee2c2d5dcaa91caae246fb8297a271b505c6aed29fb14098d08065aa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--5qdttwo.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--5qdttwo.json
new file mode 100644
index 0000000000000000000000000000000000000000..77390f5b25d6dd0ffb2cbd1993ccf1e71edb0112
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--5qdttwo.json
@@ -0,0 +1,337 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-standard--5qdttwo",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.468006,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.468006,
+   "boundary_precision": 0.227167,
+   "boundary_recall": 0.251866,
+   "boundary_f": 0.23888,
+   "ink_precision": 0.533825,
+   "ink_recall": 0.791482,
+   "min_stroke_coverage": 0.088909,
+   "mean_stroke_coverage": 0.66464,
+   "stray_frac": 0.623881,
+   "missing_frac": 0.152377,
+   "ink_area_mm2": 4970.91,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.401286,
+   "stroke_coverage_02": 0.809109,
+   "stroke_coverage_03": 0.827205,
+   "stroke_coverage_04": 0.829445,
+   "stroke_coverage_05": 0.906557,
+   "stroke_coverage_06": 0.088909,
+   "stroke_coverage_07": 0.789971,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 68.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.666667,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 4.0,
+   "max_strokes": 6.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.6656,
+   "register_dy_mm": -1.1093,
+   "register_shift_mm": 1.2937,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "iou_unregistered": 0.458309,
+   "boundary_f_unregistered": 0.173012,
+   "min_stroke_coverage_unregistered": 0.089807,
+   "stray_frac_unregistered": 0.63197,
+   "success": 0,
+   "final_reward": 0.468006,
+   "path_mm": 482.3,
+   "longest_stroke_mm": 195.92,
+   "mark_width_mm": 12.2151,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "scribble_max": 3.2492,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.468006,
+   "sim_steps": 7740,
+   "resets": 1.0,
+   "n_contacts": 74.0,
+   "samples": 38700.0,
+   "contact_samples": 9244.0,
+   "max_press_m": 0.030232,
+   "max_tilt_deg_in_contact": 10.401832,
+   "max_speed_in_contact_mps": 0.2395,
+   "handle_contact_samples": 118.0,
+   "n_dips": 6.0,
+   "dry_strokes": 0.0,
+   "n_frames": 597.0,
+   "replay_wall_s": 96.8,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 7740,
+   "physics_steps": 38700,
+   "steps": 4979,
+   "calls": 502,
+   "elapsed_s": 3775.1,
+   "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,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-xingshu-he-i00-standard--5qdttwo/replay.mp4",
+  "duration_s": 59.7,
+  "fps": 10.0,
+  "frames": 597,
+  "sha256": "f9eed42e70e79023fb2fff7d3656cfe7ab1edfdde5700a15c8207a4d552d2f87"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.2,
+      "log_step": 30,
+      "text_zh": "观察：视频 4.8–5.2 s，机械臂将固定毛笔移至场景图中两张纸右侧的黑色圆形砚台处并下探；log step 30 的机器人服务回读笔尖位置约为(-0.1106,0.1578,-0.0040)米。"
+     },
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "推断：视频 5.4–6.0 s，毛笔移到练习纸下压后出现黑墨，右下主纸仍空白；结合先前的砚台下探，首次蘸墨已完成，锁存起点取视频约 5.2 s。评分器终局 n_dips=6、n_dry_strokes=0 也支持已载墨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约 5.2 s，单臂末端固定安装的毛笔笔毫下探黑色砚台墨液，随后练习纸出现黑墨。候选接触名“浸蘸”；这是笔毫浸液吸墨，现有压/擦、托/舀等值不能准确表达。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 31.3,
+      "log_step": 118,
+      "text_zh": "观察：视频 0–31.2 s 的右下主纸为空白，前段落墨在练习纸；视频 31.3 s 首次在主纸出现大墨点，视频 31.4–32.1 s 被拉成上伸的粗长竖向墨块，并非目标的上部短撇。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "观察：视频 35–58.5 s，机器人继续在主纸增加左右部笔迹；视频 58.6–59.6 s 的右下纸面图显示粗长竖向杂墨仍在，左部中心拥成粗墨块、右部口形留白很小。对照成功参考视频 43.3 s，目标左部上方没有这条高竖墨块，笔段和留白轮廓也明显不同。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "观察：本次评分器报告 IoU=0.468006<0.80、boundary_f=0.23888<0.75、min_stroke_coverage=0.088909<0.80、stray_frac=0.623881>0.04，n_strokes=6、strict_ok=1（n_strokes_counted 未单独报告）；live_matches_replay=1、deterministic=1、image_success=0。主纸从空白到终局均未呈现目标整字的合格轮廓，六笔用尽也未完成该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 31.3–32.1 s，固定毛笔在主纸下压拖出墨块；视频约 36–58.5 s 继续在主纸下压、拖行写笔段。机器人也在视频约 5.4–28 s 用同一毛笔接触练习纸校准笔迹；作用端是笔毫，对象是纸面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.468006
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.23888
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.088909
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.623881
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 482.3
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 12.2151
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.468006
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "he_written",
+   "t": 31.3,
+   "log_step": 118,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 31.3–32.1 s，机器人首次在主纸落笔后留下向目标字形上方延伸的粗长墨块；视频 59.6 s 此墨块仍保留，后续书写没有修复整字轮廓，最终图像评分未通过。log step 118 是此次主纸首笔执行，输出 contact offset dz=94.19mm。"
+  },
+  "unmet": {
+   "he_written": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 31.3,
+    "log_step": 118,
+    "evidence_zh": "观察：视频 31.3 s，机器人在主纸留下大墨点，视频 31.4–32.1 s 随笔移动形成明显高于目标左部的粗竖墨块；视频 59.6 s 该杂墨仍在，后续左右笔段也较成功参考视频 43.3 s 的轮廓粗厚、相互粘连，目标上撇形状缺失。偏差是纸面墨迹的位置和形状错误，而非未落墨。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 31.3,
+    "log_step": 118,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 114 的 descend_draw 将 dz_tot 定义为 p0[2]-z0，却用 p0[2]+dz_tot*a 插值，起点高于纸面时会向上走；随后又把 act[2]-z0 无阈值检查地取负加入书写高度。log step 118 实际打印 dz=94.19mm，此补偿会把约厘米级的正常落笔高度变成约-0.08米的目标高度，与视频 31.3–32.1 s 笔端下压拖出大墨块相符。log step 130 才改用 z0-p0[2] 并增加偏差检查；控制补偿此前已经污染主纸。agent 在 log step 145 将其称为瞬时本体读数错误，但现有代码已能解释该偏差，无证据将原因归于服务读数故障。"
+   },
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "log_step": 137,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 135–136 尝试将练习纸笔宽曲线的高度提高2.5毫米后，log step 137 又明确改为每笔重新蘸墨且在原曲线基础上降低1.5毫米以增加覆盖，log step 138–139 沿用该降低参数。视频 46–58.5 s 新增笔段明显粗厚、中心连成墨块；agent 在 log step 142 也自述重新蘸墨加深下压过度补偿、笔迹比预期粗。该笔宽控制参数未适配主纸，独立于首笔的高度补偿错误，进一步扩大轮廓偏差；不采纳其未经验证的“墨耗尽”解释。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧图像评分，蘸墨完成时间依据砚台动作及随后的练习纸黑墨估计到视频约 5.2 s；整字精确指标采用终局评分器字段，未从视频像素重算。评分器未单独报告 n_strokes_counted 和 scribble_share，故这两项原生指标填 null。视频能确认主纸杂墨与粗笔迹，但不能量化瞬时接触力；agent 所称的本体读数故障及两纸面高度差均没有独立状态证据。"
+ },
+ "summary_zh": "机器人完成蘸墨并在练习纸校准，随后在主纸写满六笔，但“写成和字”始终未达标，最终完成1/2节点。视频约 31.3 s 的主纸首笔留下无法消除的上伸粗竖杂墨；日志代码显示下降插值符号和高度反馈补偿有误，后续加深下压的笔宽参数又使笔段过粗，终局图像四项关键指标均未通过。没有状态日志和逐帧评分，蘸墨时刻为视觉近似，精确终局数值以评分器报告为准。",
+ "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、时间、断点和现象与视频、日志、评分器字段一致：蘸墨约 5.2 s，主纸首个墨块出现在视频 31.3–31.4 s 并保留到终局，和字节点未达成。未发现需要改动内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:54:18Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-standard--5qdttwo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-standard--5qdttwo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "615934980169af4b6104117b6c81ed0c68e31cfc89d105cf63c06247132fbb20",
+   "video_sha256": "f9eed42e70e79023fb2fff7d3656cfe7ab1edfdde5700a15c8207a4d552d2f87",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--8mdkioi.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--8mdkioi.json
new file mode 100644
index 0000000000000000000000000000000000000000..16c2cfc5af6adee303400379f8a957d256253680
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--8mdkioi.json
@@ -0,0 +1,354 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-standard--8mdkioi",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.790585,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.790585,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.790585,
+   "boundary_precision": 0.494628,
+   "boundary_recall": 0.528918,
+   "boundary_f": 0.511199,
+   "ink_precision": 0.867451,
+   "ink_recall": 0.899213,
+   "min_stroke_coverage": 0.658436,
+   "mean_stroke_coverage": 0.872258,
+   "stray_frac": 0.069707,
+   "missing_frac": 0.048668,
+   "ink_area_mm2": 3475.45,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.951331,
+   "stroke_coverage_02": 0.953571,
+   "stroke_coverage_03": 0.877329,
+   "stroke_coverage_04": 0.909189,
+   "stroke_coverage_05": 0.93152,
+   "stroke_coverage_06": 0.824427,
+   "stroke_coverage_07": 0.658436,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 11.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.636364,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 3.0,
+   "max_strokes": 6.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.8874,
+   "register_dy_mm": -0.8874,
+   "register_shift_mm": 1.255,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "iou_unregistered": 0.763587,
+   "boundary_f_unregistered": 0.439233,
+   "min_stroke_coverage_unregistered": 0.650815,
+   "stray_frac_unregistered": 0.087119,
+   "path_mm": 491.17,
+   "longest_stroke_mm": 105.52,
+   "mark_width_mm": 8.8991,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "n_marked_pieces": 6.0,
+   "n_strokes_counted": 6.0,
+   "max_stroke_path_mm": 1770.0,
+   "longest_counted_stroke_mm": 104.61,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 1.7018,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.790585,
+   "sim_steps": 2289,
+   "resets": 0.0,
+   "n_contacts": 17.0,
+   "samples": 11445.0,
+   "contact_samples": 3336.0,
+   "max_press_m": 0.017831,
+   "max_tilt_deg_in_contact": 0.097898,
+   "max_speed_in_contact_mps": 0.055371,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 2289,
+   "physics_steps": 11445,
+   "steps": 2231,
+   "calls": 24,
+   "elapsed_s": 3394.1,
+   "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": 0.477,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.425,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-xingshu-he-i00-standard--8mdkioi/replay.mp4",
+  "duration_s": 57.4,
+  "fps": 10.0,
+  "frames": 574,
+  "sha256": "af306068ee1df25f0ec8eca14d809754305c7f8bd13ff6a63773439423c273eb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.8–1.2 s，机械臂将固定安装的毛笔笔尖下降到场景视图右侧黑色圆形砚台内，随后抬起并移向练习纸；侧视图可见下探过程。首次载墨时刻取视频约 1.0 s，精度约 ±0.2 s。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–12.0 s，机械臂的毛笔在练习纸上移动并留下多条黑墨；inputs/run.json 的评分器字段 n_dips=10、n_dry_strokes=0，佐证已经载墨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：机械臂末端固定毛笔的笔毫下探黑色砚台墨液，随后在纸上留墨。候选接触名“浸蘸”：笔毫浸液吸墨，现有抓握、压/擦及托/舀均不能准确表达该接触。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.0,
+      "log_step": 96,
+      "text_zh": "观察：视频约 32.0 s 主纸开始出现第一笔，视频 34.0–48.0 s 逐步形成左部禾形，视频 50.0–56.5 s 形成右部口形；此前练习墨迹位于另一张练习纸，主纸为空白。机械臂确实持载墨毛笔在主纸上落笔和移动。"
+     },
+     {
+      "t": 56.8,
+      "log_step": null,
+      "text_zh": "观察：视频 56.3–57.3 s，右下主纸图已有完整两部件，但口的右上部呈圆鼓状，内白框偏宽扁，底边起伏且右下缘有小缺口；对照成功参考录像视频 43.3 s，右部轮廓与留白比例明显不同。机械臂在本次视频约 56.6 s 后提笔退开，直至视频 57.3 s 未再修复。"
+     },
+     {
+      "t": 57.3,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 终局评分器给出 IoU=0.790585<0.80、boundary_f=0.511199<0.75、min_stroke_coverage=0.658436<0.80、stray_frac=0.069707>0.04；n_strokes=n_strokes_counted=6、strict_ok=1、image_success=0。"
+     },
+     {
+      "t": 56.3,
+      "log_step": null,
+      "text_zh": "推断：视频前段主纸空白，之后至视频约 55.0 s 右部口形仍缺上横及右边，末笔补成后至视频 57.3 s 的字形保持上述偏差，结合终局四项图像验收失败，未见写成和字节点达到判据的区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 32.0–56.5 s，机械臂以固定安装的毛笔笔毫按压主纸并沿笔画移动，形成黑色和字；各笔间抬笔并返回砚台，前段另在练习纸上写测试线。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.790585
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.511199
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.658436
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.069707
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 491.17
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 8.8991
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.790585
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "he_written",
+   "t": 56.0,
+   "log_step": 96,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 55.0–56.5 s，机械臂正在主纸上补写口的上边及右边，右上形成圆鼓墨块，留下偏宽扁的内白框和不齐的底缘；视频约 56.6 s 后机械臂提笔退开，至视频 57.3 s 未修复。inputs/run.json 终局四项图像指标均未达到任务阈值，六笔数量与 strict_ok 则合格。断点取末笔形成这些最终轮廓时的粗略视频锚点。"
+  },
+  "unmet": {
+   "he_written": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 56.0,
+    "log_step": 96,
+    "evidence_zh": "观察：视频 56.3–57.3 s 的右下主纸图中，机器人写出的口右上部圆鼓外凸，内白框宽扁，底边和右下角有不齐与缺口；成功参考录像视频 43.3 s 的口右侧轮廓更平直、内白框更窄。这是落墨位置、粗细及转折轮廓的偏差，机器人提笔后该字形仍保留。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 95 的执行脚本以预设笔尖路径、压深和固定速度前馈连续完成六笔，log step 96 执行该脚本；log step 107、115 对执行后纸面的自测也报告边界及区域覆盖不足。结合视频 55.0–57.3 s 的实际落墨轮廓偏差，所用书写控制未能实现所需的笔画形状；现有证据不能进一步区分接触几何、毛笔模型或轨迹跟踪的贡献。",
+    "source_zh": "日志 / 视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧原生图像评分；节点未达到依据可见的缺笔、最终轮廓和终局指标综合判断，无法精确定位每项指标最初偏离的时刻。日志中的自建毛笔模型与执行后测量不足以隔离具体压深参数、接触几何或跟踪误差，因此根因只标到控制。"
+ },
+ "summary_zh": "机器人在视频约 1.0 s 完成蘸墨，经过练习纸校准后在主纸写出六笔，最终完成 1/2 个节点。写成和字步骤在末笔后仍有口部轮廓与留白比例偏差，IoU、边界F、最小区域覆盖及杂墨四项均未达标，六笔数和过程规则合格；根因归于书写控制。没有状态日志及逐帧评分，不能细分控制误差来源。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "蘸墨约1.0 s、和字未达成、断点he_written、位姿不准与控制根因均与视频和评分器字段相符，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:58:16Z",
+  "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-xingshu-he-i00-standard--8mdkioi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-standard--8mdkioi/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d4d568302bccded5614bb553d0b323816a4477931ba0da9e526a30efbcde733c",
+   "video_sha256": "af306068ee1df25f0ec8eca14d809754305c7f8bd13ff6a63773439423c273eb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--kt4kkpj.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--kt4kkpj.json
new file mode 100644
index 0000000000000000000000000000000000000000..39fc17f90004bdd2f46ce7f78b11ec855b256397
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--kt4kkpj.json
@@ -0,0 +1,340 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-standard--kt4kkpj",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.596647,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.596647,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.596647,
+   "boundary_precision": 0.199045,
+   "boundary_recall": 0.173507,
+   "boundary_f": 0.185401,
+   "ink_precision": 0.843636,
+   "ink_recall": 0.670831,
+   "min_stroke_coverage": 0.26044,
+   "mean_stroke_coverage": 0.605448,
+   "stray_frac": 0.077855,
+   "missing_frac": 0.247893,
+   "ink_area_mm2": 2665.95,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.491276,
+   "stroke_coverage_02": 0.757759,
+   "stroke_coverage_03": 0.932564,
+   "stroke_coverage_04": 0.60162,
+   "stroke_coverage_05": 0.654007,
+   "stroke_coverage_06": 0.26044,
+   "stroke_coverage_07": 0.540466,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 3.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.75,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 4.0,
+   "max_strokes": 6.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -1.1093,
+   "register_dy_mm": -1.3312,
+   "register_shift_mm": 1.7328,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "iou_unregistered": 0.58629,
+   "boundary_f_unregistered": 0.205414,
+   "min_stroke_coverage_unregistered": 0.20476,
+   "stray_frac_unregistered": 0.083463,
+   "path_mm": 314.63,
+   "longest_stroke_mm": 79.04,
+   "mark_width_mm": 11.3171,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "n_marked_pieces": 6.0,
+   "n_strokes_counted": 6.0,
+   "max_stroke_path_mm": 1770.0,
+   "longest_counted_stroke_mm": 78.74,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 2.2287,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.596647,
+   "sim_steps": 774,
+   "resets": 0.0,
+   "n_contacts": 9.0,
+   "samples": 3870.0,
+   "contact_samples": 1153.0,
+   "max_press_m": 0.017021,
+   "max_tilt_deg_in_contact": 0.437507,
+   "max_speed_in_contact_mps": 0.144813,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 774,
+   "physics_steps": 3870,
+   "steps": 277,
+   "calls": 37,
+   "elapsed_s": 779.1,
+   "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": 0.324,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.848,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-xingshu-he-i00-standard--kt4kkpj/replay.mp4",
+  "duration_s": 38.8,
+  "fps": 10.0,
+  "frames": 388,
+  "sha256": "ea7c63044108834b5aeeadf1b6c1d26cbaa1043922dd6577ca3fafaea16e9aa8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": 16,
+      "text_zh": "观察：视频约2.3–3.0 s，机械臂将固定安装的毛笔移到场景右侧（机器人左侧）的黑色圆砚台并下探，视频3.0–3.8 s笔尖停在砚台处；视频7.0 s练习纸已出现黑墨。评分器reward.n_dips=1、dry_strokes=0，佐证已载墨；蘸墨时刻按可见下探估计，误差约0.3 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约3.0 s机械臂末端固定毛笔的笔毫下探黑色砚台并蘸入墨液，随后练习纸留下墨迹。候选接触名“浸蘸”；现有接触方式没有笔毫浸液吸墨的准确条目。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.5,
+      "log_step": 41,
+      "text_zh": "观察：视频0–约23 s主纸空白，机器人先在邻侧练习纸留下三条墨迹；视频约23.5 s主纸开始出现第一笔，随后机械臂以毛笔逐段按压滑动，视频26–35.5 s形成左部及右侧笔段。此前缺少整字，均未达到完整和字条件。"
+     },
+     {
+      "t": 38.7,
+      "log_step": 52,
+      "text_zh": "观察：视频36.8–38.7 s右下主纸图显示中竖尖长、中央墨块粗重，右侧口形倾斜且内部留白呈三角形；与成功参考视频43.3 s较方正的口形及圆钝竖尾明显不同。末段提笔后墨迹未再改变。评分器报告IoU=0.596647<0.80、boundary_f=0.185401<0.75、min_stroke_coverage=0.26044<0.80、stray_frac=0.077855>0.04，n_strokes=n_strokes_counted=6且strict_ok=1，整字图像验收未通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频约23.5–37.5 s，机械臂用固定安装的毛笔笔毫反复落到主纸并沿笔画滑动，主纸逐次增加六笔黑墨；此前在旁侧练习纸上也有三次按压划线。接触链记笔毫与纸面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.596647
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.185401
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.26044
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.077855
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 314.63
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 11.3171
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.596647
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "he_written",
+   "t": 30.5,
+   "log_step": 41,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约30.5–31.5 s，机器人书写左部下垂竖笔时留下向下收尖的宽墨块；视频36.8–38.7 s完整结果的竖尾与右侧口形仍明显失真。评分器四项图像指标均未达阈值，蘸墨已完成且六笔数量合规，失败步骤为写成和字；视频30.5 s为可见轮廓偏差的导航锚点。"
+  },
+  "unmet": {
+   "he_written": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔迹轮廓失真",
+    "t": 30.5,
+    "log_step": 41,
+    "evidence_zh": "观察：视频约30.5–31.5 s中竖逐渐成为宽三角形，视频38.7 s中竖尖尾、右部弯曲的口形及三角留白保留；成功参考视频43.3 s相应竖尾圆钝、口内留白近方形。",
+    "note_zh": "候选现象“笔迹轮廓失真”：缺陷是软毛笔所成笔迹的局部粗细、收笔及留白形状，现有接触和刚体运动现象没有准确对应，故用其他；不是仅复述评分未达标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 20记载agent已发现实际笔尖高度不能直接等同指令高度；log step 23记录练习直线的墨宽沿程变化，log step 38却以沿骨架扫掠圆盘的静态模型预测IoU约0.9035；log step 40–41按预先生成的位姿序列一次执行六笔，逐笔只检查停止/逆解失败，日志中可见的前五笔ik_failures均为0，没有根据实际墨迹修正后续笔宽。视频30.5–38.7 s及评分器IoU=0.596647显示实际落墨轮廓与该预测明显不符，支持书写控制未能把目标轮廓转成合适的实际笔迹。现有证据不足以细分具体控制子类。"
+   }
+  ],
+  "gap_zh": "无状态日志及逐帧纸面评分，无法复算各笔的精确压深、实际跟踪误差和首次轮廓偏离时刻；log step 40的路径采样/高度计算部分在所给日志中已截断，控制根因只能停在大类，不能确定具体参数或反馈环节。蘸墨时刻由多视角下探与后续出墨共同估计。"
+ },
+ "summary_zh": "本次实时单次轨迹完成蘸墨，并在练习纸试写三笔后于主纸写了六笔，节点最终完成1/2。写成和字始终未达标：中竖收成尖长墨块，右部口形及留白失真，四项图像指标不合格而笔数和过程规则合格；日志支持预先生成的书写控制未准确产生预计轮廓。没有状态日志，压深映射与轨迹跟踪的具体责任及精确偏差时刻无法分清。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "蘸墨约3.0 s可见笔尖下探砚台并有n_dips=1佐证；和字最终图（38.7 s）与评分器指标均未达标，节点值、断点、现象及根因（控制，停在大类）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": "2026-10-30T23:08:09Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-standard--kt4kkpj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-standard--kt4kkpj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0008df9211eb49536b87bc58769abb9d72ca123ea59bbceaa02de2f59c30b20d",
+   "video_sha256": "ea7c63044108834b5aeeadf1b6c1d26cbaa1043922dd6577ca3fafaea16e9aa8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--tdf7pwv.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--tdf7pwv.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2dee6838da7f13e53d219e33a4de4ec21a5904e
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--tdf7pwv.json
@@ -0,0 +1,330 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-standard--tdf7pwv",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.641967,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.641967,
+   "boundary_precision": 0.251454,
+   "boundary_recall": 0.251866,
+   "boundary_f": 0.25166,
+   "ink_precision": 0.756035,
+   "ink_recall": 0.809701,
+   "min_stroke_coverage": 0.29771,
+   "mean_stroke_coverage": 0.783955,
+   "stray_frac": 0.181064,
+   "missing_frac": 0.131353,
+   "ink_area_mm2": 3590.68,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.981175,
+   "stroke_coverage_02": 0.789511,
+   "stroke_coverage_03": 0.926628,
+   "stroke_coverage_04": 0.791683,
+   "stroke_coverage_05": 0.91695,
+   "stroke_coverage_06": 0.29771,
+   "stroke_coverage_07": 0.784027,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 7.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.846154,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 4.0,
+   "max_strokes": 6.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.4437,
+   "register_dy_mm": -3.3279,
+   "register_shift_mm": 3.3573,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "iou_unregistered": 0.605653,
+   "boundary_f_unregistered": 0.229755,
+   "min_stroke_coverage_unregistered": 0.115402,
+   "stray_frac_unregistered": 0.21925,
+   "success": 0,
+   "final_reward": 0.641967,
+   "path_mm": 395.35,
+   "longest_stroke_mm": 108.63,
+   "mark_width_mm": 12.2095,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "scribble_max": 2.0887,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.641967,
+   "sim_steps": 2883,
+   "resets": 1.0,
+   "n_contacts": 13.0,
+   "samples": 14415.0,
+   "contact_samples": 5394.0,
+   "max_press_m": 0.018024,
+   "max_tilt_deg_in_contact": 0.077207,
+   "max_speed_in_contact_mps": 0.044516,
+   "handle_contact_samples": 0.0,
+   "n_dips": 2.0,
+   "dry_strokes": 0.0,
+   "n_frames": 578.0,
+   "replay_wall_s": 87.93,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 2883,
+   "physics_steps": 14415,
+   "steps": 2881,
+   "calls": 55,
+   "elapsed_s": 767.9,
+   "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,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-xingshu-he-i00-standard--tdf7pwv/replay.mp4",
+  "duration_s": 57.8,
+  "fps": 10.0,
+  "frames": 578,
+  "sha256": "fadda789fd9b3d3bc51b13b3c13f9c646bf951c0010189ac35af94dcb7a10295"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": 50,
+      "text_zh": "观察：视频 2.6–3.6 s，机械臂将固定毛笔对准场景视图中的黑色圆砚台，下探至墨面后提起；约视频 3.2 s 笔尖与墨面重合，时刻误差约0.3秒。log step 50记录下探砚台并返回上方的动作；视频 6.5 s 练习纸已出现黑墨，评分器n_dips=2、n_dry_strokes=0也支持成功载墨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 3.2 s 左右机械臂末端固定毛笔的笔毫下探黑色砚台墨液，随后提笔；视频 28.5 s 左右再次下探砚台。候选接触名“浸蘸”：吸墨浸液不属于抓握、压/擦或托/舀，无需另标握笔。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 31.0,
+      "log_step": 118,
+      "text_zh": "观察：视频 0–29.5 s 主纸为空白，机械臂先蘸墨并在旁侧练习纸试笔；视频 31.0–32.5 s 主纸开始出现上撇，随后机械臂逐笔写禾部与口部，视频 56.0–57.7 s 已有整字。写字接触确实发生，不能记为未尝试。"
+     },
+     {
+      "t": 57.7,
+      "log_step": 133,
+      "text_zh": "观察：视频 36.5–47.5 s 禾部形成粗重的中间竖笔与交叠墨块；视频 56.0、56.5、57.0、57.5、57.7 s，右下主纸图中的口部近圆形且留白狭小，禾部上撇与竖笔的粗细、连接轮廓也不同于成功参考视频 40–43.3 s 的字形。log step 133对实际纸面裁切后测得IoU约0.6418、边界F约0.2487，接近评分器终局IoU=0.641967、boundary_f=0.251660；评分器min_stroke_coverage=0.297710、stray_frac=0.181064，四项均未达DAG阈值，n_strokes=6合格。"
+     },
+     {
+      "t": 57.7,
+      "log_step": 148,
+      "text_zh": "推断：主纸在字形未齐时不满足完整和字判据，最后虽补齐两部分，轮廓粗细及口部留白仍明显不符，故全程无达标区间。log step 137–143的高分来自离线重建；log step 148改写脚本后，log step 149–155只有语法检查、离线路径检查及最终报告，没有再次执行机械臂，不能把这些高分归给录像中的主纸。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 31–56.5 s，机械臂末端固定毛笔的笔毫落在主纸上，边按压边沿笔画移动，期间提笔转移，纸面逐步留下黑墨；不是夹爪直接接触纸面。视频 6.5–25 s 左右同一毛笔也在旁侧练习纸上试笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.641967
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.25166
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.29771
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.181064
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 395.35
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 12.2095
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.641967
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "he_written",
+   "t": 36.5,
+   "log_step": 118,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 36.5 s 主纸上的禾部竖笔已形成宽厚墨带，随后交叠成墨块；视频 56.0–57.7 s 完成口部后，其轮廓近圆、内部留白狭小，与成功参考视频 40–43.3 s 的形状有明显差别，后续没有修复。评分器strict_ok=1、stroke_count_ok=1而image_success=0，失败落在写成和字的图像结果。"
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔迹轮廓失真",
+    "t": 36.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 36.5–47.5 s 禾部中间笔画厚重并相互粘连；视频 56.0–57.7 s 口部粗厚且近圆，中心仅剩小而不规则的白洞。成功参考视频 40–43.3 s 中对应笔画分布和口内留白明显不同。",
+    "note_zh": "候选名“笔迹轮廓失真”：描述实际墨迹的粗细、连接及留白形状异常；现有接触失败、静态物体位姿不准等条目不能准确覆盖这类书写结果缺陷，不以“图像指标不达标”代替可见现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 116的执行脚本先生成整段笔画轨迹、分块提交，直至执行结束才读取纸面图；log step 118执行该脚本，视频 31–56.5 s 的落墨持续偏离目标轮廓，没有按纸面误差修正。log step 133对实画测得IoU约0.6418，与log step 110–112离线路径模型约0.91的预期相差很大，说明该书写控制没有把预期笔迹实现到纸上；证据不足以进一步区分轨迹跟踪、压深或笔毫响应的贡献。",
+    "source_zh": "日志 / 视频"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "evidence_zh": "推断：log step 133已得到实际纸面IoU约0.6418、边界F约0.2487的失败结果；log step 137–143随后只计算离线骨架重建，log step 148改写脚本，log step 149–150仅检查语法和路径。log step 155却自述“has been completed”并把离线IoU>0.92、边界F>0.84写为已实现表现后结束，未再次执行改写脚本；run.json的wall_s=754而time_limit_s=3600，尚有预算。错误地把离线可行性当成主纸已完成，使实际偏差未获修复。",
+    "source_zh": "日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧图像评分，载墨时刻按可见下探和随后黑墨估计；不能量化每个笔画的轨迹误差、压力或笔毫形变，因此控制根因不细分。评分器未报告n_strokes_counted和scribble_share，原生指标保留null。日志中的部分长代码被截断，但执行入口、执行后图像分析和末尾仅离线检查的记录可见；未把离线重建结果当成机器人已执行。",
+  "unmet": {
+   "he_written": false
+  }
+ },
+ "summary_zh": "机器人完成蘸墨并在练习纸试笔，随后在主纸写出六笔，但禾部墨迹过粗粘连、口部轮廓及留白失真，写成和字未达标，终局完成1/2节点。断点为写成和字的操作中：书写控制未实现预期轮廓，随后agent把未重新执行的离线重建高分当成已完成结果而停止。没有状态日志，无法进一步区分压深、笔毫响应与轨迹跟踪造成偏差的比例。",
+ "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（蘸墨3.2 s达成、和字未达标）、断点he_written、现象与根因均与视频及评分器数值一致；终帧字形粗厚粘连、口部近圆，IoU 0.64等指标未达阈值。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:53:49Z",
+  "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-xingshu-he-i00-standard--tdf7pwv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-standard--tdf7pwv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4bbcede341c6c326067d6d0382466c002d97f6dfd00c9b632084ddeed57681e2",
+   "video_sha256": "fadda789fd9b3d3bc51b13b3c13f9c646bf951c0010189ac35af94dcb7a10295",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--vg9oelc.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--vg9oelc.json
new file mode 100644
index 0000000000000000000000000000000000000000..db8c914c769d298de50559df43bf1d40785dc6c6
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--vg9oelc.json
@@ -0,0 +1,373 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-standard--vg9oelc",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.855234,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.855234,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.855234,
+   "boundary_precision": 0.710493,
+   "boundary_recall": 0.76306,
+   "boundary_f": 0.735839,
+   "ink_precision": 0.896176,
+   "ink_recall": 0.949291,
+   "min_stroke_coverage": 0.778177,
+   "mean_stroke_coverage": 0.913788,
+   "stray_frac": 0.060986,
+   "missing_frac": 0.016267,
+   "ink_area_mm2": 3551.4,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.93618,
+   "stroke_coverage_02": 0.968837,
+   "stroke_coverage_03": 0.885573,
+   "stroke_coverage_04": 0.981062,
+   "stroke_coverage_05": 0.985236,
+   "stroke_coverage_06": 0.778177,
+   "stroke_coverage_07": 0.861454,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 15.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.636364,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 3.0,
+   "max_strokes": 6.0,
+   "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,
+   "iou_unregistered": 0.855234,
+   "boundary_f_unregistered": 0.735839,
+   "min_stroke_coverage_unregistered": 0.778177,
+   "stray_frac_unregistered": 0.060986,
+   "path_mm": 414.77,
+   "longest_stroke_mm": 102.37,
+   "mark_width_mm": 10.3718,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "scribble_max": 1.662,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.855234,
+   "sim_steps": 7964,
+   "resets": 1.0,
+   "n_contacts": 21.0,
+   "samples": 39820.0,
+   "contact_samples": 5732.0,
+   "max_press_m": 0.020001,
+   "max_tilt_deg_in_contact": 0.056005,
+   "max_speed_in_contact_mps": 0.033501,
+   "handle_contact_samples": 0.0,
+   "n_dips": 34.0,
+   "dry_strokes": 0.0,
+   "n_frames": 570.0,
+   "replay_wall_s": 77.12,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 7964,
+   "physics_steps": 39820,
+   "steps": 7955,
+   "calls": 143,
+   "elapsed_s": 2516.8,
+   "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-xingshu-he-i00-standard--vg9oelc/replay.mp4",
+  "duration_s": 57.0,
+  "fps": 10.0,
+  "frames": 570,
+  "sha256": "4921467915fdb4efb66578a49bafecb94daa6c699013699f29d0dba3aa72f221"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": 12,
+      "text_zh": "观察：视频0.0–0.2 s笔尖位于黑色圆形砚台上方，视频0.3–0.4 s机械臂使笔尖下探至墨面内，视频0.5–0.7 s再提起离开；首次蘸墨取视频约0.3 s（精度约0.2 s）。log step 12的机器人调用执行dip，指令为移至砚台后下探、停留、提起。"
+     },
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "观察：视频23.5 s练习纸已出现机器人毛笔留下的黑色笔迹，随后练习笔迹持续增加；评分器终局n_dips=34、n_dry_strokes=0，支持笔已载墨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频0.3–0.4 s，机械臂末端固定安装毛笔的笔毫浸入黑色砚台墨液，随后提起；候选接触名“浸蘸”，笔毫吸墨不属于抓握、推扫或托舀。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 48.6,
+      "log_step": 79,
+      "text_zh": "观察：视频47.0–48.2 s主纸仍为空白，视频48.4–48.6 s右下主纸视图开始出现第一笔上撇；其后机器人依次添写左部长笔、竖笔与下撇，视频54.6–55.0 s添写右部口形的左下段，视频56.0–56.6 s添写口形上边与右侧。log step 79、86、90、93、98、103依次调用主纸六笔书写；时间均取视频画面，没有用agent时间换算。"
+     },
+     {
+      "t": 56.4,
+      "log_step": 103,
+      "text_zh": "观察：视频56.2–56.6 s左上主纸视图被机械臂腕部遮挡，但右下纸面视图无遮挡：视频56.3 s口形右侧尚未闭合，上边为较窄横笔；视频56.4 s其右端形成向上鼓出的圆厚墨团，视频56.6–56.9 s虽已围出留白，鼓包仍保留。成功参考视频43.3 s的右下纸面视图中，对应上边较平整，没有同样的圆凸鼓包。"
+     },
+     {
+      "t": 56.9,
+      "log_step": null,
+      "text_zh": "观察：评分器终局IoU=0.855234≥0.80，但boundary_f=0.735839<0.75、min_stroke_coverage=0.778177<0.80（第6评分区域）、stray_frac=0.060986>0.04；n_strokes=6、strict_ok=1、image_success=0。"
+     },
+     {
+      "t": 56.9,
+      "log_step": null,
+      "text_zh": "推断：视频56.3 s以前右部缺笔，随后口形闭合时已有明显外溢墨团，直到视频56.9 s未修复；结合终局三项图像指标未达标，写成和字节点没有可确认达标区间，终态为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频48.4–56.7 s，机械臂末端固定安装毛笔的笔毫反复下压主纸并沿六段笔画移动，留下持续黑墨；视频23.5–46.0 s还在旁侧练习纸按压划写以试笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "value": 0.855234,
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "boundary_f",
+   "value": 0.735839,
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better"
+  },
+  {
+   "name": "min_stroke_coverage",
+   "value": 0.778177,
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stray_frac",
+   "value": 0.060986,
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes",
+   "value": 6.0,
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "n_strokes_counted",
+   "value": null,
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "path_mm",
+   "value": 414.77,
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better"
+  },
+  {
+   "name": "mark_width_mm",
+   "value": 10.3718,
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better"
+  },
+  {
+   "name": "scribble_share",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "final_reward",
+   "value": 0.855234,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "he_written",
+   "t": 56.4,
+   "log_step": 103,
+   "where": "操作中",
+   "evidence_zh": "观察：视频56.2–56.6 s左上主纸视图被机械臂腕部遮挡，但右下纸面视图可见机器人末笔留下的墨迹变化：视频56.3 s口形上边为较窄横笔，视频56.4–56.5 s右端出现向上鼓出的厚墨团；视频56.9 s机器人已提笔，墨团仍在。评分器终局杂墨0.060986、边界F=0.735839和最小区域覆盖0.778177均未达节点阈值，整字未被接受。推断：log step 98、103的执行后检查由agent脚本自算杂墨比例，分别为0.014959和0.059604，辅助支持失败偏差出现在最后一笔，不能据此精确定位视频中的阈值跨越时刻。"
+  },
+  "unmet": {
+   "he_written": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "局部胀墨",
+    "t": 56.4,
+    "log_step": 103,
+    "evidence_zh": "观察：视频56.2–56.6 s左上主纸视图被机械臂腕部遮挡，以下过程直接取自无遮挡的右下纸面视图：视频56.3 s口形上边仍是一段较窄横笔，视频56.4–56.5 s其右端膨成向上凸出的圆形墨团，闭合后的口形右边偏厚，视频56.9 s仍保持此形状；成功参考视频43.3 s右下纸面视图的对应上边较平整，没有同样的圆凸鼓包。",
+    "note_zh": "候选名称“局部胀墨”：可见问题是软笔墨迹轮廓在转角局部膨出，词表没有对应的材料成形现象；无笔尖跟踪误差或异常力的直接证据，不强归为位姿不准或接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 56.4,
+    "log_step": 106,
+    "source_zh": "日志 / 视频 / agent 自述",
+    "evidence_zh": "推断：软笔在深压状态下做紧转弯的接触设计未控制好墨迹外形。log step 101、106记录实际末笔控制点在口形右上转角密集转向，压深约13–14毫米；log step 103的执行输出ikfail=0，但agent自算的杂墨从log step 98约1.5%增到约6%，与视频56.4 s右下纸面视图中新出现的鼓包相符。agent在log step 109自述模型低估了深压小钩转角时笔毫向外展开；这是对机制的自述，结合画面和执行参数作推断，并非直接测得笔毫受力。未在本次输入中验证修改压深或转角后的可行替代。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧纸面评分，无法精确复算各图像指标的阈值跨越时刻；蘸墨时刻由视频侧视下探画面估计。评分器未单独报告n_strokes_counted和scribble_share，因此两项原生指标留null；笔毫展开导致鼓包的机制依据执行参数、视频与agent自述推断，未有笔毫形变或接触力测量。"
+ },
+ "summary_zh": "机器人在视频约0.3 s完成蘸墨，练习后于视频48.4–56.7 s在主纸写出六笔和字，终态完成1/2节点。断点是写成和字：最后口形转角出现局部胀墨，最终边界F、最小区域覆盖与杂墨三项未达标；深压紧转弯的接触设计是有日志支持的根因推断。没有逐帧评分及笔毫形变记录，具体阈值跨越时刻与展开机制仍有不确定性。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点、断点和根因整体成立：蘸墨约视频0.4 s、和字终态false、断点he_written，log step 98→103杂墨1.5%→约6%支持末笔导致失败。唯一问题是证据中把视频56.3–56.6 s的鼓包形成过程写成逐帧观察，但这几帧主视角被机械臂遮挡，只有56.9 s终帧可见。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（蘸墨约视频0.3 s达成、和字终态false）、断点he_written、六笔写成的主纸终帧与评分器数值一致；上一轮提出的遮挡问题已在证据中说明视角。现象与根因均标为推断，证据可追溯，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": "2026-10-30T23:07:27Z",
+  "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-xingshu-he-i00-standard--vg9oelc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-standard--vg9oelc/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-standard--vg9oelc/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-standard--vg9oelc/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "10d52e5a8ca2b691e6c4dbd16eda5c5e19975ad6b84019f8c6eee307f9e88abf",
+   "video_sha256": "4921467915fdb4efb66578a49bafecb94daa6c699013699f29d0dba3aa72f221",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--xjjmrht.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--xjjmrht.json
new file mode 100644
index 0000000000000000000000000000000000000000..61ff89cfdb681286982047fcdd6a5abf27a4be42
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--xjjmrht.json
@@ -0,0 +1,350 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-standard--xjjmrht",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.546329,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.546329,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.546329,
+   "boundary_precision": 0.269027,
+   "boundary_recall": 0.291045,
+   "boundary_f": 0.279603,
+   "ink_precision": 0.65463,
+   "ink_recall": 0.767566,
+   "min_stroke_coverage": 0.03719,
+   "mean_stroke_coverage": 0.634531,
+   "stray_frac": 0.321373,
+   "missing_frac": 0.168262,
+   "ink_area_mm2": 3931.1,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.03719,
+   "stroke_coverage_02": 0.807091,
+   "stroke_coverage_03": 0.871888,
+   "stroke_coverage_04": 0.78307,
+   "stroke_coverage_05": 0.804468,
+   "stroke_coverage_06": 0.32106,
+   "stroke_coverage_07": 0.816949,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 28.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.583333,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 4.0,
+   "max_strokes": 6.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": -0.2219,
+   "register_dy_mm": -1.3312,
+   "register_shift_mm": 1.3495,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "iou_unregistered": 0.534686,
+   "boundary_f_unregistered": 0.222601,
+   "min_stroke_coverage_unregistered": 0.073003,
+   "stray_frac_unregistered": 0.329609,
+   "path_mm": 536.52,
+   "longest_stroke_mm": 201.93,
+   "mark_width_mm": 9.0272,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "n_marked_pieces": 6.0,
+   "n_strokes_counted": 6.0,
+   "max_stroke_path_mm": 1770.0,
+   "longest_counted_stroke_mm": 201.87,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 2.2147,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.546329,
+   "sim_steps": 5689,
+   "resets": 0.0,
+   "n_contacts": 34.0,
+   "samples": 28445.0,
+   "contact_samples": 7698.0,
+   "max_press_m": 0.017827,
+   "max_tilt_deg_in_contact": 0.234529,
+   "max_speed_in_contact_mps": 0.081197,
+   "handle_contact_samples": 0.0,
+   "n_dips": 14.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 5689,
+   "physics_steps": 28445,
+   "steps": 5336,
+   "calls": 67,
+   "elapsed_s": 2910.0,
+   "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-xingshu-he-i00-standard--xjjmrht/replay.mp4",
+  "duration_s": 57.0,
+  "fps": 10.0,
+  "frames": 570,
+  "sha256": "9455980df2daf2439f996744486831e0b583fdd06cd69b98d0b9b8fa35baa0b0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.7,
+      "log_step": 23,
+      "text_zh": "观察：视频 0.6–0.8 s，机械臂把固定毛笔下探至黑色圆形砚台，侧视图可见笔尖落到墨面；随后提笔离开，视频 2.4–2.6 s 练习纸出现黑色细线，佐证已载墨。首次蘸墨锚点取视频 0.7 s，误差约 0.2 s；log step 23 的实际提交也为下探砚台后提起。"
+     },
+     {
+      "t": 56.9,
+      "log_step": null,
+      "text_zh": "观察：视频 56.9 s 主纸已有黑色字迹；评分器终局字段 n_dips=14、n_dry_strokes=0，与已蘸墨相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.6–0.8 s，机械臂末端固定毛笔的笔毫进入砚台墨液；候选接触名“浸蘸”，笔毫浸液载墨不属于抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43.5,
+      "log_step": 47,
+      "text_zh": "观察：视频 0–42.5 s 主纸保持空白，机械臂主要在邻侧练习纸画线并往返砚台；视频 43.5–44.5 s 主纸出现第一段上撇，视频 45.5–50.5 s 陆续增加左伸长笔、下垂竖笔和连接笔，仍缺完整右部。"
+     },
+     {
+      "t": 56.9,
+      "log_step": 59,
+      "text_zh": "观察：视频 54.5–56.9 s，毛笔在主纸右部继续落墨，末帧右部成为相连的粗黑团块，缺少成功参考视频 43.3 s 所见的清楚口形留白，上撇也较短；整段可见过程中未出现符合参考的完整轮廓。"
+     },
+     {
+      "t": 56.9,
+      "log_step": null,
+      "text_zh": "观察：本次评分器终局 iou=0.546329<0.80、boundary_f=0.279603<0.75、min_stroke_coverage=0.03719<0.80、stray_frac=0.321373>0.04，image_success=0；n_strokes=n_strokes_counted=6、strict_ok=1，失败来自字形验收，笔数和过程统计并未否决。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 43.5–56.7 s，机械臂以末端固定毛笔的笔毫压在主纸上沿笔段移动，形成六笔黑墨；之前也用同一笔毫在邻侧练习纸压擦试写。接触链为毛笔笔毫与纸面，不重复追加夹爪握笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.546329
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.279603
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.03719
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.321373
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 536.52
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 9.0272
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.546329
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "he_written",
+   "t": 56.3,
+   "log_step": 59,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 56.1–56.7 s，机械臂执行主纸最后一笔，右部墨迹继续扩成团块；视频 56.8–56.9 s 提笔后仍没有目标口形留白，先前上撇和轮廓差异也未修复。log step 59 为第六笔实际执行，log step 62 明知自测不达标后决定保持现状，评分器 image_success=0。"
+  },
+  "unmet": {
+   "he_written": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔迹粗细与留白失真",
+    "t": 56.3,
+    "log_step": 59,
+    "evidence_zh": "观察：视频 56.2–56.9 s 的右下主纸图中，右部粗黑笔迹连接成团，口形内部仅余狭小缝隙；成功参考视频 43.3 s 同一视图可见明确的方形白孔。本次上方撇笔还比参考短，左部竖笔收尾呈圆坨，轮廓与留白均未写出。",
+    "note_zh": "候选现象“笔迹粗细与留白失真”：可见的是毛笔留下的墨迹过粗、局部缺墨及留白变形；现有接触失败或单一位姿偏差条目不能完整描述这一材料结果，且录像不足以把它等同于末端跟踪位姿误差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：agent 的笔路与压深补偿未能稳定地产生所需笔宽和边界。log step 43 的实际写字脚本以多条偏移笔路及压深曲线生成墨迹，log step 49 增加压深提前量和末端延长，log step 54 又因竖笔偏细修改第五笔；log step 59 仍以约 9.5–10 mm 压深执行右部笔路。视频 54.5–56.9 s 可见右部留下粗黑团块而非参考的留白口形。agent 在 log step 62、64 也自述笔宽、拖曳和落笔过渡补偿不足；该自述仅作辅助，不能证明某个具体动力学参数错误。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志或逐帧纸面评分，不能精确恢复各图像指标随视频变化的数值；节点未达依据整段字形过程和评分器终局值。缺少笔毫形变、接触力和末端跟踪误差实测，根因仅定位为控制，不能可靠细分为接触设计、反馈或参数调试；agent 的自测 IoU=0.44（log step 60、62）不等于评分器 IoU=0.546329，采用评分器值。"
+ },
+ "summary_zh": "机器人完成蘸墨，并在练习纸试写后于主纸写下六笔，最终达到 1/2 个节点。写成和字未达成：末帧右部口形留白被粗黑笔迹挤占，上撇与轮廓也不符；评分器 IoU=0.546329、最小区域覆盖率=0.03719，笔数与过程规则通过，根因支持写字控制不足。没有逐帧评分、笔毫形变与接触力记录，无法进一步确定控制子类。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（brush_inked 达成、he_written 未达成）、断点 he_written、现象“其他·笔迹粗细与留白失真”（可见结果缺陷，非指标复述）和根因“控制”（停在大类并标推断）均与视频及评分器终局值相符，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:08:29Z",
+  "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-xingshu-he-i00-standard--xjjmrht/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-standard--xjjmrht/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bf1e1e10f069b22bd185653fa318e8a7cfd468ada57c834225204a89f5857dab",
+   "video_sha256": "9455980df2daf2439f996744486831e0b583fdd06cd69b98d0b9b8fa35baa0b0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--xnzeln2.json b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--xnzeln2.json
new file mode 100644
index 0000000000000000000000000000000000000000..74420dcde41962effffbfd337613df0dc7820190
--- /dev/null
+++ b/phase2/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--xnzeln2.json
@@ -0,0 +1,340 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-he-i00-standard--xnzeln2",
+ "taskKey": "robopaint/xingshu_he",
+ "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.866496,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.866496,
+   "boundary_precision": 0.674479,
+   "boundary_recall": 0.712687,
+   "boundary_f": 0.693057,
+   "ink_precision": 0.945964,
+   "ink_recall": 0.911619,
+   "min_stroke_coverage": 0.749439,
+   "mean_stroke_coverage": 0.886752,
+   "stray_frac": 0.016091,
+   "missing_frac": 0.022139,
+   "ink_area_mm2": 3230.97,
+   "target_area_mm2": 3352.69,
+   "n_target_strokes": 7.0,
+   "stroke_coverage_01": 0.950413,
+   "stroke_coverage_02": 0.928589,
+   "stroke_coverage_03": 0.846496,
+   "stroke_coverage_04": 0.933946,
+   "stroke_coverage_05": 0.925498,
+   "stroke_coverage_06": 0.749439,
+   "stroke_coverage_07": 0.872885,
+   "n_strokes": 6.0,
+   "n_practice_strokes": 12.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.545455,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 3.0,
+   "max_strokes": 6.0,
+   "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,
+   "iou_unregistered": 0.865533,
+   "boundary_f_unregistered": 0.705443,
+   "min_stroke_coverage_unregistered": 0.781769,
+   "stray_frac_unregistered": 0.01725,
+   "success": 0,
+   "final_reward": 0.866496,
+   "path_mm": 1695.92,
+   "longest_stroke_mm": 979.97,
+   "mark_width_mm": 3.3959,
+   "max_path_mm": 1850.0,
+   "min_mark_width_mm": 1.93,
+   "colour_in": 0.0,
+   "scribble_max": 7.7807,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.866496,
+   "sim_steps": 11623,
+   "resets": 1.0,
+   "n_contacts": 18.0,
+   "samples": 58115.0,
+   "contact_samples": 26078.0,
+   "max_press_m": 0.023798,
+   "max_tilt_deg_in_contact": 0.073151,
+   "max_speed_in_contact_mps": 0.018747,
+   "handle_contact_samples": 0.0,
+   "n_dips": 13.0,
+   "dry_strokes": 0.0,
+   "n_frames": 583.0,
+   "replay_wall_s": 100.48,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 11623,
+   "physics_steps": 58115,
+   "steps": 11623,
+   "calls": 220,
+   "elapsed_s": 3676.5,
+   "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-xingshu-he-i00-standard--xnzeln2/replay.mp4",
+  "duration_s": 58.3,
+  "fps": 10.0,
+  "frames": 583,
+  "sha256": "85a609741c9b1237d12d0a6905560db09345cdd070c7d3301b3636adf6a86212"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.7–0.9 s，场景视角中机械臂将竖直毛笔下探机器人左侧的黑色圆砚台，再抬起移向练习纸；log step 13 的服务返回首次 dip 笔尖约为(-0.1000,0.1500,0.0231)米。首次浸蘸时刻约为视频 0.8 s，精度约半秒。"
+     },
+     {
+      "t": 4.0,
+      "log_step": 15,
+      "text_zh": "观察：视频约 3–7 s，机械臂在练习纸上留下由细到粗的黑色试笔，主纸仍空白；log step 15 返回 swatch0、swatch1 的实际执行。结合初始干笔条件，黑墨佐证此前蘸墨已成功；评分器另报告 n_dips=13、n_dry_strokes=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约 0.8 s，机械臂末端固定安装的毛笔笔毫进入圆形砚台墨液，之后多次回砚台。候选接触名“浸蘸”：这是笔毫浸液吸墨，抓握、压/擦、托/舀均不能准确表达。"
+     }
+    ]
+   },
+   "he_written": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 44,
+      "text_zh": "观察：视频约 16–26 s，机械臂在主纸先写上撇、左伸长笔及下垂竖笔；视频 26 s 主纸只有左部，右部尚空。视频约 28–40 s 的多次试写发生在旁侧练习纸，不能算作主纸完成。"
+     },
+     {
+      "t": 43.6,
+      "log_step": 61,
+      "text_zh": "观察：视频 41.8–43.8 s，机械臂用毛笔在主纸写出右部并闭合口形，至此整字可辨；但右部上沿向右上倾斜、右侧转折外凸，内侧留白带明显尖角。随后机械臂继续复描；log step 61 对应 main_04_connected_mouth 的执行返回。"
+     },
+     {
+      "t": 58.2,
+      "log_step": 82,
+      "text_zh": "观察：视频 54–57.4 s，机械臂仍在主纸复描；视频 57.5–58.2 s 提笔并移开后，整字仍有右部外凸、内侧不规则留白和左部下端轮廓偏差。成功参考视频 43.3 s 的右部内白更窄而直，右壁及下沿形状也不同；参考仅用于比较外观。"
+     },
+     {
+      "t": 58.2,
+      "log_step": null,
+      "text_zh": "观察：本次评分器报告 IoU=0.866496≥0.80、boundary_f=0.693057<0.75、min_stroke_coverage=0.749439<0.80（第六评分区域），stray_frac=0.016091≤0.04，n_strokes=6、stroke_count_ok=1、strict_ok=1、image_success=0；live_matches_replay=1、deterministic=1。失败由明确图像指标支持，并非仅凭 success=0 判断。"
+     },
+     {
+      "t": 58.2,
+      "log_step": 65,
+      "text_zh": "推断：已检查的早期画面缺少右部；整字出现后仍有轮廓偏差，log step 65 的主纸相机自测边界 F 约0.610，log step 82 的终局自测约0.685且与官方失败方向一致。因此未见“写成和字”达到全部验收条件的区间；无逐帧官方评分，不能给出精确的阈值变化时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 16–26 s、42–57.4 s，机械臂末端安装的毛笔笔毫压在主纸上沿笔画移动并复描，留下黑墨；视频最后约 0.8 s 提笔。只记录毛笔与纸面的接触链，不另记固定安装工具的抓握；评分器确认六次主纸笔画及十二次练习纸笔画。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.866496
+  },
+  {
+   "name": "boundary_f",
+   "unit": "ratio",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.693057
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.749439
+  },
+  {
+   "name": "stray_frac",
+   "unit": "ratio",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.016091
+  },
+  {
+   "name": "n_strokes",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": 6.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 1850,
+   "direction": "lower_better",
+   "value": 1695.92
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.93,
+   "direction": "higher_better",
+   "value": 3.3959
+  },
+  {
+   "name": "scribble_share",
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "final_reward",
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.866496
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "he_written",
+   "t": 43.6,
+   "log_step": 61,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 43.6 s，机械臂正在主纸完成右部闭合，口形右壁和上转折已形成外凸、斜向的轮廓；视频 44–57.4 s 继续复描后，视频 58.2 s 的终局仍保留轮廓与留白偏差。官方 boundary_f=0.693057 和 min_stroke_coverage=0.749439 均未达标，失败落在“写成和字”；视频 43.6 s 是偏差可见的导航锚点，不是精确的评分阈值触发时刻。"
+  },
+  "unmet": {
+   "he_written": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 43.6,
+    "log_step": 61,
+    "evidence_zh": "观察：视频 43.6–44.8 s 及视频 58.2 s，机械臂画出的右部口形上沿向右上倾斜，右侧较厚且有外凸，下沿及内白边缘有尖角；与成功参考视频 43.3 s 较直窄的内白和右侧轮廓不同。左部竖笔下端也未复现参考的轮廓。这是书写落墨位置、粗细与轮廓的偏差，后续复描未消除。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 54.0,
+    "log_step": 79,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 12、21–23 记录脚本用练习纸标定压深与笔宽并处理笔毫拖尾；log step 60、63、66、71、73、79 按显式像素航点及压深曲线书写、复描。视频约 42–57.4 s 显示机械臂确实带墨接触目标纸并完成这些笔段，但加墨后右部轮廓和内白仍有偏差；log step 82–85 也明确承认边界不达标。证据支持书写控制未准确形成所需墨迹轮廓；没有证据细分为逆解失败、跟踪失稳或某一参数错误。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐帧官方图像评分；整字未达标区间依据抽帧、关键书写过程密集帧、终局明确失败指标及相机自测共同判断，不能精确定位每次阈值变化。评分器未单列 n_strokes_counted 与 scribble_share，原生指标保留 null；不能把 n_strokes 或 scribble_max 当成这两个量。根因只定位到控制层，无法区分轨迹形状、压深及笔毫动态各自的贡献。"
+ },
+ "summary_zh": "机械臂在视频约 0.8 s 成功蘸墨，随后在练习纸试笔并以六次主纸笔画写出可辨的“和”，最终完成1/2个节点。断在“写成和字”的操作中：复描后右部轮廓和内白仍有偏差，官方边界F为0.693057、最低区域覆盖为0.749439，均低于要求；证据支持书写控制不足，未见流程违规导致判负。无逐帧官方评分，具体达标变化及控制子因无法精确确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（brush_inked 达成、he_written 未达成）、断点与位姿不准/控制根因均与视频和评分器数值一致，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": "2026-10-30T22:57:32Z",
+  "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-xingshu-he-i00-standard--xnzeln2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-he-i00-standard--xnzeln2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6adb9c8694810bb7c17d53cad41f030b2a982bf54b38d7eb08cd5f98457d0d92",
+   "video_sha256": "85a609741c9b1237d12d0a6905560db09345cdd070c7d3301b3636adf6a86212",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--3x7xdgk.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--3x7xdgk.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bb1cb6bb9f8e306fd17178bf22463eafeb5e8a6
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--3x7xdgk.json
@@ -0,0 +1,357 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-huifenghechang-i00-privileged--3x7xdgk",
+ "taskKey": "robopaint/xingshu_huifenghechang",
+ "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5",
+ "outcome": {
+  "success": 0,
+  "reward": 0.324557,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.324557,
+   "boundary_precision": 0.327654,
+   "boundary_recall": 0.309548,
+   "boundary_f": 0.318344,
+   "ink_precision": 0.594646,
+   "ink_recall": 0.416762,
+   "min_stroke_coverage": 0.009768,
+   "mean_stroke_coverage": 0.427114,
+   "stray_frac": 0.190245,
+   "missing_frac": 0.42593,
+   "ink_area_mm2": 4552.87,
+   "target_area_mm2": 6496.15,
+   "n_target_strokes": 43.0,
+   "stroke_coverage_01": 0.423524,
+   "stroke_coverage_02": 0.183952,
+   "stroke_coverage_03": 0.009768,
+   "stroke_coverage_04": 0.046289,
+   "stroke_coverage_05": 0.579505,
+   "stroke_coverage_06": 0.372984,
+   "stroke_coverage_07": 0.908152,
+   "stroke_coverage_08": 0.043902,
+   "stroke_coverage_09": 0.480535,
+   "stroke_coverage_10": 0.265314,
+   "stroke_coverage_11": 0.461354,
+   "stroke_coverage_12": 0.360357,
+   "stroke_coverage_13": 0.969607,
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+   "stroke_coverage_18": 1.0,
+   "stroke_coverage_19": 0.257297,
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+   "stroke_coverage_21": 0.326124,
+   "stroke_coverage_22": 0.639819,
+   "stroke_coverage_23": 0.396867,
+   "stroke_coverage_24": 0.618767,
+   "stroke_coverage_25": 0.671353,
+   "stroke_coverage_26": 0.239353,
+   "stroke_coverage_27": 0.410305,
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+   "stroke_coverage_34": 0.1824,
+   "stroke_coverage_35": 0.543846,
+   "stroke_coverage_36": 0.274733,
+   "stroke_coverage_37": 0.222765,
+   "stroke_coverage_38": 0.304004,
+   "stroke_coverage_39": 0.503846,
+   "stroke_coverage_40": 0.170569,
+   "stroke_coverage_41": 0.847037,
+   "stroke_coverage_42": 0.209081,
+   "stroke_coverage_43": 0.049536,
+   "n_strokes": 28.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.604972,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 18.0,
+   "max_strokes": 28.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 1.9967,
+   "register_dy_mm": -0.4437,
+   "register_shift_mm": 2.0454,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "iou_unregistered": 0.313359,
+   "boundary_f_unregistered": 0.289881,
+   "min_stroke_coverage_unregistered": 0.0,
+   "stray_frac_unregistered": 0.201482,
+   "success": 0,
+   "final_reward": 0.324557,
+   "path_mm": 1745.38,
+   "longest_stroke_mm": 146.27,
+   "mark_width_mm": 2.8524,
+   "max_path_mm": 6060.0,
+   "min_mark_width_mm": 1.15,
+   "colour_in": 0.0,
+   "scribble_max": 2.883,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.324557,
+   "sim_steps": 2684.0,
+   "resets": 1.0,
+   "n_contacts": 28.0,
+   "samples": 13420.0,
+   "contact_samples": 11581.0,
+   "max_press_m": 0.013101,
+   "max_tilt_deg_in_contact": 0.284927,
+   "max_speed_in_contact_mps": 0.2678,
+   "handle_contact_samples": 0.0,
+   "n_dips": 36.0,
+   "dry_strokes": 0.0,
+   "n_frames": 538.0,
+   "replay_wall_s": 132.5,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 2684,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 8,
+   "agent_resets": 1,
+   "agent_sim_steps": 12027,
+   "agent_records": 6,
+   "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-xingshu-huifenghechang-i00-privileged--3x7xdgk/replay.mp4",
+  "duration_s": 53.8,
+  "fps": 10.0,
+  "frames": 538,
+  "sha256": "1ef2d83964acdb96cd911b128edf715947062b47bba2a3617ca52952b4fb11d3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0、0.2 s 的右下主纸视图为空白，视频 0.4 s 开始出现黑色墨迹，视频 0.6–3.0 s 墨迹随机械臂末端毛笔划动增加；起始墨池区域在其他视图中被机械臂遮挡。"
+     },
+     {
+      "t": 0.4,
+      "log_step": 126,
+      "text_zh": "推断：初态干笔结合视频 0.4 s 的真实留墨，说明此前已蘸墨；以首次可见墨迹的视频 0.4 s 为达到锚点，实际蘸墨时刻在视频 0.0–0.4 s 内。log step 126 对最终交付文件的新进程重放返回 loaded=true、n_dips=36、dry_strokes=0，与本次评分器 reward 一致，支持上墨完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装的毛笔笔毫蘸取黑色墨池中的墨汁；起始接触受机械臂遮挡，由视频 0.4 s 起连续留墨和 log step 126 的 loaded=true、n_dips=36 共同确认。候选方式“蘸取”，现有抓握、压/擦和托/舀不能准确描述浸润吸墨。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.4–6.8 s 机械臂用末端毛笔在主纸左上书写，视频 4.8–6.8 s 的密集帧显示“和”的口部被写成细圆环；视频 8.0–18.0 s 右上“惠”逐渐出现，但中部结构和下部笔画形状、粗细明显简化。"
+     },
+     {
+      "t": 38.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–38.0 s 机械臂继续在左下和右下书写，随后在视频 40.0–52.0 s 添墨；右下主纸视图始终无遮挡，字内仍有大片留白和细弧，右下“風”向纸右缘拖出长线。视频 52.0–53.7 s 逐帧检查及视频 53.7 s 末帧仍呈现这些缺笔和杂墨。成功示例视频 59.4 s 的同一主纸视图显示完整的两列“惠風和暢”，其口部、惠字中部及下排字形明显不同；示例仅作外观参照。"
+     },
+     {
+      "t": 53.7,
+      "log_step": 126,
+      "text_zh": "观察：log step 124 保存最终 2684 行关节动作；log step 126 新进程重放该文件得到 IoU=0.324557、boundary_f=0.318344、min_stroke_coverage=0.009768、stray_frac=0.190245、n_strokes=28、success=0，均与本次 reward 对应字段一致；评分器还报告 deterministic=1、instance_exact=1、strict_ok=1、image_success=0。"
+     },
+     {
+      "t": 53.7,
+      "log_step": null,
+      "text_zh": "推断：视频前段尚缺其余字，后段至视频 53.7 s 仍有明显不匹配，且最终四项图像指标分别未过 0.80、0.75、0.80、0.04 门槛；因此整幅临帖节点从未达到，而非仅凭 success=0 推断未书写。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.4–52.0 s 的纸面图和侧视图显示，单臂固定安装的毛笔笔毫下压主纸并沿笔画移动，留下黑色墨迹，间歇抬笔转移；最终评分器报告 28 次主纸带墨接触。作用端为笔毫，对象为主纸，不重复标记毛笔与机械臂的固定连接。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.324557
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.318344
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.009768
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.190245
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 28.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 1745.38
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 2.8524
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "calligraphy_copied",
+   "t": 6.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.8–6.8 s 机械臂毛笔将左上“和”的口部写成细圆环，视频 6.8 s 已有偏离示例的字形；之后继续写其余三字并添墨，视频 53.7 s 仍未形成与示例相符的完整四字帖。推断：失败位于临帖书写本身，视频 6.8 s 作为早期明显字形偏差的导航锚点；后续添墨没有修复整幅结果。"
+  },
+  "unmet": {
+   "calligraphy_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 6.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 6.8 s 的“和”口部近似圆环；视频 18.0 s 的“惠”中部缺少示例中的连贯结构；视频 38.0–53.7 s 的下排字有大片缺笔、细弧和墨团，右下还拖出向纸右缘延伸的长杂线。成功示例视频 59.4 s 同视图的完整字形提供外观参照。推断：本次笔画落点、形状和宽度不能贴合目标墨迹，属于书写位姿偏差；这些结果可见于本次纸面，不是对低分的复述。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 123,
+    "evidence_zh": "推断：agent 在 log step 77 以手工控制点定义各字路径，在 log step 86 用近似圆盘墨迹模型优化控制点和宽度；log step 105 的脚本输出计划覆盖仅 0.414，agent 在 log step 106 自述手工笔画集缺少整笔。后续修订后的最终轨迹在 log step 123 的自建笔刷模型中已只有 IoU=0.3221、coverage=0.3998，log step 124 实际执行并保存后 IoU=0.324557，log step 126 重放相同，且视频 53.7 s 确见缺笔与杂墨。这共同支持笔画轨迹与墨线宽度生成方案不能准确复现字帖，根因记为控制；不能仅由这些数据细分为逆解、反馈控制或某一参数故障。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "起始蘸墨区域被机械臂遮挡，达到时间以视频 0.4 s 首次留墨为锚点，约有 0.4 s 不确定。无状态日志或最终交付轨迹的逐帧笔尖、压力与墨迹对应记录，不能分离字形路径设计、笔刷动态补偿与实际跟踪的误差贡献，控制根因不再细分；调试记录只作根因佐证。评分器未报告 n_strokes_counted、scribble_share，原生指标保留 null，不能据此补判 DAG 的新细分过程条件；四项已报告图像指标和可见结果足以判临帖节点未达。"
+ },
+ "summary_zh": "机械臂完成蘸墨，并用毛笔在主纸四个字的位置书写及添墨，最终完成 1/2 个节点；整幅临帖从未达标，原始 28 笔及本次过程检查通过，但四项图像匹配指标均失败。视频 6.8 s 已见“和”的口部成为圆环，至视频 53.7 s 仍有明显缺笔、字形偏差和右下长杂线，结合最终轨迹生成与重放记录，归因为控制方案不能准确复现目标字帖。起始蘸墨时间受遮挡，且无逐帧状态数据以细分控制误差；未报告的细分笔画数和盘绕占比不作补判。",
+ "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（蘸墨达到、临帖未达）、断点（calligraphy_copied，操作中）、现象（位姿不准）与根因（控制，证据不足时不细分）均与视频末帧和评分器指标相符；未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:46:15Z",
+  "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-xingshu-huifenghechang-i00-privileged--3x7xdgk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-privileged--3x7xdgk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2103e7dfad555f5e6e8e81f58715d66cd5f0e5d6b84e87649bf3a7d67c02d337",
+   "video_sha256": "1ef2d83964acdb96cd911b128edf715947062b47bba2a3617ca52952b4fb11d3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--4wbrnbk.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--4wbrnbk.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2d7872f59ec0751b0866bb1e6f45ced64a5ba31
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--4wbrnbk.json
@@ -0,0 +1,395 @@
+{
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+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-huifenghechang-i00-privileged--4wbrnbk",
+ "taskKey": "robopaint/xingshu_huifenghechang",
+ "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5",
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+   "instance_ok": 1,
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+   "agent_sessions": 6,
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+   "agent_cost_self_reported": 1,
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+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-xingshu-huifenghechang-i00-privileged--4wbrnbk/replay.mp4",
+  "duration_s": 45.7,
+  "fps": 10.0,
+  "frames": 457,
+  "sha256": "f6f26995109cdc235213d8a4925fa0d6048b036c70115fcfcdd4d897da6efda5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": null,
+      "text_zh": "推断：视频 0.2–0.7 s 的右上视图中，机械臂末端移到主纸旁黑色墨池处并下降，腕部遮住笔尖与墨面的交界；视频 1.0 s 右下主纸图首次出现黑色墨点，随后墨线持续增长，确认此前已蘸墨。以视频约 0.3 s 为蘸墨完成锚点，误差约 0.3 s。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 246,
+      "text_zh": "观察：视频 1.0–2.0 s 主纸上的黑色墨点延长为弯曲笔画。log step 246 保存的最终轨迹重放报告 loaded=true、n_dips=2；评分器 reward.n_dips=2，且此后直到视频 45.6 s 都有真实墨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：视频 0.2–0.7 s 机械臂将末端安装毛笔移入黑色墨池处，随后主纸留墨，结合最终交付重放的 n_dips=2，确认笔毫接触墨汁。候选方式为“蘸取”，浸润上墨不属于抓握、压/擦或托/舀；不重复标记固定笔杆的连接。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸空白；视频 2.0–10.0 s 机械臂先写右上“惠”，视频 12.0–20.0 s 写左上“和”，视频 22.0–32.0 s 写左下“暢”；视频 34.0 s 右下“風”仍只有少量笔画，整幅尚未临成。"
+     },
+     {
+      "t": 43.5,
+      "log_step": null,
+      "text_zh": "观察：视频 37.0–43.5 s 机械臂补写右下“風”；视频 43.5–44.0 s 才添上外框顶部斜横。视频 44.0–45.6 s 的主纸中，“和”左半与“暢”内部局部笔画偏粗、粘连、留白缩小，“惠”下部点画与弯钩形状同成功参考视频 59.4 s 有可见差异；四字可辨但不能据此判为达标。"
+     },
+     {
+      "t": 45.6,
+      "log_step": 246,
+      "text_zh": "观察：最终交付轨迹在 log step 246 保存并重放，IoU=0.7872、最低区域覆盖=0.4098、success=0；log step 251、253 的两个新进程重放结果一致。评分器给出更精确的 iou=0.787229<0.80、min_stroke_coverage=0.409756<0.80（区域08），boundary_f=0.808753、stray_frac=0.037029、n_strokes=9、strict_ok=1。"
+     },
+     {
+      "t": 44.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–43.5 s 的缺字或未成形笔画，以及视频 44.0–45.6 s 保留的局部粗细与轮廓偏差，结合最终评分器的两项未达阈值，支持整幅临帖节点始终未达到验收条件；不将单字写出另算节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 1.0–45.6 s，固定底座单臂用末端安装毛笔的笔毫压住主纸并沿纸面移动，右下无遮挡纸面图随动作不断增加黑色墨线；实际接触为笔毫与主纸的压触书写，无独立握笔动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.787229
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.808753
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.409756
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.037029
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 9.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 3881.17
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 1.8569
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "calligraphy_copied",
+   "t": 43.5,
+   "log_step": 246,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 43.5–44.0 s 机械臂补写右下“風”的外框顶部；视频 44.0–45.6 s 的主纸仍可见“和”左半与“暢”内部局部笔画偏粗、粘连、留白缩小，“惠”下部点画与弯钩形状同成功参考视频 59.4 s 不同。log step 246 最终交付重放及评分器均显示 IoU 与最低区域覆盖不达标。此处以视频 43.5 s 的末段补写为导航锚点，并非精确的首次评分失效时刻。"
+  },
+  "unmet": {
+   "calligraphy_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔画粗细与轮廓偏差",
+    "t": 43.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 45.6 s 的右下无遮挡主纸图与成功参考视频 59.4 s 对照，“和”左半与“暢”内部局部笔画偏粗、粘连成墨块，部分留白缩小；“惠”下部的点画与弯钩形状也同参考不同。评分器 reward.stroke_coverage_08=0.409756，表明该评分区域覆盖不足；帧上无法将区域08对应到具体一笔，也不能据此区分缺笔与错位。",
+    "note_zh": "候选现象为“笔画粗细与轮廓偏差”，可见表现为局部偏粗、粘连及点画/钩形差异：现有接触、运动及全身现象没有准确描述纸面材料结果缺陷的条目；不能只凭纸面结果将其强判为末端位姿不准或接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 43.5,
+    "log_step": 246,
+    "evidence_zh": "推断：log step 189、197 的脚本将字形骨架转为落笔路径，并通过下压深度、起笔收细和转角减宽控制墨迹；log step 246 使用 taper_len=2.0、wscale=1.05、turn_dip=0.35 的配置生成最终交付，log step 251、253 的新进程重放重复相同纸面得分与状态哈希。结合视频 43.5–45.6 s 可见的局部偏粗、粘连和点画/钩形差异，问题落在书写路径与笔宽控制未充分复现目标墨迹；没有足够证据进一步区分路径生成、笔刷接触模型补偿和机械臂跟踪各自的贡献。",
+    "source_zh": "日志 / 视频 / 评分器字段",
+    "note_zh": "停在“控制”层级；不将调参次数、停止提交或低分本身当作根因，也不据 agent 的末次自述断定某个参数或具体骨架区域必然有误。"
+   }
+  ],
+  "gap_zh": "无状态日志或逐帧原生图像指标，不能确定各覆盖指标首次失效的精确时刻，也不能把区域08精确对应到视频中的某一笔。蘸墨时笔尖受腕部遮挡，完成锚点由视频 0.2–0.7 s 的动作、视频 1.0 s 起的真实留墨及最终重放 n_dips=2 联合推断；缺少最终交付的逐采样目标/实际笔尖及笔毫状态误差，控制根因不细分。DAG 中 n_strokes_counted、scribble_share 未在本次 reward 报告，原生指标保留 null。"
+ },
+ "summary_zh": "机械臂完成蘸墨，并在主纸写出两列“惠風和暢”，最终节点完成 1/2；整幅临帖因局部笔画粗细、轮廓与覆盖不足未达标，评分器 IoU=0.787229、最低区域覆盖=0.409756。断点为“临成四字帖”的操作中，末段视频 43.5–45.6 s 的补写仍未修复形状差异，最终交付的两次新进程重放一致。无状态日志及逐帧图像指标，蘸墨时刻为近似推断，书写控制问题不能进一步定位到具体控制环节。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、断点、时钟基本成立（蘸墨已达、临帖未达，评分器 IoU/区域08 覆盖不达标）。但现象证据里“風”外框顶横偏细的观察同末帧不符：末帧该笔并不细，可见缺陷是笔画过粗、粘连和局部缺笔。需改写现象证据。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "蘸墨已达、临帖未达（IoU 0.787<0.80、区域08覆盖0.41）、断点与现象/根因均有评分器与帧支持，第1轮修改已落实，未发现需改之处。",
+    "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": "2026-10-30T23:04:56Z",
+  "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-xingshu-huifenghechang-i00-privileged--4wbrnbk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-privileged--4wbrnbk/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-privileged--4wbrnbk/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-privileged--4wbrnbk/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2b1dd17ae18546e79ae580d6886822075c8e2afb2410fe97708bf2ca09824633",
+   "video_sha256": "f6f26995109cdc235213d8a4925fa0d6048b036c70115fcfcdd4d897da6efda5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--skxzczf.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--skxzczf.json
new file mode 100644
index 0000000000000000000000000000000000000000..122b40217d5b00af48b9493e0aca237f76717e28
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--skxzczf.json
@@ -0,0 +1,327 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-huifenghechang-i00-privileged--skxzczf",
+ "taskKey": "robopaint/xingshu_huifenghechang",
+ "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5",
+ "outcome": {
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+  "reward": 0.910514,
+  "source": "catalog",
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+   "boundary_precision": 0.96661,
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+   "missing_frac": 0.006145,
+   "ink_area_mm2": 6442.2,
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+   "longest_stroke_mm": 308.29,
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+   "deterministic": 1,
+   "instance_ok": 1,
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+   "n_actions": 9495,
+   "grader_error": 0,
+   "missing_trajectory": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 4,
+   "agent_sim_steps": 37981,
+   "agent_records": 2,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-xingshu-huifenghechang-i00-privileged--skxzczf/replay.mp4",
+  "duration_s": 59.5,
+  "fps": 10.0,
+  "frames": 595,
+  "sha256": "4d1b6137884a8921be908b7118720a3f6a445e67ea25f41640f146738a419307"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.2–0.5 s，机械臂把末端固定毛笔移至黑色圆形墨池，侧视图中笔尖在视频 0.4 s 降至墨池处，随后抬起；视频 1.0–2.0 s，右下无遮挡主纸图出现并持续增长的黑色墨迹。蘸墨时刻约为视频 0.4 s，精度约±0.2 s。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 30,
+      "text_zh": "推断：视频 1.0 s 起真实墨迹结合输入任务的初始干笔条件，确认毛笔已上墨；log step 30 对最终提交文件的新进程重放报告 loaded=true、n_dips=1、dry_strokes=0，与视频起始的一次蘸墨及随后持续书写一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约 0.4 s，机械臂末端固定毛笔的笔毫下降接触墨池墨汁，随后提起并在主纸留墨。候选方式为“蘸取”；浸润吸墨不属于抓握、推/扫、压/擦或托/舀，不重复标记笔杆与机械臂的固定连接。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸空白；视频 1.0 s 起，机械臂将固定毛笔下压并沿纸面移动，右下主纸图同步累积黑色笔画。全段粗查可见机器人先写右列惠、風，再写左列和、暢；侧视图可见笔尖在各笔段之间抬落。"
+     },
+     {
+      "t": 59.0,
+      "log_step": null,
+      "text_zh": "推断：已密查视频 53.0–59.4 s，尤其视频 56.5–59.4 s 每0.1 s的主纸图；暢字末部在视频约 59.0 s 补齐，之后至视频 59.4 s 四字排版与墨迹保持。以视频约 59.0 s 作为整体达标的保守视觉锚点；缺少逐帧图像评分，无法精确定位各阈值首次同时满足的时刻，不能将该时间理解为评分器的精确越阈时刻。"
+     },
+     {
+      "t": 59.4,
+      "log_step": 30,
+      "text_zh": "观察：视频 59.4 s 的无遮挡主纸图呈现右列上惠下風、左列上和下暢，未见缺字。inputs/run.json 的最终评分器字段 success=1、all_success=1、deterministic=1，IoU=0.910514、boundary_f=0.963328、min_stroke_coverage=0.843588、stray_frac=0.001402、n_strokes=28、strict_ok=1；log step 29–30 的两次最终文件重放均成功且 state_sha 相同。按本次运行实际评分规则判该目标最终成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 1.0–59.0 s，单臂末端固定毛笔的笔毫下压接触主纸并沿笔画擦行，形成粗细变化的永久墨迹，笔段间提笔转移；不另标机械臂与笔杆的固定连接。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.910514
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.963328
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.843588
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.001402
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 28.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 3768.47
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 2.3265
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机械臂在视频约 0.4 s 蘸墨，随后在主纸写成两列惠風和暢，两个节点最终均完成；整体达标以视频约 59.0 s 的末笔成形作保守锚点，末帧视频 59.4 s 保持完整。最终评分器判成功，原始带墨接触28笔，IoU为0.910514，两次新进程重放成功且终态一致，早先29次接触的测试已修复，不属于本次失败。证据局限及规则版本差异：无状态日志或逐帧图像评分，无法精确确定首次越阈时刻；本次旧版结果未报告当前DAG的n_strokes_counted及scribble_share，原生指标保留null，目标按本次实际成功规则标记，不据末帧补推这两项数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，两个节点均达成；蘸墨约0.4 s、四字在约59 s前后成形，与视频帧一致，接触标注合理，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:48:30Z",
+  "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-xingshu-huifenghechang-i00-privileged--skxzczf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-privileged--skxzczf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "95647c94d07d15d5584577f83d0cb3cdaccc2a3be0af542261d66ce095a405d5",
+   "video_sha256": "4d1b6137884a8921be908b7118720a3f6a445e67ea25f41640f146738a419307",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--tcighgz.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--tcighgz.json
new file mode 100644
index 0000000000000000000000000000000000000000..c74bba149e84063a617468986ff2b93e8944e0e2
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--tcighgz.json
@@ -0,0 +1,375 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-huifenghechang-i00-privileged--tcighgz",
+ "taskKey": "robopaint/xingshu_huifenghechang",
+ "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5",
+ "outcome": {
+  "success": 0,
+  "reward": 0.243936,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.243936,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.30492,
+   "boundary_precision": 0.455995,
+   "boundary_recall": 0.356385,
+   "boundary_f": 0.400083,
+   "ink_precision": 0.592755,
+   "ink_recall": 0.385726,
+   "min_stroke_coverage": 0.0,
+   "mean_stroke_coverage": 0.397308,
+   "stray_frac": 0.162096,
+   "missing_frac": 0.455519,
+   "ink_area_mm2": 4227.27,
+   "target_area_mm2": 6496.15,
+   "n_target_strokes": 43.0,
+   "stroke_coverage_01": 0.424402,
+   "stroke_coverage_02": 0.359576,
+   "stroke_coverage_03": 0.103785,
+   "stroke_coverage_04": 0.39365,
+   "stroke_coverage_05": 0.271201,
+   "stroke_coverage_06": 0.133443,
+   "stroke_coverage_07": 0.964409,
+   "stroke_coverage_08": 0.400976,
+   "stroke_coverage_09": 0.486055,
+   "stroke_coverage_10": 0.131905,
+   "stroke_coverage_11": 0.188137,
+   "stroke_coverage_12": 0.500084,
+   "stroke_coverage_13": 0.825797,
+   "stroke_coverage_14": 0.470959,
+   "stroke_coverage_15": 0.442362,
+   "stroke_coverage_16": 0.228799,
+   "stroke_coverage_17": 0.431436,
+   "stroke_coverage_18": 1.0,
+   "stroke_coverage_19": 0.332432,
+   "stroke_coverage_20": 0.430704,
+   "stroke_coverage_21": 0.281161,
+   "stroke_coverage_22": 0.407641,
+   "stroke_coverage_23": 0.151436,
+   "stroke_coverage_24": 0.564972,
+   "stroke_coverage_25": 0.949033,
+   "stroke_coverage_26": 0.162263,
+   "stroke_coverage_27": 0.0,
+   "stroke_coverage_28": 0.001833,
+   "stroke_coverage_29": 0.0,
+   "stroke_coverage_30": 0.0,
+   "stroke_coverage_31": 0.473793,
+   "stroke_coverage_32": 0.995865,
+   "stroke_coverage_33": 0.255927,
+   "stroke_coverage_34": 0.544,
+   "stroke_coverage_35": 0.992308,
+   "stroke_coverage_36": 0.541637,
+   "stroke_coverage_37": 0.297521,
+   "stroke_coverage_38": 0.375647,
+   "stroke_coverage_39": 0.621154,
+   "stroke_coverage_40": 0.411974,
+   "stroke_coverage_41": 0.055122,
+   "stroke_coverage_42": 0.187962,
+   "stroke_coverage_43": 0.292879,
+   "n_strokes": 35.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.919244,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 24.0,
+   "max_strokes": 28.0,
+   "stroke_count_ok": 0.0,
+   "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,
+   "iou_unregistered": 0.304436,
+   "boundary_f_unregistered": 0.391019,
+   "min_stroke_coverage_unregistered": 0.0,
+   "stray_frac_unregistered": 0.162346,
+   "path_mm": 1093.06,
+   "longest_stroke_mm": 133.18,
+   "mark_width_mm": 4.2108,
+   "max_path_mm": 6060.0,
+   "min_mark_width_mm": 1.15,
+   "colour_in": 0.0,
+   "n_marked_pieces": 35.0,
+   "n_strokes_counted": 35.0,
+   "max_stroke_path_mm": 1250.0,
+   "longest_counted_stroke_mm": 133.18,
+   "strokes_counted_ok": 0.0,
+   "scribble_max": 2.0451,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 0.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.243936,
+   "sim_steps": 958.0,
+   "resets": 1.0,
+   "n_contacts": 35.0,
+   "samples": 4790.0,
+   "contact_samples": 1695.0,
+   "max_press_m": 0.014564,
+   "max_tilt_deg_in_contact": 0.531634,
+   "max_speed_in_contact_mps": 0.155543,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 480.0,
+   "replay_wall_s": 108.4,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 958,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 2,
+   "agent_sim_steps": 1916,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-xingshu-huifenghechang-i00-privileged--tcighgz/replay.mp4",
+  "duration_s": 48.0,
+  "fps": 10.0,
+  "frames": 480,
+  "sha256": "489608c710b23e0fc261089c74a8075452342d81342d0e7fde835a97dfd1796b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.7,
+      "log_step": 36,
+      "text_zh": "观察：视频 1.4–2.6 s，机械臂末端毛笔在墨池位置下降并停留，随后离开；侧视可见笔尖下降，但墨面阈值及笔毫颜色受尺度和遮挡影响。log step 36 的最终生成脚本先将笔尖移至墨池中心，再降至 z=0.024 m 并停留。"
+     },
+     {
+      "t": 3.8,
+      "log_step": 40,
+      "text_zh": "推断：视频 3.8 s 右下无遮挡主纸首次出现真实黑色墨迹，结合交付轨迹的重放输出（log step 40：n_dips=1、loaded=true、n_dry_strokes=0）确认已蘸墨；蘸墨完成时刻据下降停留画面估为视频约 1.7 s，误差约 0.3 s。此后持续留墨，视频 47.9 s 纸面墨迹仍保留。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂固定安装毛笔的笔毫浸入墨池墨汁，随后在主纸留下黑墨；视频约 1.7 s 的下降停留与 log step 40 的 n_dips=1 相互支持。候选方式为“蘸取”，浸润吸墨不属于抓握、压/擦或托/舀，不重复标安装连接。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.4,
+      "log_step": null,
+      "text_zh": "观察：视频 3.8–13.4 s，机械臂用末端毛笔书写右上“惠”；到视频 13.4 s，其中部仅有稀疏细弧与短线，未形成成功参考末帧（参考视频 59.4 s）中密集的横竖结构。随后机械臂转写左上区域，原有缺损一直保留。"
+     },
+     {
+      "t": 20.6,
+      "log_step": null,
+      "text_zh": "观察：视频 14.2–20.6 s，机械臂在左上“和”的位置添墨，但结果是长斜线、短竖和右端粗黑团，左部多条笔画缺失；视频 21.2 s 后毛笔转写右下“風”，视频约 30.5 s 后转写左下“暢”。"
+     },
+     {
+      "t": 47.9,
+      "log_step": 40,
+      "text_zh": "观察：视频 46.0–47.9 s 的无遮挡主纸保持同一结果，四字位置均有墨迹，但“惠”“和”缺笔，右下“風”和左下“暢”也有明显粗细、连接与形状偏差；与参考视频 59.4 s 的完整字形相差显著。交付文件的重放结果（log step 40）与评分器 reward 一致：IoU=0.304920<0.80、boundary_f=0.400083<0.75、min_stroke_coverage=0<0.80、stray_frac=0.162096>0.04，n_strokes 与 n_strokes_counted 均为35>28；没有达到整幅临帖验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 3.8–45.0 s，单臂末端安装的毛笔笔毫接触主纸并沿字形移动，纸面逐段增加黑色墨迹；视频 13.4 s、20.6 s 及 47.9 s 可核对留墨结果。作用链为毛笔笔毫与主纸接触，不另标笔杆安装连接。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.30492
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.400083
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.162096
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 35.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 35.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 1093.06
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 4.2108
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "calligraphy_copied",
+   "t": 13.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 13.4 s，机械臂完成右上“惠”区域的这一轮书写后转向左上，留下的“惠”中部稀疏、缺少应有横竖结构；后续没有补写，直到视频 47.9 s 仍保留相同缺损。此处为首个字形偏差未修复的导航锚点；整体书写还继续进行，但整幅临帖节点始终未达标。"
+  },
+  "unmet": {
+   "calligraphy_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 13.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 13.4 s 的“惠”中部是稀疏细弧，视频 20.6 s 的“和”左部仅有长斜线和短竖，右部聚成粗黑团；这些笔画位置、连接和粗细偏差一直留至视频 47.9 s。成功参考视频 59.4 s 的同一无遮挡纸面视图显示相应字形有完整横竖和清楚留白，故可确认是实际留墨形状偏离目标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 36,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 2 的实例字段为 control_hz=20、sim_hz=100；log step 13 的离线画笔逐样本更新，并将样本数除以100报告仿真时长。然而最终生成器（log step 36，循环边界在 log step 37 修正）每调用一次 s.step 就按 i=10*k+LOOK 前进10个离线样本，使实际执行的采样节奏约为离线模拟的两倍，笔刷拖尾及抬笔接触不能按离线结果复现。log step 39 同次生成报告离线26个计划接触、8565个样本，而实际交付为35个接触，且重放（log step 40）仍得到相同35笔与失败指标；结合视频 13.4–47.9 s 的缺笔、粗细及连接偏差，支持生成器的轨迹与笔压控制不匹配这一根因。",
+    "note_zh": "采样节奏不一致可从代码与控制频率核实；没有逐帧笔尖或笔刷状态，不能将每一处字形误差唯一归到轨迹跟踪、笔压参数或残余航点偏差，故保留在“控制”层级。"
+   }
+  ],
+  "gap_zh": "未提供状态日志；上墨与纸面缺损可由视频及交付重放字段确认，但蘸墨阈值穿越时刻仅能估为视频约 1.7 s（误差约 0.3 s）。日志中的部分源码片段已有截断，且无逐帧笔尖跟踪误差及笔刷状态，不能把各处缺笔分别定量归因于笔压、轨迹跟踪或航点位置。"
+ },
+ "summary_zh": "机械臂约在视频 1.7 s 完成蘸墨，随后书写四个字的位置，最终完成1/2个节点；交付文件经重放核验，但整幅临帖未达标。视频 13.4 s 起可见未修复的“惠”字缺笔，末帧另有“和”等字的形状和粗细偏差，评分器同时记录35笔超过28笔上限；生成脚本的离线采样与实际控制节奏不一致支持控制根因。无状态日志，蘸墨时刻为近似值，各处误差的具体控制分量无法逐一分解。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（蘸墨约1.7 s达成、整幅临帖未达成，final=1/2）、接触、断点锚点与评分器数字一致；根因“控制”由代码中的采样节奏不一致（20 Hz 控制步×10样本 vs 离线100 Hz逐样本）推断，标为推断且停在父级，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": "2026-10-30T22:47:56Z",
+  "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-xingshu-huifenghechang-i00-privileged--tcighgz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-privileged--tcighgz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8defe2c109c5b6a84f2c249298a124ab828a60c30988d0f1a3f6aafc8a1d6678",
+   "video_sha256": "489608c710b23e0fc261089c74a8075452342d81342d0e7fde835a97dfd1796b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--tfswpzx.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--tfswpzx.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a702e508122d38dee4ad187a690211b403e755a
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--tfswpzx.json
@@ -0,0 +1,340 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-huifenghechang-i00-privileged--tfswpzx",
+ "taskKey": "robopaint/xingshu_huifenghechang",
+ "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5",
+ "outcome": {
+  "success": 1,
+  "reward": 0.860782,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "final_reward": 0.860782,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "iou": 0.860782,
+   "boundary_precision": 0.943812,
+   "boundary_recall": 0.920336,
+   "boundary_f": 0.931926,
+   "ink_precision": 0.885605,
+   "ink_recall": 0.968464,
+   "min_stroke_coverage": 0.827839,
+   "mean_stroke_coverage": 0.96757,
+   "stray_frac": 0.006948,
+   "missing_frac": 0.006835,
+   "ink_area_mm2": 7103.94,
+   "target_area_mm2": 6496.15,
+   "n_target_strokes": 43.0,
+   "stroke_coverage_01": 0.979153,
+   "stroke_coverage_02": 0.987131,
+   "stroke_coverage_03": 0.827839,
+   "stroke_coverage_04": 0.971308,
+   "stroke_coverage_05": 0.972615,
+   "stroke_coverage_06": 0.964214,
+   "stroke_coverage_07": 0.969001,
+   "stroke_coverage_08": 0.954146,
+   "stroke_coverage_09": 0.999709,
+   "stroke_coverage_10": 0.850808,
+   "stroke_coverage_11": 0.887058,
+   "stroke_coverage_12": 0.991573,
+   "stroke_coverage_13": 0.988139,
+   "stroke_coverage_14": 0.968721,
+   "stroke_coverage_15": 0.982668,
+   "stroke_coverage_16": 0.993816,
+   "stroke_coverage_17": 0.991328,
+   "stroke_coverage_18": 0.992126,
+   "stroke_coverage_19": 0.983243,
+   "stroke_coverage_20": 0.963753,
+   "stroke_coverage_21": 0.937393,
+   "stroke_coverage_22": 0.945845,
+   "stroke_coverage_23": 0.962794,
+   "stroke_coverage_24": 0.966225,
+   "stroke_coverage_25": 1.0,
+   "stroke_coverage_26": 0.98955,
+   "stroke_coverage_27": 0.996183,
+   "stroke_coverage_28": 0.989918,
+   "stroke_coverage_29": 0.998956,
+   "stroke_coverage_30": 0.833691,
+   "stroke_coverage_31": 0.957873,
+   "stroke_coverage_32": 0.998622,
+   "stroke_coverage_33": 0.971444,
+   "stroke_coverage_34": 0.974933,
+   "stroke_coverage_35": 0.998462,
+   "stroke_coverage_36": 0.967972,
+   "stroke_coverage_37": 0.975207,
+   "stroke_coverage_38": 0.987197,
+   "stroke_coverage_39": 0.988462,
+   "stroke_coverage_40": 0.969769,
+   "stroke_coverage_41": 0.987598,
+   "stroke_coverage_42": 0.990496,
+   "stroke_coverage_43": 0.998555,
+   "n_strokes": 7.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.52381,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 7.0,
+   "max_strokes": 28.0,
+   "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,
+   "iou_unregistered": 0.860782,
+   "boundary_f_unregistered": 0.931926,
+   "min_stroke_coverage_unregistered": 0.827839,
+   "stray_frac_unregistered": 0.006948,
+   "path_mm": 4607.79,
+   "longest_stroke_mm": 1187.23,
+   "mark_width_mm": 1.5417,
+   "max_path_mm": 6060.0,
+   "min_mark_width_mm": 1.15,
+   "colour_in": 0.0,
+   "scribble_max": 11.4657,
+   "strict_ok": 1.0,
+   "image_success": 1.0,
+   "image_final_reward": 0.860782,
+   "sim_steps": 6674.0,
+   "resets": 1.0,
+   "n_contacts": 7.0,
+   "samples": 33370.0,
+   "contact_samples": 31141.0,
+   "max_press_m": 0.01237,
+   "max_tilt_deg_in_contact": 0.080001,
+   "max_speed_in_contact_mps": 0.047429,
+   "handle_contact_samples": 0.0,
+   "n_dips": 1.0,
+   "dry_strokes": 0.0,
+   "n_frames": 558.0,
+   "replay_wall_s": 148.2,
+   "all_success": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 6674,
+   "video_rendered": 1,
+   "agent_sessions": 16,
+   "agent_resets": 47,
+   "agent_sim_steps": 256532,
+   "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-xingshu-huifenghechang-i00-privileged--tfswpzx/replay.mp4",
+  "duration_s": 55.8,
+  "fps": 10.0,
+  "frames": 558,
+  "sha256": "74c7127d744e1a85c7a8b8d1f9d0be1ef23c5dd7abf040a60add6ca08ffd0a14"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频0.4–0.6 s，机械臂末端毛笔降低到主纸左侧黑色墨池处；视频0.8 s已抬离，视频1.3–1.6 s右下无遮挡纸面图出现首段黑色墨迹。评分器reward.n_dips=1、dry_strokes=0。"
+     },
+     {
+      "t": 0.5,
+      "log_step": 36,
+      "text_zh": "推断：结合视频起始下探、随后真实留墨及评分器一次蘸墨的记录，毛笔在视频约0.5 s完成上墨，时间误差约0.2 s；墨面与笔尖交界在低分辨率画面中不够清晰，未从agent时间换算。log step 36选定并独立重放的交付轨迹指标与本次reward一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选方式：蘸取。机械臂将固定安装毛笔的笔毫浸入左侧墨池墨汁，随后在纸面留墨；浸润吸墨不适合抓握、压/擦或托/舀。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      55.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 51.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗查显示机器人先写右下“風”，再形成右上“惠”的主体、左上“和”及左下“暢”；视频51.9 s右上“惠”的下部尚未写出，视频52.0–54.9 s机械臂继续补写该字下部。"
+     },
+     {
+      "t": 55.2,
+      "log_step": null,
+      "text_zh": "观察：视频55.0–55.2 s右上“惠”下部左侧最后的小点形成；视频55.2–55.7 s右下无遮挡主纸图保持右列上惠下風、左列上和下暢的完整布局，毛笔随后抬起。成功参考录像的无遮挡纸面图具有相同四字布局，仅用于比对完成外观。"
+     },
+     {
+      "t": 55.2,
+      "log_step": 36,
+      "text_zh": "推断：以视频约55.2 s作为整幅首次达标的视觉估计，误差约0.3 s；缺少逐帧图像评分，不能精确确定阈值越过的帧。终态由本次评分器success=1、IoU=0.860782、boundary_f=0.931926、min_stroke_coverage=0.827839、stray_frac=0.006948及n_strokes=7确认；log step 36的两次独立重放均成功且终态哈希相同，与本次评分指标一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "视频1.3–55.2 s，单臂末端固定毛笔的笔毫接触并沿主纸移动，留下粗细变化的黑色笔画；多次转向及补写均作用于主纸，不重复标记笔杆的安装连接。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.860782
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.931926
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.827839
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.006948
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 7.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 4607.79
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 1.5417
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人在视频约0.5 s完成蘸墨，并在视频约55.2 s补完“惠”字下部，终态完成2/2节点，评分器以7笔、IoU=0.860782及最低区域覆盖0.827839判定成功。log step 36的两次独立重放均成功，log step 37重新生成的6674步动作与交付文件逐项相同，视频末秒纸面结果保持。无状态日志或逐帧评分，首次达标时刻为视觉估计；本次评分字段未报告DAG现行规则中的n_strokes_counted与scribble_share，按本次实际评分规则保留成功并将这两项原生指标记为null（P19），不将缺失字段冒充零值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点的时间与取值与视频一致：视频约0.5 s蘸墨，视频50 s“惠”下部未成，视频55.7 s四字布局完整；成功成绩支持终态，无失败层，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": "2026-10-30T22:39:30Z",
+  "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-xingshu-huifenghechang-i00-privileged--tfswpzx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-privileged--tfswpzx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "95edb8e90b1212a29f170a1ff5eae8097ae1a339e7743c81300c875a8f864790",
+   "video_sha256": "74c7127d744e1a85c7a8b8d1f9d0be1ef23c5dd7abf040a60add6ca08ffd0a14",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--u7kn4d7.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--u7kn4d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..9865b177b0bf8aaff87bf131cf5b754e9db807d8
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--u7kn4d7.json
@@ -0,0 +1,396 @@
+{
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+ "taskKey": "robopaint/xingshu_huifenghechang",
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+   "instance_ok": 1,
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+   "agent_sessions": 91,
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+   "agent_records": 7,
+   "agent_replays": 45,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.078,
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+   "peak_disk_gb": 0.88,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-xingshu-huifenghechang-i00-privileged--u7kn4d7/replay.mp4",
+  "duration_s": 59.8,
+  "fps": 10.0,
+  "frames": 598,
+  "sha256": "1e4c03385364ec0979c50ab034cca512aa4841ee92c6dc38ac9889c9d275572e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.4,
+      "log_step": 196,
+      "text_zh": "观察：视频 0.0、0.2 s 主纸空白，视频 0.4 s 右下无遮挡纸面已出现黑色墨点，此后机械臂毛笔持续留下墨线；交付文件的重放结果（log step 196）报告 loaded=true、n_dips=1、dry_strokes=0，与评分器 reward.n_dips=1 一致。"
+     },
+     {
+      "t": 0.2,
+      "log_step": 196,
+      "text_zh": "推断：根据任务规定的干笔初态、视频 0.4 s 已留墨及交付重放的一次蘸墨记录，末端毛笔已在首次留墨前蘸取墨汁；到达时间约为视频 0.2 s，受开头机械臂遮挡及视频采样限制，不能逐帧定位浸入墨面的瞬间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：安装在单臂末端的毛笔笔毫浸入墨池吸墨（交付重放 log step 196 的 n_dips=1，视频 0.4 s 起留墨）。候选方式为“蘸取”；浸润吸墨不属于抓握、推/扫、压/擦或托/舀，不重复标记笔杆的安装连接。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.4–13.0 s 机械臂先在右下区域书写“風”，视频 12.5、13.0、14.0 s 的无遮挡纸面显示其顶部横折很细、内部有空隙且下部墨线堆粗；随后才转向左上及左下区域，视频 35.0 s 右上“惠”区域仍空白，整幅尚未形成。"
+     },
+     {
+      "t": 59.7,
+      "log_step": 196,
+      "text_zh": "观察：视频 58.0–59.7 s 右下视图已呈现两列四字，但“惠”的中部横画呈细线与不规则圈折，“風”的上缘细而下部成粗团，和成功参考视频 59.4 s 的完整匀称轮廓有明显差异。评分器及交付重放（log step 196）一致报告 IoU=0.597266<0.80、boundary_f=0.534329<0.75、min_stroke_coverage=0.372405<0.80、stray_frac=0.081044>0.04；n_strokes=n_strokes_counted=7、strict_ok=1，未达到图像验收。"
+     },
+     {
+      "t": 59.7,
+      "log_step": 185,
+      "text_zh": "观察：log step 184 保存最终 67399 个动作，log step 185 检查其与最佳候选动作数组完全相同；log step 181、196 的两次新进程重放均返回相同 state_sha 和图像指标。视频展现先“風”、再“和”及“暢”的部分、再“惠”并补足剩余部分的交付过程，会话中其他候选的结果不计入本次进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.4–58.8 s，单臂末端安装的毛笔笔毫接触主纸并移动，右下无遮挡纸面随之生成黑色墨线；视频 12.5–14.0 s 和 35.0–45.0 s 可对照笔尖移动与纸面留墨。交付重放 log step 196 报告 7 次带墨接触；不重复标记固定安装的笔杆。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.597266
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.534329
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.372405
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.081044
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 7.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 7.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 2304.47
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 2.6324
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "calligraphy_copied",
+   "t": 13.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 12.5–14.0 s 机械臂书写的首个“風”已出现上部细空、下部粗重的轮廓偏差，之后转向其他区域；视频 58.0–59.7 s 这些偏差仍保留，四字的局部粗细与转折没有复现成功参考视频 59.4 s 的形状。最终评分器的四项图像指标均未达标；断点为整幅临帖步骤，视频 13.0 s 是首个已成形字出现持续偏差的导航锚点。"
+  },
+  "unmet": {
+   "calligraphy_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔画轮廓与粗细偏差",
+    "t": 13.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 12.5–14.0 s 的“風”上缘和内部出现细线及空隙，下部墨迹聚成粗团；视频 58.0–59.7 s 的“惠”中部仍有不规则细圈与欠填横画。对照成功参考视频 59.4 s，其相应横画更完整、粗细与转折清晰；本次同时存在局部少墨和多余延伸墨线。",
+    "note_zh": "候选现象为“笔画轮廓与粗细偏差”。实际已建立带墨书写接触，证据展示的是材料墨迹的形状缺陷；现有位姿不准不能完整表达笔画粗细、空缺与多余墨线，且无阻挡、丢失工具或异常接触力的直接证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志、视频、评分器字段",
+    "evidence_zh": "推断：agent 的脚本采用目标骨架的闭合回扫路线（log step 65），最终文件元数据仍为 skeleton closed sweeps、width_scale=0.7（log step 185）；log step 184 报告最终轨迹 IK failures=0，log step 196 确认已蘸墨并完成 7 次接触。结合视频 12.5–14.0 s 及 58.0–59.7 s 可见的粗细失配、细圈和局部空缺，可归因为毛笔落笔路径与下压控制没有生成目标笔画形状；未有足够逐帧笔毫状态证据区分接触设计、跟踪反馈或具体参数问题。"
+   }
+  ],
+  "gap_zh": "无状态日志及逐帧笔尖、笔毫形变和纸面评分；开头蘸墨被机械臂遮挡，视频 0.2 s 到达时刻由视频 0.4 s 首次留墨及交付重放的一次蘸墨推定，精度约半秒。视频可确认最终墨迹缺陷，精确图像数值采用评分器及交付重放结果；控制根因只能判到大类。"
+ },
+ "summary_zh": "机械臂完成蘸墨并以 7 段带墨接触形成两列四字，最终完成 1/2 个节点。临帖步骤从首个“風”成形时已出现持续的粗细与轮廓偏差，最终 IoU、边界F、最低区域覆盖及杂墨比例均未达标，过程规则通过；日志与画面支持书写控制不足。无逐帧状态日志，蘸墨时刻约为视频 0.2 s，具体控制子因无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（蘸墨约 0.2 s 到达、临帖未完成、断点为整幅临帖步骤）与视频和评分器一致；唯一问题是根因 item 用了泛称“控制·控制”，该值在规则中只留给 agent 自身控制器崩溃（D38/OPEN-29），此处并无崩溃。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "蘸墨约0.2 s到达、临帖未完成、断点为整幅临帖步骤均与视频和评分器一致；根因“控制”泛称符合 03_trajectory.md 与 TAXONOMY_v2 “分不出子类时停在控制”的规则，上一轮已被有据驳回，无新证据。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:06:26Z",
+  "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-xingshu-huifenghechang-i00-privileged--u7kn4d7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-privileged--u7kn4d7/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-privileged--u7kn4d7/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-privileged--u7kn4d7/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ea2c84bf243022ee5dd0353b1bd5c15690f808632cd9adfc6d3b690ab3d7e44e",
+   "video_sha256": "1e4c03385364ec0979c50ab034cca512aa4841ee92c6dc38ac9889c9d275572e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--aei4kbp.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--aei4kbp.json
new file mode 100644
index 0000000000000000000000000000000000000000..162ae891fb6995d8a4dbae2624cfe1f1b589ad31
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--aei4kbp.json
@@ -0,0 +1,359 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-huifenghechang-i00-standard--aei4kbp",
+ "taskKey": "robopaint/xingshu_huifenghechang",
+ "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5",
+ "outcome": {
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+  "reward": 0.796462,
+  "source": "catalog",
+  "raw": {
+   "iou": 0.796462,
+   "boundary_precision": 0.812076,
+   "boundary_recall": 0.808347,
+   "boundary_f": 0.810207,
+   "ink_precision": 0.845081,
+   "ink_recall": 0.932632,
+   "min_stroke_coverage": 0.754292,
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+   "missing_frac": 0.010002,
+   "ink_area_mm2": 7169.16,
+   "target_area_mm2": 6496.15,
+   "n_target_strokes": 43.0,
+   "stroke_coverage_01": 0.970814,
+   "stroke_coverage_02": 1.0,
+   "stroke_coverage_03": 0.949939,
+   "stroke_coverage_04": 0.955241,
+   "stroke_coverage_05": 0.989399,
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+   "stroke_coverage_17": 0.928997,
+   "stroke_coverage_18": 0.995079,
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+   "stroke_coverage_20": 0.940299,
+   "stroke_coverage_21": 0.97325,
+   "stroke_coverage_22": 0.93974,
+   "stroke_coverage_23": 0.89752,
+   "stroke_coverage_24": 0.93073,
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+   "stroke_coverage_27": 0.978372,
+   "stroke_coverage_28": 0.956004,
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+   "stroke_coverage_31": 0.906974,
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+   "stroke_order_concordance": 0.745205,
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+   "strokes_matched_distinct": 18.0,
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+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
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+   "iou_unregistered": 0.796462,
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+   "final_reward": 0.796462,
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+   "mark_width_mm": 2.5372,
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+   "min_mark_width_mm": 1.15,
+   "colour_in": 0.0,
+   "scribble_max": 6.7082,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.796462,
+   "sim_steps": 21775,
+   "resets": 1.0,
+   "n_contacts": 47.0,
+   "samples": 108875.0,
+   "contact_samples": 52958.0,
+   "max_press_m": 0.017793,
+   "max_tilt_deg_in_contact": 0.102627,
+   "max_speed_in_contact_mps": 0.128868,
+   "handle_contact_samples": 0.0,
+   "n_dips": 30.0,
+   "dry_strokes": 0.0,
+   "n_frames": 590.0,
+   "replay_wall_s": 105.51,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 21775,
+   "physics_steps": 108875,
+   "steps": 21774,
+   "calls": 403,
+   "elapsed_s": 4943.9,
+   "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,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-xingshu-huifenghechang-i00-standard--aei4kbp/replay.mp4",
+  "duration_s": 59.0,
+  "fps": 10.0,
+  "frames": 590,
+  "sha256": "77d778360198a4aa25f191a8f762b70260eaf1a8d57cd238f8b557bd041eda05"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": 15,
+      "text_zh": "推断：视频0.4–0.5 s的场景视图中，机械臂末端笔尖在黑色墨池处下探，视频0.6 s后移向练习纸；视频1.4–2.5 s侧视图可见笔尖划出真实黑线，确认此前已蘸墨。首次上墨记为视频约0.5 s，误差约0.2 s；墨面深度受遮挡，未从画面量测。log step 15的脚本先将笔尖降入墨池再画练习线，评分器reward.n_dips=30、n_dry_strokes=0与画面相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频0.4–0.5 s单臂末端安装的毛笔笔尖下探黑色墨池，随后在练习纸留下黑线。候选方式为“蘸取”，即笔毫浸润吸墨；抓握、托/舀或压/擦不能准确描述这一接触，不重复标记固定安装的笔杆。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.6,
+      "log_step": 45,
+      "text_zh": "观察：视频0–12 s主纸为空白，机械臂在旁边的练习纸试笔；视频13.6 s右下主纸视图开始出现惠字第一横，随后依次写惠、風、和、暢。log step 45提交前两笔主纸轨迹，log step 63、76、83分别开始后续字的书写；这些日志仅辅助确认动作顺序，视频时间直接取自画面。"
+     },
+     {
+      "t": 23.0,
+      "log_step": 70,
+      "text_zh": "观察：视频22.5–23.0 s，右下主纸视图的風字外折及右下钩端形成宽厚墨块；视频26–42 s逐渐补齐其余字，视频44–58.9 s仍在补描而过粗轮廓保留。成功参考视频59.4 s同一主纸视图中，風字的外折及钩端较收敛，参考只用于比较字形。"
+     },
+     {
+      "t": 58.9,
+      "log_step": 122,
+      "text_zh": "观察：视频58.0–58.9 s及末帧右下视图完整呈现两列四字，但風字外钩和惠字转折处较肥厚。评分器reward给出iou=0.796462<0.80、min_stroke_coverage=0.754292<0.80、stray_frac=0.057146>0.04，因此整幅验收未通过；boundary_f=0.810207、n_strokes=28、strict_ok=1，失败不是超出原始笔数上限。"
+     },
+     {
+      "t": 44.0,
+      "log_step": 95,
+      "text_zh": "推断：视频约44 s以前主纸尚有缺字或缺笔；四字齐备后，视频44–58.9 s持续保留先前的宽厚外钩及多余轮廓，补描只增加墨迹。结合终局图像指标，未见整幅目标曾满足全部判据，故无达成区间；没有逐帧原生图像评分，不能给出各指标首次越界的精确时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频13.6–58.8 s，固定底座单臂用末端安装毛笔的笔毫下压主纸并沿笔画滑动，多次抬笔、蘸墨及补描；侧视可见笔尖落纸，右下主纸视图同步出现黑色笔画。不另标握持笔杆，底座未移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.796462
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.810207
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.754292
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.057146
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 28.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 3950.17
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 2.5372
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "calligraphy_copied",
+   "t": 23.0,
+   "log_step": 70,
+   "where": "操作中",
+   "evidence_zh": "观察：视频22.5–23.0 s机械臂书写風字外折和右下钩端时形成过宽墨迹，视频58.9 s仍保留，后续补描未使整幅达到验收。评分器终局iou、最低区域覆盖及杂墨比例分别为0.796462、0.754292、0.057146，均未过对应阈值；断点为正在进行的临成四字帖，视频23.0 s仅作可见偏差的导航锚点。"
+  },
+  "unmet": {
+   "calligraphy_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 23.0,
+    "log_step": 70,
+    "evidence_zh": "观察：视频22.5–23.0 s右下纸面图中，机器人写出的風字外折及末钩明显肥厚，右下端成为向外扩大的墨块；视频58.9 s这些多余轮廓仍在。对照成功参考视频59.4 s同位置较收敛的外钩，可见本次落墨轮廓与目标有局部偏差；这是笔画轮廓偏离，并非只根据低分命名现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频 / agent 自述",
+    "t": 23.0,
+    "log_step": 70,
+    "evidence_zh": "推断：毛笔轨迹对笔毫拖曳和展宽的补偿未能在复杂转折处维持目标落墨轮廓。log step 31、45的控制代码按目标线宽计算下压量，并沿切线前移笔尖以补偿拖曳；log step 70中agent自述“風的宽转折比练习模型预测的铺展更多”，随后代码加入前移距离限制及转向前减压，log step 76、79继续改下压量。视频22.5–23.0 s和58.9 s分别显示该处宽厚墨块的形成与保留；执行回执log step 64、67未报IK失败，支持归为书写控制偏差，但不足以确认某个具体参数或反馈子类。"
+   }
+  ],
+  "gap_zh": "无状态日志及逐帧原生纸面评分，初次墨面浸入被局部遮挡，上墨时刻由墨池动作和随后真实留墨推断；视频分辨率不能独立量测43区覆盖及全部笔毫轮廓。日志未提供足以分离笔毫形变、下压补偿与跟踪误差的证据，根因保留在控制层级；评分器未报告n_strokes_counted、scribble_share，两项原生指标置null。"
+ },
+ "summary_zh": "机械臂在视频约0.5 s蘸墨，先在练习纸试笔，再在主纸写出两列四字并补描；蘸墨达成，整幅临帖未达成，最终进度1/2。视频约23.0 s可见風字外钩过粗且末帧仍保留，书写控制对笔毫展宽的补偿不足，终局IoU、最低区域覆盖和杂墨比例未过阈值。无逐帧原生图像评分及笔毫状态，不能精确定位指标首次越界或细分控制根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "蘸墨达成、整幅临帖未达成（终局IoU 0.796<0.80、min覆盖0.754<0.80、杂墨0.057>0.04）与视频一致；断点、位姿不准及控制根因有末帧与评分器数值支持，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": "2026-10-30T22:51:58Z",
+  "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-xingshu-huifenghechang-i00-standard--aei4kbp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--aei4kbp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1f4d4e120ec561bf0eceb37895e0480482b7c144af105929ad50000d3a60d86f",
+   "video_sha256": "77d778360198a4aa25f191a8f762b70260eaf1a8d57cd238f8b557bd041eda05",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--ahlhveu.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--ahlhveu.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea461db001f28670b896611195a0b69cef6ad771
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--ahlhveu.json
@@ -0,0 +1,377 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-huifenghechang-i00-standard--ahlhveu",
+ "taskKey": "robopaint/xingshu_huifenghechang",
+ "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5",
+ "outcome": {
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+  "reward": 0.556722,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.556722,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.556722,
+   "boundary_precision": 0.473988,
+   "boundary_recall": 0.459768,
+   "boundary_f": 0.46677,
+   "ink_precision": 0.706378,
+   "ink_recall": 0.724346,
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+   "ink_area_mm2": 6661.38,
+   "target_area_mm2": 6496.15,
+   "n_target_strokes": 43.0,
+   "stroke_coverage_01": 0.777705,
+   "stroke_coverage_02": 0.95458,
+   "stroke_coverage_03": 0.722833,
+   "stroke_coverage_04": 0.640398,
+   "stroke_coverage_05": 0.748233,
+   "stroke_coverage_06": 0.705267,
+   "stroke_coverage_07": 0.791045,
+   "stroke_coverage_08": 0.627317,
+   "stroke_coverage_09": 0.923881,
+   "stroke_coverage_10": 0.775648,
+   "stroke_coverage_11": 0.39275,
+   "stroke_coverage_12": 0.69341,
+   "stroke_coverage_13": 0.455152,
+   "stroke_coverage_14": 0.759602,
+   "stroke_coverage_15": 0.765619,
+   "stroke_coverage_16": 0.884276,
+   "stroke_coverage_17": 0.990786,
+   "stroke_coverage_18": 0.999016,
+   "stroke_coverage_19": 0.54973,
+   "stroke_coverage_20": 0.852878,
+   "stroke_coverage_21": 0.569152,
+   "stroke_coverage_22": 0.808192,
+   "stroke_coverage_23": 0.652089,
+   "stroke_coverage_24": 0.714566,
+   "stroke_coverage_25": 0.862917,
+   "stroke_coverage_26": 0.696372,
+   "stroke_coverage_27": 0.661578,
+   "stroke_coverage_28": 0.379468,
+   "stroke_coverage_29": 0.473904,
+   "stroke_coverage_30": 0.552575,
+   "stroke_coverage_31": 0.650639,
+   "stroke_coverage_32": 0.908339,
+   "stroke_coverage_33": 0.818427,
+   "stroke_coverage_34": 0.805867,
+   "stroke_coverage_35": 0.656923,
+   "stroke_coverage_36": 0.87331,
+   "stroke_coverage_37": 0.637491,
+   "stroke_coverage_38": 0.596023,
+   "stroke_coverage_39": 0.398077,
+   "stroke_coverage_40": 0.902638,
+   "stroke_coverage_41": 0.624713,
+   "stroke_coverage_42": 0.726505,
+   "stroke_coverage_43": 0.770898,
+   "n_strokes": 28.0,
+   "n_practice_strokes": 26.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.883784,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 21.0,
+   "max_strokes": 28.0,
+   "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,
+   "iou_unregistered": 0.555762,
+   "boundary_f_unregistered": 0.456272,
+   "min_stroke_coverage_unregistered": 0.346471,
+   "stray_frac_unregistered": 0.158194,
+   "path_mm": 1959.77,
+   "longest_stroke_mm": 270.62,
+   "mark_width_mm": 4.2553,
+   "max_path_mm": 6060.0,
+   "min_mark_width_mm": 1.15,
+   "colour_in": 0.0,
+   "scribble_max": 3.8455,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.556722,
+   "sim_steps": 21493,
+   "resets": 1.0,
+   "n_contacts": 54.0,
+   "samples": 107465.0,
+   "contact_samples": 74812.0,
+   "max_press_m": 0.008295,
+   "max_tilt_deg_in_contact": 0.105625,
+   "max_speed_in_contact_mps": 0.062991,
+   "handle_contact_samples": 0.0,
+   "n_dips": 13.0,
+   "dry_strokes": 0.0,
+   "n_frames": 599.0,
+   "replay_wall_s": 155.44,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 21493,
+   "physics_steps": 107465,
+   "steps": 21170,
+   "calls": 222,
+   "elapsed_s": 4690.3,
+   "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-xingshu-huifenghechang-i00-standard--ahlhveu/replay.mp4",
+  "duration_s": 59.9,
+  "fps": 10.0,
+  "frames": 599,
+  "sha256": "0771b723d942fb6fc8ba49422a6fc03dd49bbd3d38b536671b3d358ea608cf55"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": 53,
+      "text_zh": "观察：视频 0.2–0.5 s，机械臂将安装的毛笔移至黑色墨池处并下探、抬起；log step 53 的实际执行包含进入墨面的蘸墨动作，随后视频 1.5–2.9 s 练习纸上出现并持续增加黑色线条。"
+     },
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "推断：初始干笔随后能在练习纸留下真实黑墨，结合视频 0.2–0.5 s 的墨池下探，将首次蘸墨完成锚定为视频约 0.3 s（约半秒精度）；评分器 n_dips=13、n_dry_strokes=0 支持已上墨。此事件一经完成保持记入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.2–0.5 s，单臂末端安装毛笔的笔毫下探黑色墨池；随后练习纸出现黑色墨迹。候选方式为“蘸取”，属笔毫浸润吸墨，抓握、压/擦、托/舀均不准确；不重复标固定笔杆的连接。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.7,
+      "log_step": 232,
+      "text_zh": "观察：视频 0–38.6 s 主纸为空白，机械臂主要在左侧练习纸上测试；视频 38.7–42.0 s 主纸右上逐渐形成“惠”，随后依次书写右下、左上、左下的字。log step 232 启动主纸脚本，log step 244 记录已执行完 28 笔，末次主纸 capture 已完成；本次标准模式评分对象是服务记录的整个现场轨迹。"
+     },
+     {
+      "t": 54.5,
+      "log_step": 244,
+      "text_zh": "观察：视频 54.5 s 已形成两列四字，但“惠”的中部墨线拥挤粘连、“和”的右部留白明显收窄，“風”“暢”的转折和末梢形状也有偏差；视频 54.5–59.8 s 主纸图样保持，末秒视频 58.9–59.8 s 未见修复。成功参考视频 59.4 s 的右下主纸视图可见更清楚的内部留白与不同的细笔轮廓，此处仅用作外观比较。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "观察：评分器本次最终字段 iou=0.556722<0.80、boundary_f=0.466770<0.75、min_stroke_coverage=0.379468<0.80、stray_frac=0.156664>0.04；n_strokes=28、stroke_count_ok=1、strict_ok=1、image_success=0、live_matches_replay=1。"
+     },
+     {
+      "t": 59.8,
+      "log_step": null,
+      "text_zh": "推断：此前缺字的纸面未满足整幅验收，四字形成后又有持续可见的粘连、轮廓和留白偏差，最终逐项图像指标明确未达标；因此未观察到满足整个临帖条件的区间，终值为假。未把 28 笔执行完当作临帖达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 38.7–54.5 s，固定底座单臂通过末端毛笔将笔毫压向主纸并沿各字笔画拖动，右下主纸视图同步出现黑墨；视频前段及主纸写完后的测试落在旁边练习纸。实际工具—纸面接触为压/擦，不另标机器人对已安装笔杆的抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.556722
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.46677
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.379468
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.156664
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 28.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 1959.77
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 4.2553
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "calligraphy_copied",
+   "t": 42.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 41.0–42.0 s，机械臂在主纸写出的“惠”中部已较成功参考的清晰内部留白更拥挤、粘连；视频约 42.0 s 为该书写偏差的导航锚点。其后机器人继续写余下三字，视频 54.5–59.8 s 这些墨形偏差仍保留，评分器最终四项图像指标均不合格。"
+  },
+  "unmet": {
+   "calligraphy_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 42.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 41.0–42.0 s 右下主纸视图中，“惠”的中部笔画挤成粗墨团；视频 54.5 s 及 59.8 s 中，“和”右部留白收窄，右下“風”和左下“暢”也有较粗的粘连、偏出的转折与尾笔。对照成功参考视频 59.4 s 的主纸视图，其内部空隙与细笔轮廓不同；这些是落墨路径及线宽的实际偏差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 224,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 在 log step 224、230 的执行代码用静态线宽—下压关系和固定 0.24 s 路径前移生成指令，按整字检查相机；没有依据正在形成的墨形逐段修正。agent 自己的离线静态墨迹模型在 log step 205 给出 IoU=0.9459，而 log step 263 对实际画面与该计划的比较仅为 0.5571；log step 306 的自算局部偏移随笔画变化，亦非统一整体平移。结合视频 41.0–42.0 s 及 54.5–59.8 s 可见的粗细、转折和留白偏差，支持书写控制未使实际墨迹复现计划，子类暂不细分。agent 在 log step 358 将原因归于位置环和笔毫动态，这仅是其诊断，未经独立验证。"
+   }
+  ],
+  "gap_zh": "本次无状态日志，缺少逐帧图像评分与命令/实际笔尖、笔毫形变的同步原始数据；蘸墨时笔毫局部较小，首次完成时刻由墨池下探及随后真实留墨联合推定。不能独立验证 agent 关于低通衰减、笔毫拖尾及新补偿方案有效性的解释，故根因只标控制；log step 324 的振幅自算结果也不能直接支持其最终“振幅衰减”说法。评分器未报告 n_strokes_counted、scribble_share，原生指标相应填 null；未据视频手工判约束。"
+ },
+ "summary_zh": "机械臂完成蘸墨，先在练习纸测试，再于视频约 38.7–54.5 s 在主纸写出两列四字；最终达到 1/2 个节点，临成四字帖未达标。失败位于书写过程中：笔画粗细、转折及留白偏离参考，IoU=0.556722、边界F=0.466770、最低区域覆盖=0.379468、杂墨比例=0.156664 均不合格；日志支持实际落墨未复现控制脚本的计划。缺少逐帧笔尖及笔毫动态数据，不能把 agent 的动态模型诊断进一步当作已证实的细分根因。",
+ "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、时间、接触与断点基本成立；最终分数全部不达标，根因标控制有日志支持。",
+    "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": "2026-10-30T22:48:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "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-xingshu-huifenghechang-i00-standard--ahlhveu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--ahlhveu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e7d70010908677e3742a99cbb6f9fd9f9ee9a315f50134ad4eed188a8e621922",
+   "video_sha256": "0771b723d942fb6fc8ba49422a6fc03dd49bbd3d38b536671b3d358ea608cf55",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--anstj8g.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--anstj8g.json
new file mode 100644
index 0000000000000000000000000000000000000000..83b2aa4a3a71a8362461d4d1eced47959178537e
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--anstj8g.json
@@ -0,0 +1,373 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
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+ "taskKey": "robopaint/xingshu_huifenghechang",
+ "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5",
+ "outcome": {
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+  "source": "catalog",
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+   "ink_precision": 0.0,
+   "ink_recall": 0.0,
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+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.0,
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+   "strokes_matched_distinct": 0.0,
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+   "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,
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+   "iou_unregistered": 0.0,
+   "boundary_f_unregistered": 0.0,
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+   "n_strokes_counted": 0.0,
+   "max_stroke_path_mm": 1250.0,
+   "longest_counted_stroke_mm": 0.0,
+   "strokes_counted_ok": 1.0,
+   "scribble_max": 0.0,
+   "scribble_share": 0.0,
+   "max_scribble": 12.0,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.0,
+   "sim_steps": 1380,
+   "resets": 1.0,
+   "n_contacts": 20.0,
+   "samples": 6900.0,
+   "contact_samples": 3683.0,
+   "max_press_m": 0.014162,
+   "max_tilt_deg_in_contact": 0.416336,
+   "max_speed_in_contact_mps": 0.110745,
+   "handle_contact_samples": 0.0,
+   "n_dips": 5.0,
+   "dry_strokes": 0.0,
+   "n_frames": 461.0,
+   "replay_wall_s": 61.67,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 1380,
+   "physics_steps": 6900,
+   "steps": 859,
+   "calls": 20,
+   "elapsed_s": 3618.3,
+   "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,
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+   "gave_up": 0,
+   "resource_enforced": 0,
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+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.302,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.338,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-xingshu-huifenghechang-i00-standard--anstj8g/replay.mp4",
+  "duration_s": 46.1,
+  "fps": 10.0,
+  "frames": 461,
+  "sha256": "00691acb8fd4333094188a7fc74f3cf5a355ed086d7333028d4a1a285cf6fd50"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.8,
+      "log_step": 13,
+      "text_zh": "观察：视频 0.7–1.0 s，机械臂末端毛笔在黑色墨池处下探后抬起；log step 13 的现场脚本指令为先在池心下探，再转向练习纸。首次蘸墨时间约为视频 0.8 s，精度约半秒。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–6.0 s 的侧视和全景中，练习纸已出现机械臂毛笔留下的黑色测试线；评分器 reward.n_dips=5、n_dry_strokes=0，与已上墨一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约 0.8 s，机械臂固定安装毛笔的笔毫进入墨池，随后在练习纸留墨。候选方式为蘸取：笔毫浸润吸墨，现有压/擦、抓握、托/舀均不能准确表达此接触。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": 13,
+      "text_zh": "观察：视频 0–44 s 每隔约 2 s 检查，右下无遮挡主纸图始终空白；全景和侧视显示机器人在主纸旁的窄练习纸上画粗细不同的线及局部弯曲笔画。log step 13、24、30 的动作脚本明确将这些线条画在练习纸。"
+     },
+     {
+      "t": 46.0,
+      "log_step": null,
+      "text_zh": "观察：视频 44.9–46.0 s 逐帧检查至末帧，主纸仍无墨迹；评分器记录 ink_area_mm2=0、n_strokes=0、n_practice_strokes=20、IoU=0、43区覆盖均为0。成功参考视频 59.4 s 的同一右下主纸视图可清楚看到两列四字，因此本次空白可直接判为未完成。"
+     },
+     {
+      "t": null,
+      "log_step": 138,
+      "text_zh": "观察：log step 76、84 仅向现场服务提交了练习纸局部测试；log step 125–138 继续在 agent 自己的图像模型中生成并评估笔画，log step 138 的模拟 IoU≈0.862 不是现场主纸评分。完整日志未出现将四字笔画提交到主纸的动作，也没有最终完成声明。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4–44 s，机械臂固定毛笔压住并划过旁边的练习纸，留下测试线和局部字形，属于正式临帖前的实体探索；主纸未发生带墨书写接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 0.0
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "calligraphy_copied",
+   "t": null,
+   "log_step": 138,
+   "where": "探索",
+   "evidence_zh": "观察：视频全程机器人只在练习纸测试毛笔，视频 44.9–46.0 s 主纸仍空白；log step 76、84 的现场脚本将目标局部映射到练习纸，log step 138 仍在离线计算笔画图像。正式主纸临帖始终未启动，故断在临成四字帖；实体动作处于练习探索阶段，无法定位单一失败瞬间。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 138,
+    "evidence_zh": "观察：视频 0–46.0 s 中机器人完成蘸墨并在练习纸留墨，但右下主纸一直空白，最终评分器 n_strokes=0、n_practice_strokes=20、ink_area_mm2=0。没有启动主纸四字临帖；练习纸测试与 agent 的离线拟图未构成主纸书写。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：无状态日志；现有完整视频和日志足以确认蘸墨及主纸从未落墨。log step 79 的练习局部匹配较差，log step 125–138 仍在修改离线笔画模型，但没有明确决策记录说明为何始终不进入主纸书写，也没有主纸控制失败可供检查；不足以把未启动正式临帖归为某一具体控制或认知根因，根因层留空。",
+  "unmet": {
+   "calligraphy_copied": false
+  }
+ },
+ "summary_zh": "机器人约在视频 0.8 s 完成蘸墨，最终达到1/2节点；此后只在练习纸测试线条和局部笔画，至视频 46.0 s 主纸仍为空白，临成四字帖从未达成。断点为临成四字帖的探索阶段，现象为未启动正式主纸书写；日志末尾仍在离线调整笔画，但缺少足以确定其未转入正式书写原因的证据。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与证据一致：视频 0.8 s 蘸墨，视频 45.9 s 末帧主纸（右下）仍空白，评分器 n_strokes=0、ink_area_mm2=0；agent 到 3602 s（限时 3600 s）仍在离线调参，未提交主纸笔画，没尝试与空根因层（附 gap_zh）均有依据，未发现需要改的内容。",
+    "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": "2026-10-30T22:52:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--anstj8g/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--anstj8g/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--kzopj8w.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--kzopj8w.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f03d376c12b80eccd214be53813c5f34ccd24cf
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--kzopj8w.json
@@ -0,0 +1,401 @@
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+   "resource_host_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-xingshu-huifenghechang-i00-standard--kzopj8w/replay.mp4",
+  "duration_s": 57.9,
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+  "sha256": "98678aa2691adbe30d43c4b58869b26fdf329be7524e1579ad23c290b74a1542"
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+ "state": null,
+ "progress": {
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+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": 25,
+      "text_zh": "观察：视频 0.8–1.2 s，机械臂将末端毛笔降至黑色墨池处，随后移向练习纸；视频 3.2–6.0 s 练习纸上出现黑色线迹。log step 25 执行了墨池中心附近下探及绕动的动作；评分器 reward.n_dips=1、dry_strokes=0。"
+     },
+     {
+      "t": 1.0,
+      "log_step": 25,
+      "text_zh": "推断：结合墨池处下探、后续真实留墨和评分器的一次蘸墨记录，毛笔约在视频 1.0 s 已完成蘸墨，时刻误差约 0.3 s；随后不再干涸。蘸墨瞬间笔毫受机械臂遮挡，未从图像测量其精确入墨深度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.8–1.2 s，机械臂末端固定毛笔的笔毫降至墨池并绕动，后续可在练习纸及主纸留墨，评分器 n_dips=1。候选接触方式为蘸取：笔毫浸润墨汁，现有抓握、压/擦、托/舀均不能准确表达；不另标固定笔杆的接触。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.6,
+      "log_step": 49,
+      "text_zh": "观察：视频 0–26.4 s 主纸仍为空白；视频 26.6 s 起，机械臂毛笔在主纸留下第一处墨迹，随后逐步写出四组字迹。视频 28–50 s，多处墨线膨大、相邻笔画黏连，字形朝向及布局与成功参考录像中直立的两列四字不同。"
+     },
+     {
+      "t": 57.8,
+      "log_step": 60,
+      "text_zh": "观察：视频 50–57.8 s，机械臂补写后移开；末秒逐帧检查仍见四组方向错误、粗细不符的字迹，未形成参考录像视频 59.4 s 所示的惠風和暢字形。评分器 image_success=0，IoU=0.255245<0.80、boundary_f=0.225668<0.75、min_stroke_coverage=0<0.80、stray_frac=0.570736>0.04，原始及细分笔画均为29>28。"
+     },
+     {
+      "t": 57.8,
+      "log_step": 69,
+      "text_zh": "观察：log step 69 的 agent 最终报告承认失败，但自述主纸28笔及自行估计的图像指标与评分器数值不同；此处以评分器实际29笔和主纸视频判断。log step 65、67 只生成并离线检查修正版记录脚本，未重新执行主纸书写；评分对象为这一次不可重置的现场纸面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 26.6–49.8 s 及约视频 51–57.2 s，单臂末端固定毛笔的笔毫压住主纸并沿字迹路径滑动，留下黑色墨迹；视频末段补写后抬笔离开。练习纸上的试线不计作临帖完成，不重复标固定笔杆的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.255245
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.225668
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.570736
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 29.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 29.0
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 2773.34
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 3.6023
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "calligraphy_copied",
+   "t": 27.0,
+   "log_step": 49,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 26.6–28.8 s，机械臂开始在主纸留下字迹；视频 32–50 s 逐渐显出方向和结构不符的四组字迹，补写至视频 57.8 s 仍未修复。推断：log step 49 所执行脚本把图像行列坐标直接作为纸面横纵坐标，首批主纸墨迹即沿错误路径写入；以视频约 27.0 s 为断点导航锚点。最终评分器图像指标和29笔计数均未达标。"
+  },
+  "unmet": {
+   "calligraphy_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 27.0,
+    "log_step": 49,
+    "evidence_zh": "观察：视频 32–50 s 主纸逐步出现四组字迹；至视频 57.8 s，各字的朝向、笔画所在位置仍与成功参考录像视频 59.4 s 中直立的两列四字明显不同，且多个笔画黏连成粗黑块，原应保留的字内空隙被占据。机械臂已实际落笔，但笔尖写出的图形未对准所需字形，末段补写未恢复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志",
+    "evidence_zh": "推断：坐标转换错误使机械臂收到错误书写路径。log step 14 用 np.argwhere(sk) 生成明确标注为(v,u)的骨架点；log step 24 定义 mm2w(X,Y) 按纸面横纵坐标转换到世界坐标，而实际执行的 log step 49 和60 均用 sm=px*MM，随后直接 mm2w(X,Y)，没有将(v,u)换成(u,v)。这与视频 57.8 s 的字形方向错误相符，也与 agent 在 log step 64 自述“行列坐标当作X,Y”一致；log step 65 才在记录脚本中改为 px[:,::-1]，但未执行改正后的书写。该控制脚本错误已有代码证据，非由低分或最终自述单独反推。",
+    "note_zh": "目标字形直接从目标图提取骨架；已核实的错误发生在生成书写轨迹时：将(v,u)直接作为纸面(X,Y)，使整幅目标路径沿对角线转置，故细分为控制·轨迹或逆解。不选感知：现有代码证据定位于坐标转换，没有目标识别或位置估计错误的独立证据；不选反馈控制：缺少可同步核对的目标与实际笔尖轨迹，不能确认跟踪失稳；不选参数调试：已证实的是坐标维度混用，未独立证实具体控制参数不当。该项不涉及抓取或接触方案替代，按docs/03_trajectory.md Step 3.3无需填写alt_feasible。"
+   }
+  ],
+  "gap_zh": "无状态日志，蘸墨瞬间笔毫部分被机械臂遮挡，蘸墨时间仅约到视频 1.0 s（误差约0.3 s）；无法逐帧量化入墨深度、接触力或图像评分。主纸结果与坐标转换错误均可核对，但 agent 在 log step 55、69 所称未平滑关节关键帧导致点状墨迹，缺少可同步检验的目标/实际笔尖轨迹，故不另立细分控制根因；最终指标采用评分器，未用 agent 的自测数值替代。"
+ },
+ "summary_zh": "机械臂约在视频 1.0 s 蘸墨，完成1/2个节点；随后练习并在主纸写出四组字迹，但临成四字帖从未达标。断点位于视频约 27.0 s 开始的主纸书写：执行脚本混用图像行列与纸面横纵坐标，字形方向、位置及粗细明显不符，最终图像指标未达标且实际29笔超过28笔上限，末段补写未修复。无状态日志，蘸墨时间及具体笔尖跟踪偏差的判断精度有限；最终修正版记录脚本未重新执行。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点、时间、断点与现象与视频和评分器一致（蘸墨约 1.0 s，主纸 0–26.4 s 空白，26.6 s 起落笔，末帧四组字形错误）；唯一问题是根因 item 取了笼统的“控制”，而证据指向的是写入路径本身（行列坐标当 X,Y，整幅沿对角线转置）。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点（蘸墨约视频 1.0 s 达成、临帖未达成）、断点（主纸书写约 27 s）、现象与根因（轨迹或逆解）与视频和评分器数值一致；上一轮意见已采纳，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T23:08:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--kzopj8w/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--kzopj8w/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--kzopj8w/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--kzopj8w/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5cd9ce157a4d89ff185d359f6ce5e769e9bdfeb9b027ec5985fc50a19cb011dc",
+   "video_sha256": "98678aa2691adbe30d43c4b58869b26fdf329be7524e1579ad23c290b74a1542",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--nsfbe2r.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--nsfbe2r.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e9b6692f30f6153f4e2be3f81f061fcd10e6c1c
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--nsfbe2r.json
@@ -0,0 +1,368 @@
+{
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+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-xingshu-huifenghechang-i00-standard--nsfbe2r/replay.mp4",
+  "duration_s": 60.1,
+  "fps": 10.0,
+  "frames": 601,
+  "sha256": "469b22c933fd87c0846ce8e68cf3516b3a4f07df1b1908c0d0022f77963f9e01"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.3,
+      "log_step": 22,
+      "text_zh": "观察：视频 0.2–0.3 s 场景图中机械臂把末端毛笔移至黑色墨池处下探，视频 0.5 s 侧视图已出现毛笔在练习纸上拖出的黑线；log step 22 执行移向墨池中心、下探及停留的动作。"
+     },
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "推断：由视频 0.3 s 的墨池下探及视频 0.5 s 起真实留墨，判定已完成上墨，首次达成约在视频 0.3 s，时间精度约半秒；评分器 reward.n_dips=39、n_dry_strokes=0 支持这一判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：机械臂末端固定毛笔的笔毫进入墨池，随后在练习纸及主纸留墨。候选方式为“蘸取”，浸润吸墨不适合归入抓握、压/擦或托/舀；不另记安装笔杆的连接接触。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": 102,
+      "text_zh": "观察：视频 0–14.0 s 主纸基本空白，机械臂主要在旁边练习纸校准；视频 14.5 s 主纸上缘出现孤立墨点，视频 16.0–17.0 s 写出右上“惠”的主要墨迹，其内部笔画粘连、轮廓与成功参考不同，其余三字尚未齐备。log step 102 执行修正坐标换算后的“惠”。"
+     },
+     {
+      "t": 21.1,
+      "log_step": 137,
+      "text_zh": "观察：视频 18.0 s 已有右下“風”，视频 19.0 s 已有左上“和”；机械臂随后书写左下“暢”，视频 21.1 s 从该字向上拖出穿过“和”的长竖线，视频 23.5 s 又出现跨越两列留白的长斜线。四字虽已写出，留白和字形明显不符。"
+     },
+     {
+      "t": 60.0,
+      "log_step": 238,
+      "text_zh": "观察：视频 45.0–59.0 s 机械臂多次补写，增加横向细线并加重右上字的粘连；视频 59.0–60.0 s 的右下无遮挡主纸图仍保留贯穿左列的竖线、跨列斜线及多余横线。“惠”的内部结构与成功参考视频 59.0 s 的清晰字形差异明显。log step 238 的最终报告也承认未达到临帖成功阈值。"
+     },
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：评分器报告 success=0、image_success=0，IoU=0.400775<0.80、boundary_f=0.335702<0.75、min_stroke_coverage=0.081958<0.80、stray_frac=0.565515>0.04；n_strokes=21、stroke_count_ok=1、strict_ok=1。deterministic=1、live_matches_replay=1、finalized=1、infra_error=0，说明该纸面对应已终结并一致重放的现场尝试。"
+     },
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "推断：四字未齐之前不满足整幅临帖条件，四字齐备时已存在跨字长线，且这些永久墨迹保持到视频 60.0 s，结合最终图像评分，整段未观察到临帖达标区间。成功参考仅用于比较完成字形与留白，不作为本次进度证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 16.0–23.5 s 及视频 45.0–59.0 s，机械臂通过固定安装毛笔的笔毫下压、沿主纸移动并补写，留下字形和额外长线；无夹爪抓纸或移动底盘的动作。此前在练习纸上的校准不计作主纸临帖完成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.400775
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.335702
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.081958
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.565515
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 21.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 4924.95
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 2.4938
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "calligraphy_copied",
+   "t": 21.1,
+   "log_step": 137,
+   "where": "操作中",
+   "evidence_zh": "观察：机械臂书写左下“暢”时，视频 21.0 s 尚无跨字竖线，视频 21.1 s 已拖出向上贯穿“和”的长竖线，视频 23.5 s 又出现跨列斜线；这些杂墨直到视频 60.0 s 均未消失，整幅临帖未完成。log step 137 提交含退笔延伸的书写脚本，log step 143 亦记录发现两条杂线。"
+  },
+  "unmet": {
+   "calligraphy_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 21.1,
+    "log_step": 137,
+    "evidence_zh": "观察：视频 21.1 s 毛笔从左下字拖出超出字形的长竖线，穿过左上字与字间空白；视频 23.5 s 再拖出跨越两列的斜线，后续补写又增加横线和粘连粗墨，视频 59.0–60.0 s 仍清楚可见。相同视图中的成功参考视频 59.0 s 四字分离、字间留白完整，显示本次落墨路径及轮廓偏离临帖目标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "note_zh": "控制脚本计算错误：笔段延伸和前馈补偿混用毫米与米，退笔高度也曾计算错误；保留在控制层，不将 agent 的跟踪滞后解释当作已证实的反馈控制故障。",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 137 的脚本先将纸面坐标除以1000得到米制 world，再以 p=stroke[-1][:2]+d[:2]*(2.0*i) 生成注释所称“每步2毫米”的延伸，实际未除以1000；同时以 stroke[-1][2]*(1-f) 将退笔高度降向0，而非纸面 Z_SURF。log step 143 的补偿同样把 L=4 直接加在米制 stroke 坐标上，log step 144 修补行数后执行该脚本。视频 21.1–23.5 s 出现巨大跨字拖线，与前述错误延伸相符；log step 167 修正退笔高度后仍保留未换算的延伸量，视频后段又增加长横线。推断：agent 生成的控制轨迹在位置与高度上超出预期，直接造成无法消除的杂墨，是本次临帖失败的有证据根因。"
+   }
+  ],
+  "gap_zh": "无逐帧毛笔状态和纸面评分日志，首次蘸墨时间由墨池下探与随后真实留墨近似定位；各笔画局部变形中机械臂跟踪与笔毫动态各占多少无法分离，因此不进一步断言反馈控制子类。评分器未报告 n_strokes_counted 与 scribble_share，原生指标中保留 null，不用 n_strokes 或 scribble_max 代替。"
+ },
+ "summary_zh": "机械臂完成蘸墨，并在主纸上写出两列四字及多次补写，但“临成四字帖”始终未达标，最终完成1/2个节点。视频约 21.1 s 开始出现贯穿左列的长竖线，随后还有跨列斜线、额外横线和粘连粗墨；日志中的米/毫米换算及退笔高度错误支持控制脚本归因，评分器的四项图像指标均未达阈值。缺少逐帧毛笔状态及细分笔画、盘绕比例字段，无法进一步分离笔毫动态与跟踪误差的贡献。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与视频一致：蘸墨约 0.3–0.5 s 完成，临帖节点全程未达标；视频 21.0→21.1 s 确实突然出现贯穿左列的长竖线，视频 60 s 仍可见跨列斜线；log step 137 脚本中 2.0*i 与米制坐标混用的归因有代码支持。断点、现象（位姿不准）与根因（控制·控制）符合分类规则，未发现需要改的错误。",
+    "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": "2026-10-30T22:46:19Z",
+  "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-xingshu-huifenghechang-i00-standard--nsfbe2r/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--nsfbe2r/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "40e7b0c3c23f2f0e24912d1da88a329de2318ba185721a47dab0484c356a8ce1",
+   "video_sha256": "469b22c933fd87c0846ce8e68cf3516b3a4f07df1b1908c0d0022f77963f9e01",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--oquhvo2.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--oquhvo2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b857a71f310e1007e96cc146578279ee7ac510b
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--oquhvo2.json
@@ -0,0 +1,392 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-huifenghechang-i00-standard--oquhvo2",
+ "taskKey": "robopaint/xingshu_huifenghechang",
+ "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5",
+ "outcome": {
+  "success": 0,
+  "reward": 0.823994,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.823994,
+   "deterministic": 1,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "iou": 0.823994,
+   "boundary_precision": 0.87139,
+   "boundary_recall": 0.845877,
+   "boundary_f": 0.858444,
+   "ink_precision": 0.899748,
+   "ink_recall": 0.907294,
+   "min_stroke_coverage": 0.339438,
+   "mean_stroke_coverage": 0.892324,
+   "stray_frac": 0.020958,
+   "missing_frac": 0.030233,
+   "ink_area_mm2": 6550.63,
+   "target_area_mm2": 6496.15,
+   "n_target_strokes": 43.0,
+   "stroke_coverage_01": 0.946237,
+   "stroke_coverage_02": 0.98486,
+   "stroke_coverage_03": 0.339438,
+   "stroke_coverage_04": 0.91469,
+   "stroke_coverage_05": 0.929329,
+   "stroke_coverage_06": 0.940776,
+   "stroke_coverage_07": 0.93341,
+   "stroke_coverage_08": 0.840976,
+   "stroke_coverage_09": 0.980244,
+   "stroke_coverage_10": 0.815859,
+   "stroke_coverage_11": 0.883463,
+   "stroke_coverage_12": 0.913366,
+   "stroke_coverage_13": 0.985915,
+   "stroke_coverage_14": 0.944687,
+   "stroke_coverage_15": 0.929867,
+   "stroke_coverage_16": 0.985866,
+   "stroke_coverage_17": 0.969106,
+   "stroke_coverage_18": 0.988189,
+   "stroke_coverage_19": 0.952973,
+   "stroke_coverage_20": 0.891258,
+   "stroke_coverage_21": 0.846329,
+   "stroke_coverage_22": 0.809177,
+   "stroke_coverage_23": 0.885444,
+   "stroke_coverage_24": 0.923483,
+   "stroke_coverage_25": 0.994728,
+   "stroke_coverage_26": 0.972397,
+   "stroke_coverage_27": 0.942748,
+   "stroke_coverage_28": 0.516957,
+   "stroke_coverage_29": 0.987474,
+   "stroke_coverage_30": 0.583691,
+   "stroke_coverage_31": 0.879467,
+   "stroke_coverage_32": 0.981392,
+   "stroke_coverage_33": 0.894935,
+   "stroke_coverage_34": 0.959467,
+   "stroke_coverage_35": 0.956923,
+   "stroke_coverage_36": 0.921708,
+   "stroke_coverage_37": 0.922615,
+   "stroke_coverage_38": 0.868156,
+   "stroke_coverage_39": 0.894231,
+   "stroke_coverage_40": 0.841879,
+   "stroke_coverage_41": 0.889757,
+   "stroke_coverage_42": 0.879092,
+   "stroke_coverage_43": 0.947368,
+   "n_strokes": 27.0,
+   "n_practice_strokes": 59.0,
+   "n_dry_strokes": 0.0,
+   "stroke_order_concordance": 0.867052,
+   "stroke_order_exact": 0.0,
+   "strokes_matched_distinct": 23.0,
+   "max_strokes": 28.0,
+   "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,
+   "iou_unregistered": 0.823994,
+   "boundary_f_unregistered": 0.858444,
+   "min_stroke_coverage_unregistered": 0.339438,
+   "stray_frac_unregistered": 0.020958,
+   "path_mm": 2063.9,
+   "longest_stroke_mm": 274.42,
+   "mark_width_mm": 3.5513,
+   "max_path_mm": 6060.0,
+   "min_mark_width_mm": 1.15,
+   "colour_in": 0.0,
+   "scribble_max": 2.8098,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.823994,
+   "sim_steps": 52399,
+   "resets": 1.0,
+   "n_contacts": 86.0,
+   "samples": 261995.0,
+   "contact_samples": 218801.0,
+   "max_press_m": 0.011805,
+   "max_tilt_deg_in_contact": 0.220197,
+   "max_speed_in_contact_mps": 0.079532,
+   "handle_contact_samples": 0.0,
+   "n_dips": 75.0,
+   "dry_strokes": 0.0,
+   "n_frames": 597.0,
+   "replay_wall_s": 199.08,
+   "replay_success": 0,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 52399,
+   "physics_steps": 261995,
+   "steps": 52391,
+   "calls": 431,
+   "elapsed_s": 2358.7,
+   "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-xingshu-huifenghechang-i00-standard--oquhvo2/replay.mp4",
+  "duration_s": 59.7,
+  "fps": 10.0,
+  "frames": 597,
+  "sha256": "9e6f934c9188f07f0f75d36e80ebc4310bf7d23e1f30d83118f87c5746214264"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": 12,
+      "text_zh": "推断：视频 0.0–0.2 s 的首次蘸墨过程被机械臂部分遮挡，但视频 0.2–0.5 s 可见黑色笔毫在练习纸留下逐渐增多的真实黑线；log step 12 的机器人脚本先调用 dip，将笔尖移至墨池中心并下降到 0.021 m，再试写。结合初始干笔及评分器 n_dips=75、n_dry_strokes=0，可确认已上墨；首次到达取视频 0.2 s 为近似锚点，误差约 0.2 s。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "观察：视频 53.4–59.6 s 右下无遮挡主纸视图中持续出现新的黑色笔画，末帧四字均已落墨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：机械臂末端固定毛笔的笔毫浸入墨池吸墨；由视频 0.2–0.5 s 的黑线、log step 12 的先蘸后写动作及评分器 n_dips=75 确认。候选方式为“蘸取”，现有抓握、压/擦、托/舀均不能准确表示笔毫浸润吸墨。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸空白；视频 0.2–53.2 s 的墨迹主要位于旁边的练习纸，右下主纸视图保持空白。"
+     },
+     {
+      "t": 57.4,
+      "log_step": 75,
+      "text_zh": "观察：视频 53.4–59.3 s，机械臂用安装的毛笔在主纸依次写右上、右下、左上、左下四字；视频 57.4 s 左上“和”已成形，但其左侧向左上伸出的撇笔较成功参考录像末帧短，端部较圆钝。log step 75 的现场脚本执行 26 笔主纸书写，符合该段主纸逐字出现的画面。"
+     },
+     {
+      "t": 59.6,
+      "log_step": 83,
+      "text_zh": "观察：视频 58.7–59.6 s 逐帧可见左下字完成、毛笔最后回到“惠”处补笔并移开；最终主纸有完整四字布局，但局部笔端伸展与粗细仍与成功参考录像视频 59.4 s 有差别。log step 83 只执行一笔“惠”部补笔；评分器报告主纸 n_strokes=27，IoU=0.823994、boundary_f=0.858444、stray_frac=0.020958，均达各自阈值，而区域 03/28/30 覆盖为 0.339438/0.516957/0.583691，均低于 0.80，image_success=0。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "推断：根据空白主纸、随后只添墨的书写过程与末次仍存在的局部不足，未观察到同时满足整幅临帖验收的区间；final=false 由局部覆盖评分字段和末帧缺陷共同支持，并非仅由总成功值为零推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 53.4–59.5 s，单臂末端安装毛笔的笔毫压在主纸上随笔画移动并留下黑色墨迹，反复抬笔、蘸墨后继续书写，末段在“惠”处补一笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.823994
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.858444
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.339438
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.020958
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 27.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 2063.9
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 3.5513
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "calligraphy_copied",
+   "t": 57.4,
+   "log_step": 75,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 57.4 s 机械臂完成左上“和”并继续写左下字，已写部分的撇笔伸展和端部形状与成功参考录像不同；视频 59.6 s 的补笔后结果仍保留局部笔形差别。评分器最终有 3 个区域覆盖低于 0.80，整图 IoU 和边界 F 虽达标，四字临帖节点仍未达到。视频 57.4 s 是局部缺陷已可见且后续未完全修复的粗略导航锚点。"
+  },
+  "unmet": {
+   "calligraphy_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "笔端缩短与笔形偏差",
+    "t": 57.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 57.4 s 及视频 59.6 s 的右下无遮挡主纸中，“和”左侧向左上伸出的撇笔比成功参考录像视频 59.4 s 短、端部圆钝，“惠”等字局部粗细和收笔轮廓也有差别；四字位置与布局已经形成，缺陷集中在局部笔形。",
+    "note_zh": "候选现象为“笔端缩短与笔形偏差”；现有接触失败或运动条目不能准确描述已留在纸面上的这些局部形状缺陷，故用其他，不以评分指标未达标代替可见现象。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志、43 个评分区域的空间掩膜及逐帧图像指标，不能把区域 03/28/30 的数值逐一对应到视频中的具体笔画。局部笔端缩短的原因（笔毫模型误差、骨架简化或末端跟踪）无法由现有证据区分；log step 81–83 的缺口排序与单笔修补记录、step 86 的逐区覆盖未测自述，也不足以证明修补策略导致这些区域覆盖不足，故根因留空。首次蘸墨受遮挡，时间由随后留墨和实际蘸墨记录近似确定。评分器未报告 n_strokes_counted 和 scribble_share，原生指标保留 null；本次按已有评分字段判定，不另推定这些新版细分规则的结果。"
+ },
+ "summary_zh": "机械臂已蘸墨，先在练习纸试写，再用 26 笔写出主纸四字并补 1 笔，最终完成 1/2 个节点。四字临帖仍因局部笔端缩短、笔形偏差而未达标：整图 IoU 为 0.823994，但 3 个区域覆盖不足，最低仅 0.339438。无区域空间掩膜与逐帧评分，不能将失败区域编号精确对应到笔画，也无法区分笔毫模型误差、骨架简化或末端跟踪等原因，故根因留空；本次也未报告细分笔数和盘绕占比。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（蘸墨真、临帖假、1/2）、断点、现象（其他·笔形偏差，符合 FAIL-15）与视频一致；但根因“认知·推理/规划”只靠 agent 对自身修补策略的叙述推断，不符合判别次序，证据不足。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（蘸墨真、临帖假、1/2）、断点、其他·笔形偏差现象及空根因（附 gap_zh）与视频和评分字段一致；上轮根因问题已按证据处理，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": "2026-10-30T23:05:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--oquhvo2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--oquhvo2/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--oquhvo2/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--oquhvo2/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c35ce4d7d6347206968a1414192cbda11c8f8d7fe9def6093b31d0375f76df8d",
+   "video_sha256": "9e6f934c9188f07f0f75d36e80ebc4310bf7d23e1f30d83118f87c5746214264",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--tzgf9wu.json b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--tzgf9wu.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2bdf703587fe6bdcec3d43d7c54942a17e23f5e
--- /dev/null
+++ b/phase2/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--tzgf9wu.json
@@ -0,0 +1,373 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-xingshu-huifenghechang-i00-standard--tzgf9wu",
+ "taskKey": "robopaint/xingshu_huifenghechang",
+ "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5",
+ "outcome": {
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+  "reward": 0.456904,
+  "source": "catalog",
+  "raw": {
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+   "boundary_precision": 0.427431,
+   "boundary_recall": 0.340873,
+   "boundary_f": 0.379276,
+   "ink_precision": 0.629738,
+   "ink_recall": 0.687393,
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+   "missing_frac": 0.207165,
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+   "stroke_coverage_03": 0.752137,
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+   "stroke_coverage_06": 0.464718,
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+   "stroke_coverage_08": 0.576585,
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+   "stroke_coverage_10": 0.072529,
+   "stroke_coverage_11": 0.475734,
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+   "stroke_coverage_20": 0.688699,
+   "stroke_coverage_21": 0.413773,
+   "stroke_coverage_22": 0.760142,
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+   "stroke_coverage_25": 1.0,
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+   "stroke_coverage_29": 1.0,
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+   "register_dx_mm": -0.6656,
+   "register_dy_mm": -1.3312,
+   "register_shift_mm": 1.4883,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "iou_unregistered": 0.466827,
+   "boundary_f_unregistered": 0.342856,
+   "min_stroke_coverage_unregistered": 0.065765,
+   "stray_frac_unregistered": 0.239239,
+   "success": 0,
+   "final_reward": 0.456904,
+   "path_mm": 1782.75,
+   "longest_stroke_mm": 152.2,
+   "mark_width_mm": 4.7502,
+   "max_path_mm": 6060.0,
+   "min_mark_width_mm": 1.15,
+   "colour_in": 0.0,
+   "scribble_max": 4.2662,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.456904,
+   "sim_steps": 7229,
+   "resets": 1.0,
+   "n_contacts": 40.0,
+   "samples": 36145.0,
+   "contact_samples": 22730.0,
+   "max_press_m": 0.013003,
+   "max_tilt_deg_in_contact": 0.07466,
+   "max_speed_in_contact_mps": 0.026893,
+   "handle_contact_samples": 0.0,
+   "n_dips": 2.0,
+   "dry_strokes": 0.0,
+   "n_frames": 558.0,
+   "replay_wall_s": 100.92,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "instance_exact": 1,
+   "finalized": 1,
+   "n_actions": 7229,
+   "physics_steps": 36145,
+   "steps": 7229,
+   "calls": 73,
+   "elapsed_s": 976.6,
+   "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-xingshu-huifenghechang-i00-standard--tzgf9wu/replay.mp4",
+  "duration_s": 55.8,
+  "fps": 10.0,
+  "frames": 558,
+  "sha256": "41f31a40b326b015d06a1837e4ed3b9bfe3fdf8fc7a7f5030405ad6248f73c66"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_inked": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": 48,
+      "text_zh": "观察：视频 0.8–1.2 s，机械臂将末端毛笔降到墨池位置后抬起；视频 2.6–3.0 s，毛笔在练习纸上留下真实黑线。log step 48 提交进入墨池的动作，评分器记录 n_dips=2、n_dry_strokes=0；首次上墨时间约为视频 1.0 s。"
+     },
+     {
+      "t": 18.5,
+      "log_step": 153,
+      "text_zh": "观察：视频 18.0–19.0 s，机械臂再次把毛笔降到墨池再抬起；随后视频 20.0 s 起主纸出现连续黑色笔画，末帧视频 55.7 s 墨迹仍在。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 0.8–1.2 s 和视频 18.0–19.0 s，单臂末端安装毛笔的笔毫进入墨池取墨。候选方式为“蘸取”；浸润上墨不属于抓握、压/擦或托/舀，不重复标固定笔杆的连接。"
+     }
+    ]
+   },
+   "calligraphy_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.1,
+      "log_step": 146,
+      "text_zh": "观察：视频 0.0–10.0 s 主纸为空白，机器人先在旁边练习纸试线；视频 10.1 s 主纸右上边缘出现额外黑点，视频 10.8–11.5 s 扩大成短弯墨迹。log step 146 是机器人试写练习字“和”的脚本；该边缘墨迹在正式四字之外一直保留到视频 55.7 s。"
+     },
+     {
+      "t": 26.0,
+      "log_step": 155,
+      "text_zh": "观察：视频 20.0–27.0 s 机械臂在主纸写右上“惠”，视频 28.0–35.0 s 写右下“風”，视频 36.0–42.0 s 写左上“和”，随后写左下“暢”；至视频 54.8–55.7 s 四字均有墨迹，但“和”的禾部和口部及“風”的内部明显粗重、粘连，字形转折和留白与参考成功录像末帧（参考视频 59.4 s）不同。右下主纸图始终无遮挡，完整四字未曾呈现达标形态。"
+     },
+     {
+      "t": 55.7,
+      "log_step": null,
+      "text_zh": "观察：评分器记录 live_matches_replay=1、deterministic=1、image_success=0；最终 IoU=0.48954<0.80，boundary_f=0.379276<0.75，min_stroke_coverage=0.072529<0.80，stray_frac=0.2236>0.04，n_strokes=30>28。视频 54.8–55.7 s 抬笔离开后纸面仍有粗重粘连及右缘杂墨，故该节点终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 10.1–16.5 s 试写期间毛笔在主纸右缘留墨，视频 20.0–55.1 s 单臂末端毛笔在主纸下压并沿字形移动，依次生成四字黑色笔画；视频 55.2 s 后抬笔。接触作用端是笔毫，对象是主纸，不另标机械臂固定持笔的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "iou",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.48954
+  },
+  {
+   "name": "boundary_f",
+   "unit": "1",
+   "threshold": 0.75,
+   "direction": "higher_better",
+   "value": 0.379276
+  },
+  {
+   "name": "min_stroke_coverage",
+   "unit": "1",
+   "threshold": 0.8,
+   "direction": "higher_better",
+   "value": 0.072529
+  },
+  {
+   "name": "stray_frac",
+   "unit": "1",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": 0.2236
+  },
+  {
+   "name": "n_strokes",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": 30.0
+  },
+  {
+   "name": "n_strokes_counted",
+   "unit": "stroke",
+   "threshold": 28,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "path_mm",
+   "unit": "mm",
+   "threshold": 6060,
+   "direction": "lower_better",
+   "value": 1782.75
+  },
+  {
+   "name": "mark_width_mm",
+   "unit": "mm",
+   "threshold": 1.15,
+   "direction": "higher_better",
+   "value": 4.7502
+  },
+  {
+   "name": "scribble_share",
+   "unit": "1",
+   "threshold": 0.1,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "calligraphy_copied",
+   "t": 10.1,
+   "log_step": 146,
+   "where": "探索",
+   "evidence_zh": "观察：机器人在正式临帖前试写练习字时，视频 10.1–11.5 s 已在主纸右上边缘写出额外墨迹；这一墨迹到视频 55.7 s 仍未消除。随后机器人继续正式写四字，但视频 26.0 s、35.0 s、42.0 s 及末帧可见字形粗重、局部粘连，评分器也确认图像与笔画数不合格；失败步骤是“临成四字帖”，时间锚取该步首次出现未修复偏差之处。"
+  },
+  "unmet": {
+   "calligraphy_copied": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 10.1,
+    "log_step": 146,
+    "evidence_zh": "观察：视频 10.0 s 主纸尚无墨迹，视频 10.1–11.5 s 机器人试写时却在主纸最右上缘留下短弯墨迹；正式“惠”字写在其左侧，这块额外墨迹在视频 55.7 s 仍与四字分离。log step 146 将该动作指定为练习纸试写，因此笔尖落墨区域越到了主纸。"
+   },
+   {
+    "cat": "其他",
+    "item": "笔画过粗粘连",
+    "t": 42.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 35.0 s 的“風”内部和视频 42.0 s 的“和”呈粗重黑团，相邻笔画间留白明显缩小；视频 54.8–55.7 s 的四字保留这种形态。参考成功录像末帧（参考视频 59.4 s）同一区域笔画分界和字内留白清楚，本次尤其“和”的口部几乎填实。",
+    "note_zh": "候选现象“笔画过粗粘连”描述可见的落墨形态；现有接触和运动条目没有对应的书画线宽、墨迹粘连项，且无接触力读数，不能据此强标接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 153,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 80 的离线绘制用目标骨架半径画圆预测墨迹，log step 146、153 则将半径换为下压高度 z=clip(0.020-rad×0.000467,0.012,0.0185) 并批量执行。log step 140 的离线预测 IoU=0.8999，而执行后 log step 160 的实拍配准 IoU=0.4837、边界F=0.3696，评分器结果也接近后者；视频 35.0 s、42.0 s、55.7 s 显示实际笔画过粗粘连。书写轨迹和下压控制没有复现预测的落墨形态，且批量执行中未按实际墨迹逐笔修正；现有证据不能再分清接触模型、参数或跟踪误差各自贡献，故保留在“控制”。"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "log_step": 169,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 在 log step 160 已得到实拍 IoU=0.4837、边界F=0.3696、杂墨=0.2350，log step 165 又测得四字各自 IoU 约0.46–0.49；但 log step 169 结束总结仍列27笔、边界F=0.9699、43区均达标等离线预测值，没有据实拍失败继续动作。run.json 记录会话用时964 s、时间预算3600 s，故不是预算耗尽；把离线预测作为完成依据的验收判断使实际偏差未被修复。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志或笔画样本，蘸墨完成时刻约有0.2 s视觉误差；n_strokes_counted、scribble_share 未由本次评分器报告，原生指标留空值。部分日志代码和工具输出本身被截断，无法将实际线宽偏差进一步归到具体控制子类；离线预测只作根因证据，不作节点达成依据。"
+ },
+ "summary_zh": "机器人完成蘸墨，并先试线、试写，再在主纸写出两列四字，最终仅达到1/2个节点。试写期间主纸右缘已有未修复杂墨，正式字迹又明显粗重粘连；最终图像各核心指标与30笔计数均不达标，书写控制未复现离线预测，agent 又以预测值作完成总结而停止。无状态日志，蘸墨时刻为视觉近似，缺少笔画样本及部分细分过程指标，不能进一步确定控制子类。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（蘸墨为真、临帖为假）、断点、现象与根因均有视频和评分器数值支持；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": "2026-10-30T22:51:09Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--tzgf9wu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--tzgf9wu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "46cc4b8700e03179c0d04e372f763aa73dd5fa2e1430598699f5176c9a256194",
+   "video_sha256": "41f31a40b326b015d06a1837e4ed3b9bfe3fdf8fc7a7f5030405ad6248f73c66",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}