Add 128 trajectories (phase 2, remaining runs; batch S19)

phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--db7tsce.json

@@ -0,0 +1,290 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-privileged--db7tsce",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 2693,
+   "sim_steps": 480,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.703,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.98,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-assemble-hamburger-i00-privileged--db7tsce/replay.mp4",
+  "duration_s": 11.7,
+  "fps": 10.0,
+  "frames": 117,
+  "sha256": "e58c43c2cfc7095597ad3b78262b94c0d690797145d6e7631b8b12c67715e7e0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      9.4
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白盘中央的浅黄色底包正立放置；视频 0.0–9.3 s 底包一直留在原位。"
+     },
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：视频 9.4 s 右手撤出时手指带起底包一侧；视频 9.6 s 及最后一秒视频 10.7–11.6 s，底包保持明显倾斜、底面不再平贴盘面。"
+     },
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "推断：由视频 9.4 s 起的明显翘起及终态倾斜，底包已失去本节点要求的正立接盘状态；丢失时刻约为视频 9.4 s，角度无状态日志可精确复核。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "托/舀",
+      "note_zh": "右手原在搬放肉饼；视频 9.4 s 撤手时，承托肉饼的手指意外铲起底包一侧，使底包倾斜。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–5.5 s 右手从肉饼下方托起深褐色肉饼，原来的备料支座露出；视频 6.0–8.8 s 肉饼随手移至盘心上方。"
+     },
+     {
+      "t": 9.1,
+      "log_step": null,
+      "text_zh": "观察：视频 8.7–9.3 s 肉饼在底包上方，手指仍夹在两层之间；本次视频叠字显示 Aligned 2/6（中心水平对齐层数），但 Neighbor contacts 0/5（相邻食材有效接触对数），故未形成肉饼与底包的有效接触。成功参考视频 16.0 s 同一视图显示肉饼已叠上底包且 Neighbor contacts 1/5，仅用于比较达成外观。"
+     },
+     {
+      "t": 9.6,
+      "log_step": 121,
+      "text_zh": "观察：视频 9.4–9.6 s 肉饼随撤出的手指偏至盘外并翻斜下落，画面出现 FAIL: ingredient_dropped；最后一秒视频 10.7–11.6 s 保持该失败终帧。log step 121 对 log step 119 保存的2693行动轨迹重放，返回 ingredient_dropped、steps 480，与视频事件一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "托/舀",
+      "note_zh": "单只右手以伸出的手指从下方承托肉饼并搬运至底包上方，未见拇指与其他手指对向夹持；撤手时肉饼仍随手指移动，随后脱离。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：从视频 0.0 s 的开局、视频 5.5 s 肉饼离开支座，到视频 9.6 s 终止及视频 11.6 s 最后一帧，黄色芝士片一直留在自己的备料支座上；机器人未搬动它，未形成该节点要求的盘上堆叠关系。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：从视频 0.0 s 的开局、视频 5.5 s 肉饼离开支座，到视频 9.6 s 终止及视频 11.6 s 最后一帧，红色番茄片一直留在自己的备料支座上；机器人未搬动它，未形成该节点要求的盘上堆叠关系。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：从视频 0.0 s 的开局、视频 5.5 s 肉饼离���支座，到视频 9.6 s 终止及视频 11.6 s 最后一帧，绿色生菜叶一直留在自己的备料支座上；机器人未搬动它，未形成该节点要求的盘上堆叠关系。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：从视频 0.0 s 的开局、视频 5.5 s 肉饼离开支座，到视频 9.6 s 终止及视频 11.6 s 最后一帧，棕黄色顶包一直留在自己的备料支座上；机器人未搬动它，未形成该节点要求的盘上堆叠关系。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_alignment_error_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.22,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "peak_bend_rad",
+   "unit": "rad",
+   "threshold": 0.65,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "patty_on_bottom_bun",
+   "t": 9.4,
+   "log_step": 121,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 8.7–9.3 s 右手将肉饼托在底包上方，但视频的相邻食材接触计数仍为0/5；视频 9.4 s 撤手碰起底包，视频 9.6 s 肉饼偏至盘外并出现掉落失败提示，此后没有恢复。log step 119 保存交付轨迹，log step 121 重放该文件确认 ingredient_dropped、steps 480。"
+  },
+  "unmet": {
+   "bottom_bun_on_plate": false,
+   "patty_on_bottom_bun": false,
+   "cheese_on_patty": false,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": false,
+   "top_bun_on_lettuce": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 9.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 9.3 s 底包仍平放，右手手指位于肉饼与底包之间；视频 9.4 s 右手向外撤出时带起底包一侧，使其明显翘起，肉饼也随手偏离盘心。视频 9.6 s 画面报 ingredient_dropped，终态底包仍倾斜、肉饼在盘外。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "t": 9.4,
+    "log_step": 117,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 9.0–9.3 s 肉饼由夹在两层之间的手指承托，相邻层接触计数为0/5；视频 9.4 s 该手指撤出又铲起底包，说明这一承托与退出几何没有为下层和肉饼的交接留出安全空间。log step 117 将倾斜退出改为零倾角、水平后撤0.30米/20控制步，log step 119 随后保存该版本，log step 121 重放仍掉落，与视频动作相符。可行替代已由成功参考视频 16.0 s 的肉饼接底包及参考视频 78.0 s 的完整脱手汉堡验证；参考仅证明替代操作可行，不用于本次进度。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；底包超过正立容差的判断与丢失时刻来自逐帧外观，无法复核精确倾角及每个物理子步。肉饼与底包是否接触采用本次视频自身的相邻接触计数核对；评分器reward没有报告DAG所列五项原生指标的数值，均填null。"
+ },
+ "summary_zh": "本次仅有开局底包在盘上的状态，右手托起肉饼并运到盘心上方，但相邻食材接触计数始终为0/5，未完成任何新增堆叠节点。视频约9.4 s撤手铲起底包，肉饼随手偏出并掉落，底包原有状态也丢失，最终为0/6；承托及退出的接触几何不合适。无状态日志，底包倾斜越限和丢失时刻由视频估计，毫米级误差及原生速度指标不能精确复核。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧核对：底包在视频 9.4 s 被撤出的手指带起、终态明显倾斜且偏离盘心，肉饼 9.0–9.3 s 在底包上方但相邻接触 0/5，9.6 s 出现 ingredient_dropped；节点、断点、现象与根因均有证据支持，未发现需要修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:12:01Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--db7tsce/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--db7tsce/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3ca0ba0134e78278ce0fb3ae3a856240b1511c711230d756902e096ee77c7e28",
+   "video_sha256": "e58c43c2cfc7095597ad3b78262b94c0d690797145d6e7631b8b12c67715e7e0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--nmir3qa.json

@@ -0,0 +1,339 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-privileged--nmir3qa",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 4136,
+   "sim_steps": 3856,
+   "stages_completed": 6,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.318,
+   "peak_processes": 24,
+   "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/dexhand-assemble-hamburger-i00-privileged--nmir3qa/replay.mp4",
+  "duration_s": 79.3,
+  "fps": 10.0,
+  "frames": 793,
+  "sha256": "103120603a11e3455a3bbc5197d0c959d377a33896a578fc1c89301bd9b185f9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的浅黄色圆柱底包已正立在白色餐盘中央，其他五种食材分散在备料支座，回放叠字 Aligned 1/6、Neighbor contacts 0/5；底包从开局计入。"
+     },
+     {
+      "t": 79.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–76.0 s 的总览抽帧中，机器人搬运其余五种食材，底包始终留在白盘原位；视频 79.2 s 近景显示底包仍承托整叠汉堡，回放叠字为 PASS、Aligned 6/6。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8.5 s，单只右灵巧手的相对手指夹住深褐色肉饼边缘并将其提离白色支座；支座顶面露出，肉饼随手向餐盘移动。"
+     },
+     {
+      "t": 12.4,
+      "log_step": null,
+      "text_zh": "观察：视频 12.3 s 回放叠字为 Aligned 2/6、Neighbor contacts 0/5；视频 12.4 s 肉饼降到底包上，叠字变为 Aligned 2/6、Neighbor contacts 1/5。视频 18.0 s 手已抬离，肉饼仍正立叠在底包上；以视频 12.4 s 为约略起点。"
+     },
+     {
+      "t": 79.2,
+      "log_step": 63,
+      "text_zh": "观察：视频 77.2 s 的回放叠字显示 PASS、Aligned 6/6、Neighbor contacts 5/5、Released hold 100/100，机器人手已离开食材；视频 79.2 s 的末帧近景仍显示完整六层汉堡。log step 63 的两次官方重放均返回 success、3856 个控制步、4136 行提交动作及相同终态哈希；log step 64 将该重放文件复制为最终交付。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.5 s 单只右灵巧手以拇指侧与对侧手指夹持肉饼边缘，提离备料支座并搬到白盘底包上；视频 18.0 s 已松开并抬离。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0 s，右灵巧手夹住黄色方形芝士片边缘；视频 25.0–26.0 s 芝士随手离开备料支座并移至肉饼上方，原支座露空。"
+     },
+     {
+      "t": 26.8,
+      "log_step": null,
+      "text_zh": "观察：视频 26.7 s 芝士仍略悬于肉饼上方，叠字为 Aligned 3/6、Neighbor contacts 1/5；视频 26.8 s 芝士落到肉饼上，叠字变为 Aligned 3/6、Neighbor contacts 2/5。视频 28.0 s 手已离开，芝士保持平放；以视频 26.8 s 为约略起点。"
+     },
+     {
+      "t": 79.2,
+      "log_step": 63,
+      "text_zh": "观察：视频 77.2 s 的回放叠字显示 PASS、Aligned 6/6、Neighbor contacts 5/5、Released hold 100/100，机器人手已离开食材；视频 79.2 s 的末帧近景仍显示完整六层汉堡。log step 63 的两次官方重放均返回 success、3856 个控制步、4136 行提交动作及相同终态哈希；log step 64 将该重放文件复制为最终交付。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 24.0–26.0 s 单只右灵巧手以相对手指夹住芝士片边缘，夹持搬运至肉饼上方后放下；视频 28.0 s 手已抬离芝士。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [
+     [
+      42.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 40,
+      "log_step": null,
+      "text_zh": "观察：视频 40.0 s，右灵巧手夹住红色番茄片边缘并将其提起，原白色支座已露空；视频 42.0 s 番茄随手移到芝士正上方。"
+     },
+     {
+      "t": 42.8,
+      "log_step": null,
+      "text_zh": "观察：视频 42.7 s 叠字为 Aligned 4/6、Neighbor contacts 2/5；视频 42.8 s 番茄下表面落到芝士上，叠字变为 Aligned 4/6、Neighbor contacts 3/5。视频 48.0 s 手已抬离，番茄仍平放在芝士上；以视频 42.8 s 为约略起点。"
+     },
+     {
+      "t": 79.2,
+      "log_step": 63,
+      "text_zh": "观察：视频 77.2 s 的回放叠字显示 PASS、Aligned 6/6、Neighbor contacts 5/5、Released hold 100/100，机器人手已离开食材；视频 79.2 s 的末帧近景仍显示完整六层汉堡。log step 63 的两次官方重放均返回 success、3856 个控制步、4136 行提交动作及相同终态哈希；log step 64 将该重放文件复制为最终交付。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 40.0–42.0 s 单只右灵巧手用相对手指夹持番茄片边缘，将其从支座提起并搬至芝士上；视频 48.0 s 已放开。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [
+     [
+      58.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 56,
+      "log_step": null,
+      "text_zh": "观察：视频 56.0 s，右灵巧手夹住绿色生菜叶边缘并提离支座，空支座在下方可见；视频 58.0 s 生菜已移至番茄上方。"
+     },
+     {
+      "t": 58.4,
+      "log_step": null,
+      "text_zh": "观察：视频 58.3 s 叠字为 Aligned 5/6、Neighbor contacts 3/5；视频 58.4 s 生菜降到番茄上，叠字变为 Aligned 5/6、Neighbor contacts 4/5。视频 60.0 s 手已离开，生菜仍平放在番茄上；以视频 58.4 s 为约略起点。"
+     },
+     {
+      "t": 79.2,
+      "log_step": 63,
+      "text_zh": "观察：视频 77.2 s 的回放叠字显示 PASS、Aligned 6/6、Neighbor contacts 5/5、Released hold 100/100，机器人手已离开食材；视频 79.2 s 的末帧近景仍显示完整六层汉堡。log step 63 的两次官方重放均返回 success、3856 个控制步、4136 行提交动作及相同终态哈希；log step 64 将该重放文件复制为最终交付。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 56.0–58.0 s 单只右灵巧手用拇指侧与对侧手指夹持生菜叶边缘，提离支座并搬到番茄上；视频 60.0 s 手已松开抬离。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [
+     [
+      74.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 72,
+      "log_step": null,
+      "text_zh": "观察：视频 72.0 s，右灵巧手夹住棕黄色顶包两侧并提离支座，原支座露空；视频 74.0 s 顶包随手移到生菜上方。"
+     },
+     {
+      "t": 74.9,
+      "log_step": null,
+      "text_zh": "观察：视频 74.8 s 顶包尚悬在生菜上方，叠字为 Aligned 5/6、Neighbor contacts 4/5；视频 74.9 s 顶包落到生菜上，叠字变为 Aligned 6/6、Neighbor contacts 5/5。视频 75.0 s 的对齐计数短暂为 5/6，视频 75.1 s 恢复 6/6，相邻接触始终为 5/5；视频 75.2 s 释放保持计数已为 4/100。"
+     },
+     {
+      "t": 75.1,
+      "log_step": null,
+      "text_zh": "推断：结合视频 74.9–75.2 s 顶包落下后回稳的画面与叠字，对齐计数只在视频 75.0 s 短暂下降，持续不足约 0.3 s，按当前短暂波动规则不另断开区间；以视频 74.9 s 为约略起点。"
+     },
+     {
+      "t": 79.2,
+      "log_step": 63,
+      "text_zh": "观察：视频 77.2 s 的回放叠字显示 PASS、Aligned 6/6、Neighbor contacts 5/5、Released hold 100/100，机器人手已离开食材；视频 79.2 s 的末帧近景仍显示完整六层汉堡。log step 63 的两次官方重放均返回 success、3856 个控制步、4136 行提交动作及相同终态哈希；log step 64 将该重放文件复制为最终交付。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 72.0–74.0 s 单只右灵巧手以相对手指夹住顶包边缘并搬到生菜上方，随后张开手指使顶包落到生菜上；视频 75.5–77.2 s 手保持在汉堡上方且已脱离食材。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_alignment_error_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.22,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "peak_bend_rad",
+   "unit": "rad",
+   "threshold": 0.65,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：本次评分轨迹由开局底包在盘上的 1/6，依次完成肉饼、芝士、番茄、生菜和顶包的堆叠，最终为 6/6；视频 77.2 s 已显示 PASS、五组相邻接触和释放保持 100/100，视频 79.2 s 末帧仍为完整正立汉堡。观察：log step 63 的最终文件两次官方重放均成功，log step 64 完成最终交付，评分字段 success=1、deterministic=1 与视频一致，故无失败断点。推断：没有状态日志，单层起点依据逐帧画面及回放叠字估计；评分字段未报告五项精确原生指标，均保留 null，联合静置验收依据回放中的 100/100 与成功结果，而非结尾附加静帧。",
+ "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，六层依次叠成，叠字计数与各节点时间一致，无失败断点；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": "2026-10-30T19:12:34Z",
+  "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/dexhand-assemble-hamburger-i00-privileged--nmir3qa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--nmir3qa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f2eb9f8807495c2202751326a28a39d7f3eb70d417205dc7d2f2dd28d4f86846",
+   "video_sha256": "103120603a11e3455a3bbc5197d0c959d377a33896a578fc1c89301bd9b185f9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--tmdfiw4.json

@@ -0,0 +1,258 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-privileged--tmdfiw4",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 120,
+   "sim_steps": 120,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.944,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.488,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-assemble-hamburger-i00-privileged--tmdfiw4/replay.mp4",
+  "duration_s": 4.5,
+  "fps": 10.0,
+  "frames": 45,
+  "sha256": "cf910004baa3a0a833738f8141b37172233512912b100ddb53ab275d27f12df9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s白色圆盘中央已有正立的浅黄色底包；逐帧检查视频0.0–4.4 s，底包始终留在盘上，右灵巧手未接触它。"
+     },
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：视频4.4 s终态中底包仍居中立于白盘，视频叠字Aligned 1/6（居中层数）和Neighbor contacts 0/5（相邻食材接触对数）与仅保留初始底包状态一致。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频0.0–4.4 s，深褐色圆肉饼始终停在前侧备料支座上，未移到白盘或接触底包；视频4.4 s终态仍清楚显示该分离状态，右灵巧手没有开始搬运该食材。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频0.0–4.4 s，黄色方形芝士片始终单独留在备料支座上，未移到盘上或叠在肉饼上；视频4.4 s终态仍清楚显示该分离状态，右灵巧手没有开始搬运该食材。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频0.0–4.4 s，红色圆番茄片始终单独留在备料支座上，未移到盘上或叠在芝士上；视频4.4 s终态仍清楚显示该分离状态，右灵巧手没有开始搬运该食材。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频0.0–4.4 s，绿色方形生菜叶始终单独留在备料支座上，未移到盘上或叠在番茄上；视频4.4 s终态仍清楚显示该分离状态，右灵巧手没有开始搬运该食材。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频0.0–4.4 s，棕黄色拱形顶包始终单独留在最后侧备料支座上，未移到盘上或叠在生菜上；视频4.4 s终态仍清楚显示该分离状态，右灵巧手没有开始搬运该食材。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_alignment_error_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.22,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "peak_bend_rad",
+   "unit": "rad",
+   "threshold": 0.65,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "patty_on_bottom_bun",
+   "t": 0,
+   "log_step": 70,
+   "where": "首步前",
+   "evidence_zh": "观察：视频0.0–4.4 s右灵巧手保持在食材��上方，肉饼一直留在备料支座，没有接近、拿起或堆叠动作。log step 70中agent的生成脚本将初始hold_action重复120次，log step 71确认交付数组为(120, 28)；因此评分轨迹在肉饼叠到底包这一步启动之前结束。"
+  },
+  "unmet": {
+   "bottom_bun_on_plate": true,
+   "patty_on_bottom_bun": false,
+   "cheese_on_patty": false,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": false,
+   "top_bun_on_lettuce": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0,
+    "log_step": 70,
+    "evidence_zh": "观察：视频0.0–4.4 s中肉饼和其余食材均未离开原支座，右灵巧手未启动抓取或搬运；log step 70–71保存并验证的是120行初始姿态保持轨迹，log step 74中agent也明确自述交付没有堆叠动作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent未能实现可靠的肉饼拿取控制，因而最终交付了保持姿态的基线。会话测试输出在log step 48记录肉饼短暂升高后手接触归零；log step 64的三个勾取测试均返回ingredient_dropped，log step 67的两次托取测试接触数为0，log step 69的修正仍未实现稳定提起；随后log step 70–71改为并保存初始姿态保持轨迹，log step 74自述各抓法均未稳定提起。上述测试仅作根因证据，不计入评分视频的接触或失败现象。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法独立核验底包毫米级居中误差、精确倾角及各原生速度指标；底包按初始摆放、完整视频和Aligned 1/6叠字判定。会话抓取测试只有inputs/run.json中的代码、输出与agent自述，没有对应可用测试视频，无法可靠区分接触几何、轨迹跟踪或参数问题，根因保留在控制大类。视频末尾含附加终态静帧，未把它当作模拟中的松手稳定窗口，也未将agent工作时间换算为视频时间。"
+ },
+ "summary_zh": "评分视频0.0–4.4 s仅保留开局已成立的底包在盘状态，最终1/6；肉饼、芝士、番茄、生菜和顶包均一直分放在备料支座，右灵巧手未启动堆叠。断点为肉饼叠在底包的首步前，现象是没尝试；log step 48、64、67、69的会话测试支持拿取控制未成功，log step 70–71确认最终交付初始姿态保持轨迹。缺少状态日志及会话测试视频，精确阈值和控制失败子类无法核验。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与视频一致：底包开局即在盘上（1/6），其余食材全程留在备料支座，手未行动；断点首步前/没尝试及根因控制（推断，来自会话测试与交付的保持轨迹）有证据支持，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": "2026-10-30T19:29:48Z",
+  "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/dexhand-assemble-hamburger-i00-privileged--tmdfiw4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--tmdfiw4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5a99d66098adca8f3e7b08d462af0a64691119dcd3980674a75ef00783ade058",
+   "video_sha256": "cf910004baa3a0a833738f8141b37172233512912b100ddb53ab275d27f12df9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--2acoje8.json

@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-standard--2acoje8",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 124,
+   "control_steps_total": 3601,
+   "elapsed_s": 3330.266,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 246,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 12,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 246,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.36,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.252,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-assemble-hamburger-i00-standard--2acoje8/replay.mp4",
+  "duration_s": 7.2,
+  "fps": 5.0,
+  "frames": 36,
+  "sha256": "33b4e39e3da070d45677650f483ba31687a897ae683b32f629794ef583e5519c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，浅黄色底包正立在白色餐盘中央；逐帧检查视频 0.0–7.0 s，底包没有离盘、移位或翻倒，盘上也始终没有新增食材层。"
+     },
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "推断：视频 7.0 s 的底包部分被手遮住，但遮挡前后底包与盘的位置未变，全程画面状态均为 Aligned 1/6，支持底包留在盘上从开局一直成立。毫米级居中与精确倾角没有状态日志可单独复核。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": 77,
+      "text_zh": "观察：视频 3.6–4.4 s，右灵巧手从两侧合指夹住深褐色肉饼并抬起，视频 4.4 s 可见原备料支座的白色顶面已露出；肉饼仍在备料区手中，没有到达白盘上的底包。log step 77 的脚本输出为 episode 13、patty held，随后 FAIL trans patty task_failure，与视频的最后回合相符。"
+     },
+     {
+      "t": 4.8,
+      "log_step": 77,
+      "text_zh": "观察：视频 4.6 s 肉饼在手中明显转斜，视频 4.8 s 已从手下落至支座旁、近乎竖直，画面显示 FAIL: ingredient_dropped；视频 5.0–7.0 s 保持这一失败终态。全程没有肉饼接触底包并在盘心堆叠的画面，节点未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.6–4.4 s，单只右灵巧手用拇指与对侧手指合拢夹住肉饼边缘，肉饼随手离开备料支座；视频 4.6–4.8 s 肉饼在夹持中转斜、下滑并脱离。没有使用工具或第二只手。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–7.0 s，黄色方形芝士片在视频 0.0–4.6 s 留在自己的备料支座上；视频 4.8 s 下落的肉饼靠近芝士边缘，视频 5.0 s 芝士已明显转向并倾斜，视频 7.0 s 仍保持歪斜，位于支座附近且与白盘分离。机器人全程未拾取芝士或将其送上白盘，芝士未在盘上叠到肉饼上，节点未成立且未开展该步操作。推断：结合视频 4.6–5.0 s 肉饼的下落轨迹及芝士随后的姿态变化，芝士被掉落的肉饼碰歪。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–7.0 s，红色带籽番茄片始终留在自己的备料支座上，未被机器人拾取或送到白盘，也未在盘上与对应下层形成接触；视频 7.0 s 仍可见其与白盘分离。对照成功示例视频 78.0 s 的六层盘上汉堡，本次缺少该层堆叠关系，节点未成立且未开展该步操作。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–7.0 s，绿色生菜叶始终留在自己的备料支座上，未被机器人拾取或送到白盘，也未在盘上与对应下层形成接触；视频 7.0 s 仍可见其与白盘分离。对照成功示例视频 78.0 s 的六层盘上汉堡，本次缺少该层堆叠关系，节点未成立且未开展该步操作。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–7.0 s，棕黄色带芝麻顶包始终留在自己的备料支座上，未被机器人拾取或送到白盘，也未在盘上与对应下层形成接触；视频 7.0 s 仍可见其与白盘分离。对照成功示例视频 78.0 s 的六层盘上汉堡，本次缺少该层堆叠关系，节点未成立且未开展该步操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_alignment_error_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.22,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "peak_bend_rad",
+   "unit": "rad",
+   "threshold": 0.65,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "patty_on_bottom_bun",
+   "t": 4.6,
+   "log_step": 77,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.2–4.4 s，机器人已夹起肉饼，原支座顶面露出；视频 4.6–4.8 s，在开始向餐盘搬运时肉饼转斜并从指间落下，画面显示 FAIL: ingredient_dropped，肉饼未接触底包。log step 77 记录最后一次重置后的 episode 13 在 trans_patty 阶段返回 task_failure；评分字段 graded_by_live=1、resets=12，后续 log step 78 仅作结束总结。该堆叠步骤已开始且始终未修复。"
+  },
+  "unmet": {
+   "bottom_bun_on_plate": true,
+   "patty_on_bottom_bun": false,
+   "cheese_on_patty": false,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": false,
+   "top_bun_on_lettuce": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 4.6,
+    "log_step": 77,
+    "evidence_zh": "观察：视频 4.2–4.4 s 肉饼随右手上升，支座顶面已露出，证明机器人确曾夹持并抬起肉饼；视频 4.6 s 肉饼相对手指转斜下滑，视频 4.8 s 已落到手下、备料支座旁，屏幕报告 ingredient_dropped。手尚未把肉饼送上底包，log step 77 的控制脚本也停在搬运阶段，尚未执行计划放手。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "t": 4.6,
+    "log_step": 77,
+    "evidence_zh": "推断：视频 3.6–4.4 s 所见拇指与对侧手指的边缘夹持可以短暂抬起肉饼，却在视频 4.6–4.8 s 未能限制其转动及向下滑移，所用承载接触不足以稳定搬运。log step 77 的脚本沿用 HARD 抓形，在抬升和搬运中每隔10个控制步切换 HARD/HARD2 加紧，服务仍返回 FAIL trans patty；这支持夹持方案未能维持承载，而非目标层序选错。可行替代由成功示例单独验证：示例视频 78.0 s 显示同型号 Sharpa 手完成并释放整叠汉堡、状态 PASS；此处只用于证明存在可行方案，不用于给本次轨迹计入进度。",
+    "source_zh": "视频 / 日志",
+    "note_zh": "较早会话的 log step 52 有手指关节努力值诊断，log step 78 将失败归咎于手指力矩过低；这些不是最后回合的接触力记录，不能据此证明硬件缺陷或排除全部合法握法。"
+   }
+  ],
+  "gap_zh": "本次没有 inputs/states.jsonl，无法复核逐子步接触对、毫米级居中和精确倾角，五项原生指标的评分字段也未报告，故值均为 null。视频能确定肉饼被夹起后滑落及其余食材未堆叠，但无法分离最后回合的接触几何、实际夹持力与脉冲加紧各自的影响；抓取和接触设计为结合画面与脚本的推断。log step 52 的力矩诊断属于较早测试回合，仅作会话背景，不映射为本次视频事实。"
+ },
+ "summary_zh": "评分采用最后一次实时回合（log step 77，episode 13）；视频 0.0–7.0 s 仅底包留在盘上，初始、峰值和最终进度均为1/6。右灵巧手夹起肉饼后，在视频约4.6–4.8 s 的搬运开始阶段失去夹持并触发 ingredient_dropped，断点为肉饼叠在底包，现象为没保持住，根因推断为抓取和接触设计。没有��态日志或最后回合的接触力记录，不能把 agent 对低力矩的自述升级为硬件不可解结论。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "底包/肉饼节点、断点、没保持住与抓取和接触设计基本与视频一致；唯一需改：芝士节点证据称芝士始终原位，但视频 5.0 s 起芝士被掉落的肉饼碰歪。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "底包成立、其余五层未成立，断点（肉饼叠底包，操作中）、没保持住、抓取和接触设计均与视频一致；上轮芝士证据问题已修。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:39:01Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--2acoje8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--2acoje8/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--2acoje8/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--2acoje8/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9b6edd28eda5cb98acbed7f8d365287380575ebed2c12992f8dccf3809a3407d",
+   "video_sha256": "33b4e39e3da070d45677650f483ba31687a897ae683b32f629794ef583e5519c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--k9cvrrd.json

@@ -0,0 +1,291 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-standard--k9cvrrd",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 2,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 0,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 0,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.417,
+   "peak_processes": 9,
+   "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/dexhand-assemble-hamburger-i00-standard--k9cvrrd/replay.mp4",
+  "duration_s": 2.2,
+  "fps": 5.0,
+  "frames": 11,
+  "sha256": "ac176e025bae0e9c753e09fc47a9e96a06322e36b5fff59e21ac6fc2a91a03b6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧查看本次视频 0.0–2.0 s（全部11帧，含末秒），浅黄色圆柱底包正立于白色餐盘中央，全程没有移动；画面显示 Aligned 1/6，底包与盘子的初始目标关系持续保留。右灵巧手始终停在初始位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：本次视频 0.0–2.0 s 右灵巧手没有运动或操作食材；评分器 n_actions=0、sim_steps=0，未交付动作轨迹，实际操作接触不适用。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧查看本次视频 0.0–2.0 s（全部11帧，含末秒），深褐色圆肉饼始终留在画面左前方独立的备料支座上，没有离开支座或接触盘中的底包。右灵巧手始终停在初始位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：本次视频 0.0–2.0 s 右灵巧手没有运动或操作食材；评分器 n_actions=0、sim_steps=0，未交付动作轨迹，实际操作接触不适用。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧查看本次视频 0.0–2.0 s（全部11帧，含末秒），黄色方形芝士片始终留在肉饼后方的独立备料支座上，与肉饼分离，没有叠到肉饼上或移到盘心。右灵巧手始终停在初始位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：本次视频 0.0–2.0 s 右灵巧手没有运动或操作食材；评分器 n_actions=0、sim_steps=0，未交付动作轨迹，实际操作接触不适用。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧查看本次视频 0.0–2.0 s（全部11帧，含末秒），红色带籽番茄片始终留在独立备料支座上，与黄色芝士片分离，没有叠到芝士上或移到盘心。右灵巧手始终停在初始位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：本次视频 0.0–2.0 s 右灵巧手没有运动或操作食材；评分器 n_actions=0、sim_steps=0，未交付动作轨迹，实际操作接触不适用。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧查看本次视频 0.0–2.0 s（全部11帧，含末秒），绿色方形生菜叶始终留在番茄后方的独立备料支座上，与番茄分离，没有叠到番茄上或移到盘心。右灵巧手始终停在初始位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：本次视频 0.0–2.0 s 右灵巧手没有运动或操作食材；评分器 n_actions=0、sim_steps=0，未交付动作轨迹，实际操作接触不适用。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧查看本次视频 0.0–2.0 s（全部11帧，含末秒），棕黄色拱形顶包始终留在最后方的独立备料支座上，与生菜分离，没有叠到生菜上或移到盘心。右灵巧手始终停在初始位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：本次视频 0.0–2.0 s 右灵巧手没有运动或操作食材；评分器 n_actions=0、sim_steps=0，未交付动作轨迹，实际操作接触不适用。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_alignment_error_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.22,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "peak_bend_rad",
+   "unit": "rad",
+   "threshold": 0.65,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 56,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 56 的最终消息为模型服务的过滤拦截提示“This request was blocked by Gemini's filters”；此前 log step 54 仍在离线计算抓取关节配置，log step 55 的预算监测显示 time_left_s=299.9。评分器记录 n_actions=0、sim_steps=0、resets=0；本次视频 0.0–2.0 s 右灵巧手和六种食材均停在初始位置，没有发生物理操作。推断：过滤发生在动作交付及任务结果固定之前，属于首步前的外部中断，不能指定某个物理步骤为机器人失败断点。"
+  },
+  "unmet": {
+   "bottom_bun_on_plate": true,
+   "patty_on_bottom_bun": false,
+   "cheese_on_patty": false,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": false,
+   "top_bun_on_lettuce": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 56 记录模型服务过滤拦截，评分器 n_actions=0、sim_steps=0，本次视频仅显示初始场景及结尾静帧。推断：按外部因素规则及 CASES.md FAIL-5，此次应重试并排除出机器人失败分析，现象和根因均留空，不标“没尝试”；没有已执行动作可用于定位物理失败或归因。输入没有状态日志，未报告五项原生指标；底包的初始关系依据可见盘心位置、画面 Aligned 1/6 和 DAG 开局条件判断，毫米级误差未独立测量。"
+ },
+ "summary_zh": "本次视频全程保留底包在盘心的初始关系，其余五种食材均留在备料支座，最终节点为1/6，没有执行堆叠操作。log step 56 记录模型服务过滤拦截，评分器动作数和仿真步数均为0，按外部中断处理，断点记为 unknown／首步前，现象和根因留空，应重试并排除出机器人失败分析。没有状态日志或原生精度指标，不能独立核查毫米级误差。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：log step 56 为模型服务过滤拦截，n_actions=0、sim_steps=0，视频仅显示初始/末帧（Aligned 1/6，手和食材未动），断点 unknown/首步前，现象与根因留空且有 gap_zh，符合 FAIL-5。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:16:37Z",
+  "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/dexhand-assemble-hamburger-i00-standard--k9cvrrd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--k9cvrrd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d77ba0e3e56da902596fefc8c2be5dc2df4729f006320b66e9bca8bd3cc5fa0d",
+   "video_sha256": "ac176e025bae0e9c753e09fc47a9e96a06322e36b5fff59e21ac6fc2a91a03b6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--nygvud6.json

@@ -0,0 +1,334 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-standard--nygvud6",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 179,
+   "control_steps_total": 8032,
+   "elapsed_s": 2146.627,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 589,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 589,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.625,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.275,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-assemble-hamburger-i00-standard--nygvud6/replay.mp4",
+  "duration_s": 14.0,
+  "fps": 5.0,
+  "frames": 70,
+  "sha256": "cccfd01d9f743dd8602a16719702b09b34244ed4143cad57cb072d5f185946a3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，浅黄色底包正立在白色餐盘中央；机器人先后搬运其他食材，底包未离盘。"
+     },
+     {
+      "t": 13.8,
+      "log_step": null,
+      "text_zh": "观察：视频 13.8 s，底包仍在盘心，肉饼与芝士叠在其上；画面原生状态栏显示 Aligned 3/6、Neighbor contacts 2/5，与可见的三层关系吻合。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.2–2.0 s，右灵巧手拇指与其余弯曲手指夹住深褐色肉饼并抬离备料支座，原支座露出。"
+     },
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 3.4 s 肉饼尚在底包上方；视频 3.6 s 肉饼下降到正立底包上，原生状态栏的 Neighbor contacts 从 0/5 变为 1/5，Aligned 保持 2/6。视频 4.4 s 手离开后肉饼仍水平居中叠在底包上，该状态保持至视频 13.8 s；达成时间按视频帧约取 3.6 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右灵巧手拇指与其余弯曲手指夹住肉饼边缘，抬起并搬到盘中底包上，随后张手离开。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.6,
+      "log_step": null,
+      "text_zh": "观察：视频 5.6–6.6 s，右灵巧手合拢手指夹持黄色芝士片边缘并抬起，芝士原来的白色支座露出，芝士随手向餐盘移动。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.8 s 芝士仍悬在肉饼上方；视频 8.0 s 芝士下降至肉饼顶部，原生状态栏显示 Aligned 3/6、Neighbor contacts 2/5。视频 9.2 s 手离开后芝士水平铺在肉饼上，直到视频 13.8 s 都保持；达成时间按视频帧约取 8.0 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右灵巧手拇指与弯曲手指在芝士片边缘合拢夹持，手指贴住薄片边缘下侧承载，将其抬离备料支座并放到肉饼上。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.2,
+      "log_step": null,
+      "text_zh": "观察：视频 10.4–11.2 s，右灵巧手在红色番茄片两侧合拢，番茄随手短暂抬起并开始倾斜；视频 11.4–11.6 s 番茄翻斜、脱离手指，掉回原支座旁，始终没有运到盘上芝士处。"
+     },
+     {
+      "t": 11.8,
+      "log_step": 306,
+      "text_zh": "观察：视频 11.8 s 原生状态栏变为 FAIL: ingredient_dropped；视频 13.8 s 终态中番茄竖斜在原备料支座旁，盘上仍只有底包、肉饼、芝士。log step 306 报告最后回合 Episode 21 在 3_Tomato 动作���行 129/230 行后 task_failure，与视频事件顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右灵巧手拇指与其余手指在番茄片边缘合拢夹持，短暂带起番茄；抬升时番茄翻斜并从手指间脱离，没有搬到芝士上。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，绿色生菜单独平放在备料支座上。"
+     },
+     {
+      "t": 13.8,
+      "log_step": null,
+      "text_zh": "观察：视频 9.2–11.8 s 机器人操作的是番茄；到视频 13.8 s，生菜仍留在原备料支座，没有被拾起或叠到番茄上。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕黄色带芝麻的顶包单独留在最右后方备料支座上。"
+     },
+     {
+      "t": 13.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–13.8 s 未见机器人拾取顶包；视频 13.8 s 顶包仍在原支座，与生菜分离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_alignment_error_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.22,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "peak_bend_rad",
+   "unit": "rad",
+   "threshold": 0.65,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tomato_on_cheese",
+   "t": 11.4,
+   "log_step": 306,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.2 s 右灵巧手带起番茄，视频 11.4–11.6 s 番茄在原备料支座上方翻斜并脱离手指，未运往盘中芝士；视频 11.8 s 状态栏显示 FAIL: ingredient_dropped，之后直至视频 13.8 s 未恢复。log step 306 的最后实时回合 Episode 21 在番茄动作中以 task_failure 结束。"
+  },
+  "unmet": {
+   "bottom_bun_on_plate": true,
+   "patty_on_bottom_bun": true,
+   "cheese_on_patty": true,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": false,
+   "top_bun_on_lettuce": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 11.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 11.0–11.2 s，右灵巧手合拢夹持番茄边缘并短暂带起；视频 11.4 s 番茄相对手指翻转下滑，视频 11.6 s 已与抬升的手分离，视频 11.8 s 倾落在原支座旁且状态栏报 ingredient_dropped。这发生在取物抬升阶段，尚未到达芝士上方。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 11.4,
+    "log_step": 304,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 11.0–11.4 s，右灵巧手以局部边缘夹持带起薄圆番茄，番茄随即绕夹持处翻斜并滑出，而手继续抬升；这说明该抓取的承载接触未能稳定番茄的姿态。log step 304 的最终脚本使用固定番茄抓取位姿及统一屈指参数 close_fe=0.60，未提供接触或握持稳定性判定。归因为抓取和接触设计；没有足够观测确定具体接触点、摩擦或闭合深度，也未核实本次握姿下的可行替代。"
+   }
+  ],
+  "gap_zh": "没有状态日志或接触力记录，番茄边缘的部分接触被手指遮挡；能够确认带起后翻斜脱离，但不能定量分辨接触位置、夹持力与摩擦各自的贡献。五项原生连续指标未在 run.json 的评分器字段中报告，故数值均为 null；单层关系以视频及画面原生 Aligned/Neighbor contacts 计数交叉判断，不能独立量测毫米级误差。日志包含多次已重置的试验，节点只依据最后 Episode 21 对应的视频；末尾约两秒为失败终态静帧。"
+ },
+ "summary_zh": "评分回合保留了盘中央的底包，并在视频约 3.6 s、8.0 s 分别叠好肉饼和芝士，最终为 3/6。右灵巧手在视频约 11.4 s 抬取番茄时未保持住夹持，番茄翻斜脱离，视频 11.8 s 显示 ingredient_dropped，生菜和顶包未开始操作。抓取承载布局不稳是基于动作的推断；缺少状态与接触力日志，无法细分其力学原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "视频帧与日志均支持标签：底包开局即成立，肉饼约3.6 s、芝士约8.0 s达成，番茄约11.4 s抬升时翻斜脱落（11.8 s 状态栏 FAIL: ingredient_dropped），断点、现象与推断型根因均有依据，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:15:32Z",
+  "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/dexhand-assemble-hamburger-i00-standard--nygvud6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--nygvud6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "246956d350159c192cb71aa44c0bd26a84039fbc72e4b2e37a994953e2cd9a3f",
+   "video_sha256": "cccfd01d9f743dd8602a16719702b09b34244ed4143cad57cb072d5f185946a3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--o9jcgmy.json

@@ -0,0 +1,287 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-standard--o9jcgmy",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 405,
+   "control_steps_total": 9810,
+   "elapsed_s": 3727.789,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 1655,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 7,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1655,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.582,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.932,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-assemble-hamburger-i00-standard--o9jcgmy/replay.mp4",
+  "duration_s": 35.2,
+  "fps": 5.0,
+  "frames": 176,
+  "sha256": "7029539155772fcfa020e4626ce03a048bfdf01bce39051761a9384153577111"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，浅黄色底包正立放在白盘中央；视频 13.0 s、24.0 s及34.2–35.0 s仍在原位，未见底包离盘或移位。录像界面Aligned（满足居中和正立要求的食材层数）保持1/6。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.4–8.4 s机器人右手将深褐色肉饼从备料支座搬至白盘上方；视频 11.6–13.0 s肉饼接触底包并被松开，但肉饼向画面左侧偏出底包中心。视频 12.6 s界面Aligned为1/6，Neighbor contacts（相邻配方层的接触对数）为1/5；视频 24.0 s和35.0 s偏心状态仍在，未再校正，故只有接触关系，未满足本节点的居中验收。"
+     },
+     {
+      "t": 35.0,
+      "log_step": 208,
+      "text_zh": "观察：视频 35.0 s终态肉饼仍偏在底包左侧；作为视图对照，成功参考录像的视频 16.0 s肉饼与底包居中叠合，Aligned为2/6。本次最终汇报虽称肉饼已放到底包上（log step 208），不能据此替代居中判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.4–8.4 s，单只右灵巧手合拢拇指和其余手指夹持肉饼，肉饼离开原支座并随手搬运；视频 12.2–13.0 s手指张开并撤离，肉饼留在底包上但未居中。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.2,
+      "log_step": null,
+      "text_zh": "观察：视频 16.8–18.4 s机器人右手从芝士支座旁接近，将芝士边缘托起并使薄片倾斜；视频 18.8 s手撤开时，芝士仍在原支座上，未搬到肉饼上。"
+     },
+     {
+      "t": 27.8,
+      "log_step": 204,
+      "text_zh": "观察：视频 23.6–27.8 s右手再次闭指夹芝士边缘；视频 28.0–33.0 s手抬高、向盘子方向移动并张开时，黄色芝士仍留在原备料支座。视频 34.2–35.0 s芝士与盘上肉饼分离。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 26.6–27.8 s，单只右灵巧手的拇指与弯曲手指在芝士外缘形成对向夹持，但抬手后芝士未随手离开支座；此前视频 17.8–18.2 s还以伸直手指从下方托动芝士边缘，使其短暂倾斜。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–35.0 s，红色番茄片一直位于各自的备料支座上；机器人未将其搬至白盘，也未与下层芝士组成目标堆叠。视频 34.2–35.0 s终态可见该食材仍与盘上底包、肉饼分离。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–35.0 s，绿色生菜叶一直位于各自的备料支座上；机器人未将其搬至白盘，也未与下层番茄组成目标堆叠。视频 34.2–35.0 s终态可见该食材仍与盘上底包、肉饼分离。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–35.0 s，带芝麻顶包一直位于各自的备料支座上；机器人未将其搬至白盘，也未与下层生菜组成目标堆叠。视频 34.2–35.0 s终态可见该食材仍与盘上底包、肉饼分离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_alignment_error_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.22,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "peak_bend_rad",
+   "unit": "rad",
+   "threshold": 0.65,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "patty_on_bottom_bun",
+   "t": 12.2,
+   "log_step": 194,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.6–13.0 s机器人在底包上松开肉饼，肉饼明显偏向画面左侧，Aligned仍为1/6而Neighbor contacts已为1/5。视频 13.2–35.0 s机器人转去尝试芝士，始终未重新校正肉饼，因此肉饼堆叠是首个未修复的失败步骤；log step 192为最后一次重置，log step 194随后调用patty_full，与本段搬运顺序相符，未将agent时间换算成视频时间。"
+  },
+  "unmet": {
+   "bottom_bun_on_plate": true,
+   "patty_on_bottom_bun": false,
+   "cheese_on_patty": false,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": false,
+   "top_bun_on_lettuce": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 12.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 12.2–13.0 s机器人在未对准底包中心的位置释放肉饼；视频 24.0 s及35.0 s肉饼仍偏在底包左侧，底包右侧大块顶面露出。录像显示相邻层已有1/5接触，但对齐层数仍为1/6，支持肉饼未满足12毫米居中判据；不是放稳后滚走。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，评分器reward未报告五项原生连续指标，无法给出肉饼的精确偏差、倾角或速度。log step 22曾把盘心估计为(-0.125,-0.041)米，但那是早先重置前的会话估计；最后一次重置后的log step 193、197、200、203编辑记录只保留patch片段，未呈现最终控制器的目标坐标和反馈逻辑，不能确定本次偏心来自错误位置估计还是运动执行，故根因留空。芝士局部接触有手指遮挡，未由此推断精确夹持力或弯折角。"
+ },
+ "summary_zh": "本次最终仅底包留盘节点成立（1/6）；机器人将肉饼搬到并接触底包，但视频 12.2–13.0 s释放时未居中，之后一直未修复，因此断点是肉饼堆叠，现象为位姿不准。机器人随后两次尝试取芝士，芝士最终仍在备料支座上，番茄、生菜、顶包未搬运。录像对齐计数与偏心外观支持上述进度；缺少状态日志及最终控制器完整编辑内容，无法可靠区分感知与控制根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频帧支持：底包留盘，肉饼偏心放在底包上（Aligned仍1/6），芝士、番茄、生菜、顶包未动；断点与现象合理，根因留空有gap_zh。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:30:06Z",
+  "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/dexhand-assemble-hamburger-i00-standard--o9jcgmy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--o9jcgmy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "50da6d388f21bbd0eeba856e3d0a28aa93fb0b71c4b134593fdc66d4077dd9f8",
+   "video_sha256": "7029539155772fcfa020e4626ce03a048bfdf01bce39051761a9384153577111",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--pwqsmcz.json

@@ -0,0 +1,377 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-standard--pwqsmcz",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 667,
+   "control_steps_total": 29707,
+   "elapsed_s": 3717.593,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 5855,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 14,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 5855,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.602,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.856,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-assemble-hamburger-i00-standard--pwqsmcz/replay.mp4",
+  "duration_s": 119.2,
+  "fps": 5.0,
+  "frames": 596,
+  "sha256": "654d6cd7ab54eda48e5e9665a63d42f9c8e8ae0dc7ee517e3659e31f3cbbbd03"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 3,
+  "final": 2,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 浅黄色底包正立于白色圆盘中央，画面原生状态栏显示 Aligned 1/6（水平居中层数）；机器人随后取其他食材。"
+     },
+     {
+      "t": 119,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0、48.0、74.0、94.0 s 及视频 118.2–119.0 s，底包始终留在盘中央，没有可见离盘、平移或侧翻。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–23.0 s 机器人夹起肉饼并送上底包；视频 24.0 s 肉饼已接触底包但偏向一侧，状态栏仍为 Aligned 1/6。"
+     },
+     {
+      "t": 27.2,
+      "log_step": null,
+      "text_zh": "观察：视频 26.2–28.2 s 机器人伸直食指横推肉饼；视频 27.2 s 肉饼已正立居中，状态栏为 Aligned 2/6、Neighbor contacts 1/5（五组相邻食材的实际接触数）。视频 27.4 s 接触计数短暂为零，视频 27.6 s 已恢复，未将约 0.2 s 的短暂颠动计为丢失。"
+     },
+     {
+      "t": 119,
+      "log_step": null,
+      "text_zh": "观察：视频 48.0、74.0、94.0 s 及视频 118.2–119.0 s，肉饼仍正立支承在底包中央；后来的偏移主要发生于其上方薄片和顶包。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.0–21.0 s，单只右灵巧手以拇指和食指夹持肉饼边缘，肉饼离开原支座并随手移至盘上。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 26.2–28.2 s，右手伸直食指从侧面推肉饼，完成居中。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [
+     [
+      47.8,
+      72.6
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "观察：视频 44.0–47.6 s 芝士仍被右手夹着并倾斜、间歇碰到肉饼；视频约 47.8–48.2 s 撤手后芝士平落在肉饼上，状态栏为 Aligned 3/6、Neighbor contacts 2/5。首次达标时间按落平估计，误差约半秒。"
+     },
+     {
+      "t": 72.6,
+      "log_step": null,
+      "text_zh": "观察：视频 70.8–73.6 s 机器人用食指推番茄，黄色芝士也随之向画面左侧移；视频 72.4 s 状态栏仍为 Aligned 4/6，视频 72.6 s 降为 2/6，邻接接触恢复为 3/5。"
+     },
+     {
+      "t": 119,
+      "log_step": null,
+      "text_zh": "推断：视频 74.0 s 的芝士相对视频 48.0 s 已向左错位，底包和肉饼保持原位；视频 74.0–119.0 s 无恢复居中的动作，最终状态栏仍为 Aligned 2/6，因此芝士虽仍搭在肉饼上，其居中条件已丢失。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 33.0–48.0 s，右手拇指与食指夹住芝士边缘，抬离��料支座、搬至肉饼上并松开。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 66.8,
+      "log_step": null,
+      "text_zh": "观察：视频 54.0–63.0 s 机器人夹起红色番茄片并送到盘上；视频 64.0–65.4 s 水平居中数一度为 4/6，但番茄仍在手内倾斜悬空，邻接接触仅 2/5。视频 66.8–69.0 s 松手后番茄落在芝士上，接触变为 3/5，而水平居中数回到 3/6，番茄偏向画面右侧。"
+     },
+     {
+      "t": 72.2,
+      "log_step": null,
+      "text_zh": "观察：视频 71.4–72.4 s 食指横推时番茄被顶起，视频 72.0–72.4 s 虽出现 Aligned 4/6，Neighbor contacts 仍为 2/5，番茄与芝士间可见分离；视频 72.6 s 重新落下时对齐数降至 2/6，番茄和芝士均偏向画面左侧。"
+     },
+     {
+      "t": 119,
+      "log_step": null,
+      "text_zh": "观察：视频 74.0–119.0 s 番茄未再被单独居中，末尾红片从歪斜的生菜和顶包左侧露出；未见番茄同时满足接触、正立和居中。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 54.0–66.8 s，右手拇指与食指夹住番茄边缘并搬运，随后张开手指。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 70.8–73.2 s，右手伸直食指从侧下方推番茄，番茄先被顶起再向左滑落。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.4,
+      "log_step": null,
+      "text_zh": "观察：视频 78.0–88.0 s 机器人夹走原支座上的生菜；视频 90.4–92.8 s 状态栏显示 Aligned 3/6、Neighbor contacts 4/5，但绿色叶片主体仍被手夹得明显倾斜、接近侧立，未形成正立平铺。"
+     },
+     {
+      "t": 93.2,
+      "log_step": null,
+      "text_zh": "观察：视频 93.0–93.4 s 右手向上退出，生菜翻落到番茄上；视频 93.2 s 起 Aligned 降为 2/6，视频 94.0 s 生菜中心偏向盘的右侧。视频 112.6–119.0 s 生菜又随顶包明显倾斜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 78.0–93.0 s，右手拇指与食指夹持绿色生菜边缘，生菜离开原支座并随手搬到番茄上方。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 109.8,
+      "log_step": null,
+      "text_zh": "观察：视频 99.0–105.0 s 机器人把两根手指伸到顶包下方并用对向手指夹住，将顶包从支座搬到汉堡上方；视频 109.8–111.2 s 顶包在松指过程中斜立，虽然五组相邻食材已有接触，仍未正立。"
+     },
+     {
+      "t": 112,
+      "log_step": null,
+      "text_zh": "观察：视频 111.4–112.0 s 顶包仍贴着支承手指，右半部被手遮挡，可见下缘仍斜；画面 Aligned 3/6 仅表示水平居中，不能据此认定满足正立阈值。视频 112.2 s 撤手时邻接接触短暂降为 4/5，随后顶包翻向画面右侧。"
+     },
+     {
+      "t": 119,
+      "log_step": null,
+      "text_zh": "观察：视频 112.6–114.2 s 顶包与生菜一起倾斜，视频 118.2–119.0 s 最后各帧仍歪斜搭在堆叠右侧；原生状态栏为 INCOMPLETE、Aligned 2/6、Neighbor contacts 5/5、Released hold 0/100。与参考成功录像视频 78.0 s 的正立居中顶包明显不同。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 99.0–112.4 s，单只右手以两根手指从下方承托顶包、对向手指从上方夹住，形成夹持并搬运；张指后支承手指仍短暂留在顶包下缘，撤出时顶包翻斜。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_alignment_error_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.22,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "peak_bend_rad",
+   "unit": "rad",
+   "threshold": 0.65,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tomato_on_cheese",
+   "t": 66.8,
+   "log_step": 180,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 66.8–69.0 s，机器人松开番茄后，番茄虽在芝士上但中心���向画面右侧，对齐层数停在 3/6；视频 70.8–73.2 s 的横推使番茄短暂离开芝士，并最终与芝士一起偏向画面左侧，此后未修复。log step 180 的最后一次重置后执行脚本沿用上述搬放动作，并修改番茄推指目标；此前 log step 174、176 的视觉拟合值属于上一回合，未作为本回合节点值。"
+  },
+  "unmet": {
+   "bottom_bun_on_plate": true,
+   "patty_on_bottom_bun": true,
+   "cheese_on_patty": false,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": false,
+   "top_bun_on_lettuce": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 66.8,
+    "log_step": 180,
+    "evidence_zh": "观察：视频 66.8 s 番茄已落在芝士上却明显偏向一侧；视频 71.4–72.4 s 的修正推移先顶起番茄，视频 72.6–74.0 s 番茄和芝士越过中心偏向另一侧，之后一直没有恢复居中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 180 显示 agent 在最后一次重置后按固定关节目标重放搬放及推指动作，并将番茄推指降低 0.009 米、横推终点再移 0.025 米；视频 66.8–74.0 s 的实物结果仍先偏右、再被推起并过移向左，说明该搬放与接触修正控制没有实现所需的食材位姿。现有记录不足以区分接触几何、轨迹跟踪或反馈控制的具体贡献。",
+    "source_zh": "日志 / 视频",
+    "log_step": 180,
+    "t": 72.6
+   }
+  ],
+  "gap_zh": "没有状态日志，原生评分字段未报告各层位姿、接触对或 DAG 中五项连续指标；区间按录像和画面原生计数判断，时刻约有半秒误差。视频 111.4–112.2 s 顶包部分被手遮挡，无法精测倾角阈值附近是否存在更短的达标瞬间，未仅凭水平居中计数赋予区间。log step 182 只记录最后回合运行到 control_steps 5500，未返回最终服务终止原因；录像末尾仍为 INCOMPLETE，不将上一回合 log step 179 的 task_failure 冒充本回合原因。"
+ },
+ "summary_zh": "评分回合中底包一直留盘，肉饼经推正后保持达标，芝士曾叠好，节点进度最高为 3/6，最终为 2/6。最早未修复的是番茄搬放偏心；随后横推又带偏芝士，生菜和顶包也未形成正立居中的终态，反映搬放及修正控制不足。缺少状态日志和精确位姿指标，部分持物时刻受手遮挡，按可见关系及原生画面计数判断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查关键帧（视频27.2、47、49、66、68、72、72.8、74、91、94、112、118.5 s）：芝士达标于约48 s、72.6 s被番茄推指带偏而丢失，番茄/生菜/顶包未达标，最终2/6、峰值3/6，与状态栏计数一致；断点落在番茄搬放偏心，位姿不准与控制根因有证据，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": "2026-10-30T19:21:11Z",
+  "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/dexhand-assemble-hamburger-i00-standard--pwqsmcz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--pwqsmcz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "338414a3fc88538b455a3b49d112af47b210b481989c37b37541e3880d95ccf0",
+   "video_sha256": "654d6cd7ab54eda48e5e9665a63d42f9c8e8ae0dc7ee517e3659e31f3cbbbd03",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--qtmvbag.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-standard--qtmvbag",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 99,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 383,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 383,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.342,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.328,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-assemble-hamburger-i00-standard--qtmvbag/replay.mp4",
+  "duration_s": 10.0,
+  "fps": 5.0,
+  "frames": 50,
+  "sha256": "cdf94a54c93c5cee5927fc538a75ecb3cd878841efabfd489e6457e9e87a6dc1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，浅黄色底包正立于白色餐盘中央；视频 0.0–7.8 s 未见底包移位或离盘，画面始终显示 Aligned 1/6。"
+     },
+     {
+      "t": 9.8,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–9.8 s 为失败后的终态静帧，底包仍在盘中，未随肉饼和芝士的运动被带离。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 3.2–5.8 s，右灵巧手在肉饼备料支座旁合拢，肉饼仍在原支座上。"
+     },
+     {
+      "t": 6.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.6–7.2 s，肉饼随右手升起，原支座顶面露出；视频 7.4–7.8 s 肉饼在手指间由近水平翻成近竖直，未落到底包上。"
+     },
+     {
+      "t": 9.8,
+      "log_step": null,
+      "text_zh": "观察：视频 7.8–9.8 s，肉饼悬在右手下方、位于餐盘侧方，盘上仍只有底包；视频 7.8 s 标记 FAIL: ingredient_dropped，终态没有肉饼与底包的堆叠关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右灵巧手的拇指与食指从两侧夹持肉饼边缘并将其抬离支座；视频 7.4–7.8 s 肉饼在夹持处翻转，搬运中的肉饼碰动旁边芝士。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–7.4 s，黄色方形芝士在肉饼旁的独立备料支座上，未被放到盘中的肉饼上。"
+     },
+     {
+      "t": 7.8,
+      "log_step": null,
+      "text_zh": "观察：视频 7.6–7.8 s，右手夹持的肉饼向下翻转并碰到芝士边缘，芝士倾斜滑离支座，支座白色顶面露出；画面随后显示 ingredient_dropped。终态芝士侧立于盘外，未形成芝士在肉饼上方且居中的关系。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–7.8 s 及视频 9.0–9.8 s 的终态，红色番茄片始终在独立备料支座上；右手只操作肉饼，未将番茄转移到餐盘或芝士上。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–7.8 s 及视频 9.0–9.8 s 的终态，绿色生菜始终在独立备料支座上，没有与番茄建立盘中上下堆叠关系。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–7.8 s 及视频 9.0–9.8 s 的终态，带芝麻的顶包始终在最远端备料支座上，未被右手搬到生菜上。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_alignment_error_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.22,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "peak_bend_rad",
+   "unit": "rad",
+   "threshold": 0.65,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "patty_on_bottom_bun",
+   "t": 7.6,
+   "log_step": 108,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.6–7.2 s 右灵巧手夹着肉饼离开原支座，视频 7.4–7.8 s 肉饼翻成近竖直并碰动邻近芝士，芝士离开支座，视频 7.8 s 出现 FAIL: ingredient_dropped；肉饼从未叠到底包。log step 108 的服务状态确认最后评分回合 episode 21 已 done，reason 为 task_failure，control_steps 为 383；评分器字段 live_matches_replay=1。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 7.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 6.6–7.2 s 肉饼已被右手夹起且基本水平；视频 7.4–7.8 s 在机器人尚未计划放手、也未到盘中目标时，肉饼相对手指向下滑转至近竖直，夹持未能保持肉饼姿态。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 7.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 7.6–7.8 s 右手所夹肉饼的下缘扫到邻近黄色芝士，芝士从水平变为侧立并离开支座，露出支座顶面；视频 7.8 s 的评分画面随即显示 FAIL: ingredient_dropped。该碰撞发生在肉饼搬运过程中，尚未开始芝士的主动堆叠操作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 7.6,
+    "log_step": 85,
+    "evidence_zh": "推断：视频 6.6–7.8 s，右手虽通过边缘对夹抬起肉饼，却不能约束其相对手指的转动，肉饼向下翻转后扫到邻近芝士；夹持承载布局未能保持搬运所需的水平姿态与邻物间隙。log step 85 写入的 run_episode 用同一 CLOSE 指令闭合、抬升和搬运肉饼，log step 97 的 close_rows 仅按机器人指尖前向运动学补偿闭合高度；两者均未显示按肉饼姿态变化重新建立承载接触。log step 105 启动该控制器并运行到最终回合，log step 108 确认其已失败。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志和接触力记录，无法确定肉饼滑转由哪一指节、哪一时刻的压力变化引起，也无法确认掉落判定对应的首个接触几何体；芝士被碰离支座的过程可见。log step 114、116 中 agent 将失败归因于过度闭合并称较早验证使用部分闭合，但 log step 83 的实际测试代码同样调用 CLOSE，故不采纳该参数解释为已证实根因。日志中较早回合的 placed patty（log step 107）不属于最终评分回合；log step 114 的修订发生在 episode 21 终止之后，未进入本视频。毫米级居中容差及精确速度无逐帧数值，底包持续成立依据初始位置、画面未见位移和 Aligned 1/6 的显示；其余五节点均有可见空间关系不满足的证据。",
+  "unmet": {
+   "bottom_bun_on_plate": true,
+   "patty_on_bottom_bun": false,
+   "cheese_on_patty": false,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": false,
+   "top_bun_on_lettuce": false
+  }
+ },
+ "summary_zh": "最终评分回合只保持了开局的底包留盘，五个堆叠节点均未达成，终态为1/6。右灵巧手夹起肉饼后未能保持其水平姿态，肉饼在视频 7.4–7.8 s 向下翻转并碰落旁边芝士，评分画面以 ingredient_dropped 结束，因此断点为肉饼叠在底包的操作中。没有状态与力日志，夹持失稳的具体力学细节及 agent 末尾提出的闭合参数解释无法验证。",
+ "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（仅底包成立，其余五节点未成立）、断点（肉饼叠底包，操作中，视频约 7.6 s）和现象与视频一致；视频 7.8 s 出现 ingredient_dropped，肉饼在手中翻转并碰到芝士，盘上始终只有底包。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": "2026-10-30T19:32:18Z",
+  "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/dexhand-assemble-hamburger-i00-standard--qtmvbag/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--qtmvbag/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "acbbb6c7208f7ea52ba0eeb196b9ab13d4d73c5c31520d5706ce6ab8e2df1401",
+   "video_sha256": "cdf94a54c93c5cee5927fc538a75ecb3cd878841efabfd489e6457e9e87a6dc1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--vgswabh.json

@@ -0,0 +1,316 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-standard--vgswabh",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 342,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 1292,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 19,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1292,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.445,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.248,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-assemble-hamburger-i00-standard--vgswabh/replay.mp4",
+  "duration_s": 28.2,
+  "fps": 5.0,
+  "frames": 141,
+  "sha256": "4e6d64dab7e7b9bf9529650bd065625bee28083869b1315b3d29c811a30f2644"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 浅黄色底包已正立放在白盘中央；视频全程未见底包离盘或翻倒。"
+     },
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0–28.0 s 终态中底包仍在盘内，肉饼仍叠在其上；画面原生指示为 Aligned 2/6（当前水平居中的食材数）、Neighbor contacts 1/5（相邻食材接触对数）。"
+     },
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0 s 的初态和视频 26.0–28.0 s 的盘内形态，底包关系保持；视频 25.8 s 原生居中数瞬降后在视频 26.0 s 恢复，短于约0.3秒，不另断开区间。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.6,
+      "log_step": null,
+      "text_zh": "观察：视频 5.4–6.6 s 右灵巧手拇指与食指、中指合拢夹住肉饼边缘，肉饼离开原支座并随手搬向白盘。"
+     },
+     {
+      "t": 12.6,
+      "log_step": null,
+      "text_zh": "观察：视频 11.2–12.2 s 肉饼先以明显倾斜姿态接触底包；视频 12.4–12.8 s 随右手张开逐渐平放，视频 13.0–15.0 s 手移开后，肉饼正立、居中地留在底包上。达成锚点取视频约12.6 s，误差约0.4秒。"
+     },
+     {
+      "t": 28,
+      "log_step": 67,
+      "text_zh": "推断：视频 24.4–28.0 s 可见肉饼始终支承在底包上，终态的两层居中及唯一相邻接触与底包、肉饼相符；芝士偏移，后三种食材仍在支座，故肉饼关系终态保持。log step 67 的脚本在放肉饼后估计其中心为[-0.1533,0.0075]米，只作视觉判断的辅助；该脚本终态的肉饼色块仅9像素且落在顶包附近，不当作肉饼飞走的事实。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.4–6.6 s 单只右灵巧手以拇指对向食指、中指夹住深褐色肉饼边缘，搬运后在视频 12.4–13.0 s 张手放在底包上。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20,
+      "log_step": null,
+      "text_zh": "观察：视频 18.6–20.0 s 右手拇指与食指、中指夹住黄色芝士片，芝士离开备料支座并随手抬起；视频 22.0–24.4 s 运到肉饼上方。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频 24.6–25.6 s 芝士与肉饼接触，但黄色片面仍明显倾斜，并持续贴着右手指端；视频 25.0–25.2 s 原生 Aligned 3/6 只说明水平居中数，不能替代正立判据。"
+     },
+     {
+      "t": 28,
+      "log_step": 67,
+      "text_zh": "推断：视频 25.8–26.0 s 芝士变平时向盘右侧偏移，视频 26.0–28.0 s 终态未形成居中、正立并接触肉饼的完整条件，故不记录达成区间。终态原生指示仅 Aligned 2/6、Neighbor contacts 1/5；log step 67 的脚本估计芝士中心[-0.1396,-0.0187]米，相对盘心约偏28毫米，与画面偏移相符，但该估计不是状态真值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 18.6–20.0 s 单只右灵巧手以拇指对向食指、中指合手夹住芝士片，夹起搬向盘上；视频 24.6–26.0 s 指端仍贴着片面，松手动作中未干净脱离。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–28.0 s 红色带籽番茄片始终留在原白色备料支座；视频 26.0–28.0 s 与盘上的芝士分离，右手未开始搬运番茄。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–28.0 s 绿色生菜叶始终留在原备料支座，与番茄并列分开；视频 26.0–28.0 s 未见生菜叠到番茄上，右手未开始操作生菜。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–28.0 s 棕黄色芝麻顶包始终留在最远端备料支座；视频 26.0–28.0 s 顶包与生菜仍分开，右手未开始操作顶包。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_alignment_error_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.22,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "peak_bend_rad",
+   "unit": "rad",
+   "threshold": 0.65,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cheese_on_patty",
+   "t": 25.6,
+   "log_step": 67,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 24.6–25.6 s 右手把倾斜的芝士压到肉饼处，张手阶段芝士仍贴住指端；视频 25.8–26.0 s 芝士随指端运动变平并偏移，视频 26.0 s 出现 FAIL: ingredient_dropped（食材触桌或地的原生终止提示），此后静帧至视频 28.0 s。log step 67 记录最后的 episode 20 返回 task_failure；log step 70 的 agent 最后报告确认采用此回合，评分器 live_matches_replay=1。"
+  },
+  "unmet": {
+   "bottom_bun_on_plate": true,
+   "patty_on_bottom_bun": true,
+   "cheese_on_patty": false,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": false,
+   "top_bun_on_lettuce": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 25.6,
+    "log_step": 67,
+    "evidence_zh": "观察：视频 25.2–26.0 s 右手进入张手动作，芝士仍与食指、中指指端贴连，随指端一起转动而未独立平放；log step 67 执行的脚本包含 open/retreat 两段张手和撤手命令，并返回 task_failure。agent 自述最后回合的释放图仍见芝士贴住指端（log step 70），与视频一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "t": 25.6,
+    "log_step": 67,
+    "source_zh": "视频 / 日志 / agent 自述",
+    "evidence_zh": "推断：视频 18.6–25.6 s 右手沿用对夹方式夹薄芝士，搬运时片面已倾斜，降低到肉饼后仍由指端压贴，张手未能解除该接触；这表明本回合的夹持及释放接触几何不适配薄片。log step 53 将各食材统一设为 S=SQZ，log step 67 的最终脚本沿用该夹持，并在张手时把腕部目标再下移8毫米；agent 在 log step 70 也自述薄片夹住后难以释放。可行替代已由同为 Sharpa 手的成功示例验证：oracle 视频 22.0–24.0 s 使用不同的腕部及手指姿态夹起芝士，oracle 视频 78.0 s 完成六层并松手；该示例只证明存在可行替代，不作为本回合达成证据。"
+   }
+  ],
+  "gap_zh": "本目录无状态日志。视频及原生计数可判断层间关系和终止提示，但不能精确恢复每层毫米级中心误差、0.22弧度倾角边界、接触力及具体哪块食材或侧条触桌触发 ingredient_dropped；达成时间为视觉近似。Aligned 只反映水平居中，不把视频 25.0–25.2 s 的3/6直接当作三个节点达成；芝士当时仍明显倾斜。抓取和释放几何不适配是结合动作、视频及 agent 自述的推断，不能进一步确认指尖穿入、摩擦卡住或驱动跟踪误差的具体机制。"
+ },
+ "summary_zh": "评分采用最后一次 episode 20：底包从开局留在盘上，肉饼约在���频 12.6 s 平放到底包并保持，终态为2/6节点。右手随后夹起芝士运到盘上，但芝士倾斜且张手时未干净松脱，最终偏移，视频 26.0 s 显示 ingredient_dropped；番茄、生菜和顶包尚未操作。抓取及释放接触几何不适配薄片是最有依据的根因，缺少状态日志使精确容差及触发判负的接触仍不确定。",
+ "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、断点（cheese_on_patty）、没松开/抓取和接触设计与视频相符；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": "2026-10-30T19:24:07Z",
+  "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/dexhand-assemble-hamburger-i00-standard--vgswabh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--vgswabh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "54a04148859a8949af97efb6023d8338ded8e5bc1494298a648023b0abd7fde9",
+   "video_sha256": "4e6d64dab7e7b9bf9529650bd065625bee28083869b1315b3d29c811a30f2644",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--cgs74xc.json

@@ -0,0 +1,232 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-privileged--cgs74xc",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1405,
+   "sim_steps": 544,
+   "stages_completed": 2,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.525,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.265,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-privileged--cgs74xc/replay.mp4",
+  "duration_s": 13.0,
+  "fps": 10.0,
+  "frames": 130,
+  "sha256": "7331c048d152409925fb08081f40f0e82636898626b53a6832a22731df92afb4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.3,
+      "log_step": null,
+      "text_zh": "观察：视频 3.2 s 右手已合拢握柄并将打蛋器提离支撑，横幅仍为 Stage 0/5；视频 3.3 s 横幅首次显示 Stage 1/5，随后视频 4.5–6.5 s 可见打蛋器由右手持着离开台面和钢碗。拿起事件已验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 2.0–3.3 s，机器人右手手指合拢包住打蛋器柄并提起；左手悬空，未扶碗。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 6.5–7.0 s，机器人右手将打蛋器丝头降入钢碗，横幅进入 Stage 2/5；视频 8.5、9.5、10.5 s 可见持工具绕行，圈数逐渐增加。"
+     },
+     {
+      "t": 10.9,
+      "log_step": null,
+      "text_zh": "观察：视频 10.9 s，钢碗在工具头位于碗内时突然倾斜，横幅显示 FAIL: bowl_tipped、Stage 2/5、revolutions 0.90/5、bowl tilt 20.7 deg；视频 12.0–12.9 s 仍冻结于该终态，未达到五圈和 Stage 3/5。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6.5–10.9 s，机器人右手手指持续环握打蛋器柄，带动丝头在碗内绕行；左手未接触钢碗。工具自身的轨迹受评，接触按握持工具标记。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "观察：视频 10.9–12.9 s 的失败终态仍为 Stage 2/5、drain 0/25，打蛋器丝头留在钢碗内；此前视频中没有搅拌完成后提至碗口上方的沥液阶段。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "观察：视频起始打蛋器斜靠碗旁，未达到规定的沥液后放置历史；视频 3.3 s 后机器人一直持有打蛋器，至视频 12.9 s 仍握柄且丝头在碗内，set-down hold 始终为 0/50。没有松手横放台面的动作或达标状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "batter_whisked",
+   "t": 10.9,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 10.8–10.9 s，机器人右手仍握住打蛋器并在碗内搅拌，钢碗随工具运动突然偏斜；视频 10.9 s 横幅变为 FAIL: bowl_tipped，圈数停在 0.90/5。此后至视频 12.9 s 未再运动，搅拌节点未完成。"
+  },
+  "unmet": {
+   "whisk_picked_up": true,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 10.9,
+    "log_step": null,
+    "evidence_zh": "观察：视频 10.4–10.8 s，打蛋器丝头在碗内绕行并贴近内壁；视频 10.9 s 钢碗突然被碰斜，右手仍握持工具，左手悬空。横幅同时报告 bowl_tipped、碗倾角 20.7 度；没有打蛋器脱手。推断：工具与钢碗的接触扰动了碗并中断搅拌，属于碰动其他物体。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 的交付生成器在 log step 562 中用固定碗原点、预设手内工具变换和圆形头点轨迹离线生成执行器目标，调用 ik.solve 后未使用返回的误差；log step 566 确认保存了 1405 个动作。视频 10.4–10.9 s 中实际持工具运动碰斜钢碗，说明这套工具运动控制未保持所需的碗内间隙。现有证据不能确认是手内工具偏移、逆解误差还是执行跟踪偏差，故不细分控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法核实碰撞的具体钢丝/碗壁接触点及受力，也无法将控制根因进一步细分。log step 297 等会话测试曾达到五圈和沥液，但它们不是本次评分轨迹；log step 572 显示最终交付动作与此前保存的 drain 动作前缀不一致，不能移用会话进度。评分器 reward 未报告 revolutions、max_bowl_tilt_deg、max_bowl_slide_m，故原生指标值均留空；圈数 0.90 和倾角 20.7 度仅作为视频横幅观测。"
+ },
+ "summary_zh": "机器人在视频约 3.3 s 完成拿起打蛋器，随后持柄将丝头浸入碗内绕行；四个 DAG 节点最终完成 1/4。视频约 10.9 s，搅拌仅累计 0.90/5 圈时工具碰斜钢碗，横幅显示 bowl_tipped 并冻结，沥液与放台面均未开始。根因归为工具运动控制问题；无状态日志，无法区分手内工具偏移、逆解及跟踪误差，会话测试中的后续进度不计入本轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、断点（batter_whisked，约10.9 s 碗倾覆）与视频横幅一致；现象“被挡/碰撞”与控制根因均标注为推断，证据范围诚实，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": "2026-10-30T19:11:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--cgs74xc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--cgs74xc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e5109bc08f1b419a96fcfa3b4c92fc9a5b025317c27f9fc0aa6d565357ccbe6d",
+   "video_sha256": "7331c048d152409925fb08081f40f0e82636898626b53a6832a22731df92afb4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--gdugvwk.json

@@ -0,0 +1,242 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-privileged--gdugvwk",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 434,
+   "sim_steps": 434,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.065,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.983,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-privileged--gdugvwk/replay.mp4",
+  "duration_s": 10.8,
+  "fps": 10.0,
+  "frames": 108,
+  "sha256": "2d8f36069c2fa94e4784bb64e18cec6094330c499cfba94f1fa0d45ab18d1593"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2.6–3.5 s，机器人右手在打蛋器柄侧方空合拢，未包住柄；视频 5.5–8.5 s 右手抬高、转动，而打蛋器仍斜靠碗沿、柄端留在台面。视频 8.7–10.7 s 仍无离台拿起，横幅始终 Stage 0/5。"
+     },
+     {
+      "t": 8.7,
+      "log_step": 217,
+      "text_zh": "观察：视频 8.7 s 横幅变为 FAIL: bowl_tipped，Stage 0/5；log step 216 保存最终 434 步轨迹，log step 217 对该文件两次重放均得到 stage=0、bowl_tipped、434 步及相同状态哈希，与本次视频一致。早先会话测试的 stage=1 不计入本次进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 8.6–8.7 s，机器人右手闭合的手指向下抵压打蛋器丝头与钢碗碗沿相接的区域，碗随之倾斜；未形成对打蛋器柄的对向夹持。丝头与碗沿重叠，不能逐一确认接触的指节和接触链顺序；左手一直张开悬空。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0–8.7 s 打蛋器没有随手进入面糊绕碗轴画圈，视频 8.7–10.7 s 失败定格横幅为 Stage 0/5、revolutions 0.00/5。成功参考中手持工具在碗内画圈的形态未在本次出现，拿起前置也未完成。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0–10.7 s 未出现手持打蛋器头朝下悬于碗口上方的姿态；视频 10.7 s 打蛋器仍斜靠碗沿、柄端在台面，横幅 drain 0/25、Stage 0/5，搅拌前置未完成。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 打蛋器柄端已着台面但丝头斜靠碗沿，视频 0–8.7 s 未被拿起、沥液或放下；视频 8.7–10.7 s 仍靠碗而非独立横放，横幅 set-down hold 0/50、Stage 0/5。初态的台面接触不满足沥液后放置、离碗及静置验收。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "whisk_picked_up",
+   "t": 3.0,
+   "log_step": 217,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.6–3.5 s 机器人右手在柄旁闭合却未夹住打蛋器，视频 5.5–8.5 s 空手抬起，打蛋器未离开原位；该拿起失败一直未修复。视频 8.7 s 右手降到丝头与碗沿处，碗倾斜，横幅显示 FAIL: bowl_tipped、bowl tilt 16.2 deg、Stage 0/5；log step 217 对最终交付的两次重放也均为 stage=0、bowl_tipped。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 2.6–3.5 s 机器人右手手指在打蛋器柄旁空合拢，视频 5.5–8.5 s 右手上抬时打蛋器仍靠碗且柄端着台面，未建立拿起所需的夹持接触；末段对丝头/碗沿的抵压也没有变成抓握。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 2.6–3.5 s 右手合拢位置未包住柄，视频 5.5–8.5 s 仍继续空手抬起和转腕，视频 8.7 s 又抵到丝头/碗沿并使碗倾斜，表明执行没有建立有效抓取并避开碗。log step 194 的生成脚本按固定步数依次闭手、上提、转腕，log step 216 修正 IK 状态污染后重生成的最终轨迹及 log step 217 两次重放均止于 stage=0、bowl_tipped。这里归入控制；不把已修正的旧 IK 污染当作本次仍存在的故障。"
+   }
+  ],
+  "gap_zh": "未提供状态日志，无法核实末段手指、打蛋器丝头与碗沿之间逐对接触及力值；视频可确认抵压区域和碗倾斜，但不足以区分握法几何、逆解或执行跟踪各自的贡献，根因保留在控制大类。评分器 reward 未报告 revolutions、max_bowl_tilt_deg、max_bowl_slide_m 三项原生指标，故 native_metrics.value 均为 null；视频横幅的读数仅作为视觉证据。",
+  "unmet": {
+   "whisk_picked_up": false,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  }
+ },
+ "summary_zh": "本次交付在四个节点上均未完成：机器人右手空合拢并上提，打蛋器始终未被拿起，后续搅拌、沥液和放置均未达成。拿起步骤的失败未被修复，视频约 8.7 s 右手在丝头/碗沿处抵压使碗倾斜，横幅报 bowl_tipped；最终 434 步文件的两次重放与该结果一致。根因保守归为控制；缺少状态接触与力值日志，不能再细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（四节点均未达成、断点 whisk_picked_up、时间）与视频和 log 一致；唯一问题是第二个现象「被挡/碰撞」只是评分器终止规则 bowl_tipped 的复述，按 S14/S15 不应单独作为现象标注。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "四节点均未达成、断点 whisk_picked_up、单一现象「没建立接触」与视频一致；上轮意见已采纳，根因保守归控制有据。",
+    "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": "2026-10-30T19:36:47Z",
+  "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/dexhand-batter-whisk-i00-privileged--gdugvwk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--gdugvwk/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--gdugvwk/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--gdugvwk/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5710ca24596831655bbe259d26b185eb92ea0d8a0d1754287bd54ce8b558a757",
+   "video_sha256": "2d8f36069c2fa94e4784bb64e18cec6094330c499cfba94f1fa0d45ab18d1593",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--mkwhkkb.json

@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-privileged--mkwhkkb",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 2170,
+   "sim_steps": 2170,
+   "stages_completed": 4,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.573,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.245,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-privileged--mkwhkkb/replay.mp4",
+  "duration_s": 29.2,
+  "fps": 10.0,
+  "frames": 292,
+  "sha256": "20a71b755af95b3c6a30ec2643327712fa380618ce483c0c7a23a1ba19d18a6e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.3,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0–4.2 s，机器人右手合指包住打蛋器柄颈并上提；视频 4.3 s 横幅由 Stage 0/5 变为 Stage 1/5，打蛋器已随手离开台面与碗沿，视频 4.5 s 可见其悬空。左手保持张开且未扶碗。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与其余手指合拢握住打蛋器柄颈并提离台面；左手未参与。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.3,
+      "log_step": null,
+      "text_zh": "观察：视频约 9–15.2 s，机器人右手握着头朝下的打蛋器，在钢碗内小幅绕圈；视频 14.3 s 横幅为 Stage 2/5、revolutions 4.20/5，视频 15.2 s 为 4.97/5，视频 15.3 s 变为 Stage 3/5、revolutions 5.01/5，确认连续浸入的五圈验收已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手持续合指握住打蛋器柄，带动丝头在碗内绕圈；受评对象是打蛋器轨迹，面糊不模拟物理接触，左手未扶碗。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0–17.6 s，机器人右手将打蛋器竖直提到碗口正上方，丝尖离开碗沿；视频 17.2 s 横幅 drain 2/25，视频 17.4 s 为 18/25，视频 17.6 s 达到 25/25 且 Stage 4/5。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手握住打蛋器柄，保持丝头朝下悬在碗口上方；左手未接触碗或打蛋器。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 18–23.5 s，机器人右手将打蛋器移到碗旁并降低，视频 23.5 s 手掌根部、腕部抵在台面附近，打蛋器仍由手握住且丝头翘起；视频 23.7–24.3 s 手指张开，视频 24.4–25.4 s 撤手时打蛋器仍贴着手并被带成近直立姿态，未形成离手横躺的结果。"
+     },
+     {
+      "t": 29.1,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 28.1–29.1 s，打蛋器柄端着台面、丝头朝上且仍贴着右手，横幅始终为 Stage 4/5、set-down hold 0/50；评分器 reward.stages_completed=4、success=0，与最终放置未通过一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手握住打蛋器柄颈搬移并降低到台面，掌根/腕部同时碰抵台面；随后手指张开，但打蛋器颈部和丝头仍挂靠在手部，撤手又将打蛋器带起，未完全脱离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "whisk_on_counter",
+   "t": 23.5,
+   "log_step": 39,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 23.0–23.5 s，机器人右手持打蛋器降低到台面，掌根/腕部抵住台面而丝头仍翘起；视频 23.7–25.4 s 张手、撤手未使打蛋器脱离，反而将其带成近直立。视频 29.1 s 仍为 Stage 4/5、set-down hold 0/50；拿起、搅拌和沥液此前均已验收，此次放置未再修复。log step 39 记录保存了 2170 行轨迹，log step 40 确认交付文件行数；这里的时间直接取自视频，未使用 agent 工作时间换算。"
+  },
+  "unmet": {
+   "whisk_picked_up": true,
+   "batter_whisked": true,
+   "whisk_drained": true,
+   "whisk_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 23.5,
+    "log_step": null,
+    "evidence_zh": "观察：对比视频 22.5 s 与 23.5 s，机器人右手持打蛋器下降时，掌根与腕部降至台面并抵住，丝头仍斜向上，未能继续将工具整体放平；视频 23.0–23.7 s 的连续帧显示该低位接触。这是放置中的手部与支撑面阻挡。"
+   },
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 24.4,
+    "log_step": 39,
+    "evidence_zh": "观察：视频 23.7–24.3 s 机器人右手手指已逐渐张开，但视频 24.4–25.4 s 手后撤、抬起时，打蛋器仍与掌指区域搭接并随手转到近直立；视频 28.1–29.1 s 仍贴手而非离手横躺，set-down hold 始终为 0/50。log step 39 的已保存候选记录最终 hand_whisk=1、whisk_counter=1、hold=0，与所见未完全分离相符；该日志作为交付候选的补充，不用于换算视频时刻。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 23.0–25.4 s 显示，机器人采用手掌位于工具下侧的放低姿态，手部先被台面阻挡；张开后，工具颈部/丝头仍跨在掌指区域，沿原方向撤手会把它带起。log step 37 的放置脚本及 log step 38–39 的修改，均保留恢复拾取朝向、张指后沿手指方向后撤再抬高手的动作，没有先建立工具完全横躺且手部可退出的接触布局；这解释了放置时的阻挡和未脱离。相同握姿下可行的替代退出动作未获验证，故 alt_feasible 为未知。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志，无法核实掌指与工具之间的逐链接触对和接触力；手部阻挡及未脱离由连续视频帧判定，具体接触布局的根因属于结合脚本的推断。节点时刻按视频横幅定位，精度约 0.1–0.2 s；评分器未报告 DAG 所列三个原生指标的数值，因此 native_metrics.value 均保留 null，未用会话测试值代填。"
+ },
+ "summary_zh": "交付视频中机器人右手完成拿起打蛋器、碗内五圈搅拌和碗口上方沥液，最终达到 3/4 个语义节点（原生 Stage 4/5）。放台面时手掌/腕部抵住台面，张指撤手后打蛋器仍挂靠手部并被带成近直立，至视频 29.1 s 放置保持仍为 0/50，接触布局与撤手方式不适配。无状态日志，具体接触链接与力值无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "三个已达节点的横幅时刻（Stage 1/5 @4.3 s、Stage 3/5 @15.3 s、Stage 4/5 @17.6 s）与帧一致，whisk_on_counter 未达（视频 29.1 s 仍为 Stage 4/5、hold 0/50，打蛋器柄端着台、丝头朝上贴手）与评分器 stages_completed=4 一致；断点、现象和根因有证据支持，未发现需要修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:12:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--mkwhkkb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--mkwhkkb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1bbbc080365614942d68047d49c3deedbe6440f004f53adef9d812f5b5b1333a",
+   "video_sha256": "20a71b755af95b3c6a30ec2643327712fa380618ce483c0c7a23a1ba19d18a6e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--nrzvm2c.json

@@ -0,0 +1,216 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-privileged--nrzvm2c",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1752,
+   "sim_steps": 115,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.431,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.247,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-privileged--nrzvm2c/replay.mp4",
+  "duration_s": 4.1,
+  "fps": 10.0,
+  "frames": 41,
+  "sha256": "7c9571bd9c9f084b08986569096932d177c9f674f4460829f530946d08078507"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频 0.0–4.0 s。视频 1.3–2.0 s，机器人右手下移并压到打蛋器柄与丝头连接附近，柄端一直留在台面，未见打蛋器整体离碗离台；视频 2.0 s 横幅出现 FAIL: bowl_moved，Stage 始终为 0/5，视频 3.1–4.0 s 为同一失败终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 1.3–2.0 s，右手弯曲的手指从上方抵压打蛋器柄与丝头连接附近并继续推进，工具仍由台面和碗沿支承，钢碗随之移动；未见对向包夹后提离，不标抓握。左手悬空。推断：右手可能经打蛋器向钢碗传力，具体接触对未记录。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.0 s，机器人只向打蛋器靠近并下压，未将丝头持入碗内画圈；视频 2.0–4.0 s 的失败横幅仍为 Stage 0/5、revolutions 0.00/5，拿起前置未达，未发生搅拌完成事件。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–4.0 s，打蛋器始终未被手持提至碗口上方头朝下悬停；视频 2.0–4.0 s 横幅为 FAIL: bowl_moved、Stage 0/5、drain 0/25，未发生搅拌后的沥液事件。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的打蛋器柄端着台、丝头靠碗，并非沥液后的离手静置；视频 1.3–2.0 s 右手下压工具，随后视频 2.1–4.0 s 停在失败终态，未出现先沥液再放台松手的过程，set-down hold 始终为 0/50。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "whisk_picked_up",
+   "t": 2.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.3–2.0 s，机器人右手正在接近并压住打蛋器连接部，工具柄端仍着台；钢碗在右手继续下移时向画面右侧滑动，视频 2.0 s 横幅首次显示 FAIL: bowl_moved、Stage 0/5，之后至视频 4.0 s 无恢复。此时失败的是拿起打蛋器这一步。"
+  },
+  "unmet": {
+   "whisk_picked_up": false,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 2.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1.7–2.0 s，机器人右手贴压仍斜靠碗沿、柄端着台的打蛋器并继续推进，钢碗随之向画面右侧移动，工具没有被提起；视频 2.0 s 检查器横幅报 FAIL: bowl_moved。推断：抓取接近过程的碰触扰动了钢碗；直接手碗接触还是经打蛋器传力，单视角不能完全确定。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：视频 1.3–2.0 s，机器人右手从上方抵压打蛋器连接部，尚未建立能使工具脱离碗沿和台面的包夹，便碰动了钢碗；接近与夹持的接触几何未能隔离对碗的推力。日志 log step 83 的交付构建脚本把到达抓取位置安排在合指之前，log step 85–86 确认保存并重放该构建的 1752 行动作，与视频中的抓取前接近动作相符；不采用 agent 在 log step 93 对后续抬升滑脱的自述作为本局现象。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志，右手遮住部分接触区域，无法确定具体手指接触对、接触力或钢碗受力的完整传递链，也未验证当前抓取几何的具体替代方案。日志 log step 84、86 的 stage 0 和未提起与视频一致，但 agent 在 log step 93 自述交付为合法终态并把问题描述为抬升时滑脱；评分视频已在视频 2.0 s 明确报 bowl_moved，后续测试与叙述不用于本局进度。评分器 reward 未报告 DAG 所列三项原生指标的数值，均保留 null；视频横幅的圈数不冒充 reward 字段。"
+ },
+ "summary_zh": "评分轨迹仅尝试拿起打蛋器，四个节点均未完成：机器人右手下压仍靠碗沿的工具，视频约 2.0 s 钢碗滑移且横幅报 FAIL: bowl_moved，随后保持失败终态。抓取前的接触几何使右手碰动钢碗，归为控制·抓取和接触设计；没有状态日志，具体接触传力链无法完全核实，日志中的后续抬升自述不能替代本局视频。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点均未达成与视频一致（Stage 0/5 全程，视频 2.0 s 起 FAIL: bowl_moved）；断点在拿起打蛋器、被挡/碰撞与抓取和接触设计的归因有帧和日志支撑，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": "2026-10-30T19:15:41Z",
+  "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/dexhand-batter-whisk-i00-privileged--nrzvm2c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--nrzvm2c/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4b33bd6e3bda2c820c7fc70226b90d9c69ce718db79b21f49056cb1ab5ddfe2c",
+   "video_sha256": "7c9571bd9c9f084b08986569096932d177c9f674f4460829f530946d08078507",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--rhgscwn.json

@@ -0,0 +1,233 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-privileged--rhgscwn",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 2465,
+   "sim_steps": 2465,
+   "stages_completed": 2,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.494,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.839,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-privileged--rhgscwn/replay.mp4",
+  "duration_s": 29.4,
+  "fps": 10.0,
+  "frames": 294,
+  "sha256": "2cce1c226238bc0cbc8410b267d3ae260793e39dee377068f49f3794a10237fc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.3,
+      "log_step": null,
+      "text_zh": "观察：视频3.2 s横幅仍为Stage 0/5，视频3.3 s变为Stage 1/5；右手夹住打蛋器柄并将整个打蛋器提离碗和台面，视频4.0–6.0 s继续持器上抬。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手手指与拇指相对夹住打蛋器柄端并提起；左手未参与拿起。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "观察：视频15.5–18.0 s右手把丝头降入碗内，视频17.5 s横幅为Stage 2/5、revolutions 0.01/5；机器人随后移动右手，但视频18.5–26.5 s丝头未随手完成连续五圈，柄相对手指上滑。"
+     },
+     {
+      "t": 29.3,
+      "log_step": null,
+      "text_zh": "观察：视频28.4–29.3 s末段逐帧查看，最终横幅保持Stage 2/5、revolutions 0.00/5、drain 0/25、set-down hold 0/50，没有完成搅拌。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手以拇指与食指附近的浅夹持握柄，带动打蛋器朝碗内下降并尝试移动；柄在夹持中滑动。左手悬空，未扶碗。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.3,
+      "log_step": null,
+      "text_zh": "观察：视频18.5–29.3 s右手持续在碗边低位持器，没有搅拌完成后将丝头提出碗口并悬停的动作；最终横幅Stage 2/5、drain 0/25，未进入沥液阶段。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s打蛋器斜靠碗沿，未处于离手横放的完成状态；视频18.5–29.3 s右手仍在碗旁接触打蛋器，未把它横放到碗旁台面并松手，末帧set-down hold 0/50。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "batter_whisked",
+   "t": 18.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频17.5 s已到Stage 2/5并开始少量计圈；视频18.5–20.0 s右手继续向下和侧向移动时，打蛋器柄相对手指向上滑，丝头没有随手完成预期绕圈。视频29.3 s仍为Stage 2/5、revolutions 0.00/5，搅拌始终未修复。"
+  },
+  "unmet": {
+   "whisk_picked_up": true,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 18.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频3.3–14.0 s右手已夹住并提运打蛋器；视频17.5–20.0 s浸入过程中，柄从原夹持位置向手背方向上滑，手逐渐靠近丝头，打蛋器未保持与手的固定相对位置。视频20.0–26.5 s继续移动手仍未恢复有效搅拌。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "evidence_zh": "推断：视频14.0–18.5 s可见右手在柄端附近以拇指和食指浅夹，未形成稳固包握；浸入时柄相对手上滑，说明该夹持不足以约束工具在后续操作中的轴向运动，导致搅拌轨迹无法传递到丝头。agent在log step 194也自述“whisk slips in the hand”，这仅作为与画面一致的补充。替代可行性依据另一个成功参考：inputs/oracle/replay.mp4视频20.0–40.0 s右手较充分合拢握柄并完成持续绕圈，视频60.0 s显示Stage 5/5与PASS；该参考仅用于证明替代抓法可行，不计入本次进度。",
+    "source_zh": "视频"
+   }
+  ],
+  "gap_zh": "本次没有状态日志或接触力读数，不能定量判断夹持力、摩擦或精确滑移量；断点以视频可见滑移的约视频18.5 s为导航锚点。评分字段未报告三个原生指标的数值，native_metrics均保留null，未将会话其他测试的读数当成本次结果。"
+ },
+ "summary_zh": "本次在视频约3.3 s完成拿起打蛋器，并将丝头浸入碗内，四个语义节点最终仅完成拿起；原生Stage 2/5包含浸入，不等于完成搅拌。视频约18.5 s起可见浅夹持中的柄上滑，搅拌未累计到五圈，沥液和放台面均未启动。无状态日志，夹持力与精确滑移量无法定量核实，判定依据为视频动作与横幅。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "拿起（视频3.3 s横幅Stage 1/5）、搅拌未完成（视频17.5–29.3 s Stage 2/5、revolutions 0.00/5）、沥液与放台面未达成，均与帧和reward（stages_completed=2）一致；断点batter_whisked、没保持住、抓取和接触设计（有oracle替代）有帧支持，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": "2026-10-30T19:11:23Z",
+  "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/dexhand-batter-whisk-i00-privileged--rhgscwn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--rhgscwn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "767fb9d205d641cf0bffc9b7cee03dfd361785bb11383895eda35dbfbc2ed02a",
+   "video_sha256": "2cce1c226238bc0cbc8410b267d3ae260793e39dee377068f49f3794a10237fc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--6v6rpbg.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-standard--6v6rpbg",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 112,
+   "control_steps_total": 3516,
+   "elapsed_s": 3212.253,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 435,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 5,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 435,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.386,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.292,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-standard--6v6rpbg/replay.mp4",
+  "duration_s": 10.8,
+  "fps": 5.0,
+  "frames": 54,
+  "sha256": "53099a234d434b1f19e30ee2c1ad07a37da0acd256436b2cafd3408c759b1ad6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": 63,
+      "text_zh": "观察：视频 3.2–4.4 s，机器人右手手指在打蛋器丝头/颈部一侧合拢；视频 4.8–7.2 s，手上抬并转腕时仅夹住丝头一端，柄端仍留在台面，未随手整体提离；视频约 7.6–8.0 s，丝头从指尖滑脱，打蛋器留在台面。视频 0–10.6 s 横幅始终为 Stage 0/5，未出现连续保持后认可拿起的 Stage 1/5。"
+     },
+     {
+      "t": 10.6,
+      "log_step": 65,
+      "text_zh": "观察：视频 7.8–10.6 s，右手已与台面上的打蛋器分离，没有再次抓取。log step 63 的“PHASE A OK”和 log step 65 的拿起成功自述不等于原生验收；以视频横幅和物体运动为准。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.2–4.4 s，右手手指在打蛋器丝头/颈部一侧合拢夹持；视频 4.8–7.2 s，丝头一端挂在指尖，柄端仍留在台面；视频约 7.6–8.0 s，丝头滑脱，右手与打蛋器分离。左手悬空，未参与扶碗。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": 63,
+      "text_zh": "观察：视频 0–8.6 s，机器人仅在碗旁夹持打蛋器丝头/颈部一侧、上抬和转腕，没有把丝头浸入面糊并绕碗中心画圈；视频 10.6 s 横幅仍为 Stage 0/5、revolutions 0.00/5。log step 63 在 reorient-calib 后报 NameError，log step 64 的续行也在校准阶段报错，未发送搅拌动作。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–10.6 s，右手转向并逐渐远离打蛋器；打蛋器留在碗旁台面，未出现搅拌后手持丝头朝下悬在碗口上方的沥液过程。视频 10.6 s 横幅为 Stage 0/5、drain 0/25。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–10.6 s，打蛋器脱离右手后躺在钢碗旁台面，但此前没有完成搅拌和沥液，也没有沥液后持物降低至台面的放置动作；视频 10.6 s 横幅仍为 Stage 0/5、set-down hold 0/50。推断：这次滑脱后的台面静止不满足本节点所需的放置历史与验收。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "whisk_picked_up",
+   "t": 7.6,
+   "log_step": 63,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.8–7.2 s，机器人闭合右手上抬并转腕时仅���住打蛋器丝头一端，柄端仍留在台面，工具没有随手整体提离；视频约 7.6–8.0 s，丝头从指尖滑脱，随后至视频 10.6 s 手已空握悬起，打蛋器留在台面且未重抓。全片横幅均为 Stage 0/5，拿起验收未完成，这是本局首次未修复的步骤失败。"
+  },
+  "unmet": {
+   "whisk_picked_up": false,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 7.6,
+    "log_step": 63,
+    "evidence_zh": "观察：视频 3.2–4.4 s，右手手指在打蛋器丝头/颈部一侧合拢；视频 4.8–7.2 s，丝头一端仍挂在闭合指尖，柄端留在台面；视频约 7.6–8.0 s，丝头滑脱，手与打蛋器完全分离。此为已建立夹持后失去接触，未完成拿起验收。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 3.2–7.2 s，右手的实际夹持点靠近打蛋器丝头/颈部，未形成稳定握柄；上抬、转腕时柄端仍留在台面，视频约 7.6–8.0 s 丝头又从指尖滑脱，说明该抓取接触方案未能稳定承载整件工具。观察：log step 63 记录 close、servo、squeeze 后发送 lift 和 reorient-calib，并输出自设的 PHASE A OK；其沿用的握持脚本在 log step 52 中以固定弯指目标抬升。推断：脚本继续转腕前未可靠确认工具已随手整体提离；log step 65 关于握柄滑脱的自述不能代替视频中的接触部位证据，也不据此断言具体摩擦系数或力矩。"
+   }
+  ],
+  "gap_zh": "没有状态日志或原生 pickup_steps、接触对、接触力记录，无法区分拿起验收中高度、持续接触等具体未满足项，也不能确定滑脱源于哪一指的接触几何或夹持力。视频横幅明确始终停在 Stage 0/5；log step 63 的 PHASE A OK 及 agent 的拿起自述不替代验收。log step 63、64 还有 agent 自己的控制脚本异常，但都发生在视频已显示握持失败之后，不作为更早物理断点。评分器未报告三项原生指标，因此其 value 留空。"
+ },
+ "summary_zh": "评分局为 log step 63 重置后的 episode 6，四个节点均未完成；视频全程为 Stage 0/5。右手夹持打蛋器丝头/颈部一侧后上抬、转腕，柄端仍留在台面，视频约 7.6–8.0 s 丝头滑脱；断点为拿起打蛋器，根因推断为抓取点及接触方案未能稳定承载工具。无状态日志，具体接触力及拿起验收失败的子条件不能确定；不采信 agent 的 PHASE A OK 作为完成依据。",
+ "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、断点（whisk_picked_up，操作中）与根因类别均与视频一致：全片 Stage 0/5，打蛋器未被拿起。但对接触部位的描述有误：视频中手抓的是丝头/颈部，柄一直躺在台面，并非“围住柄、柄下滑”。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "四个节点均未达成、断点为 whisk_picked_up（操作中）、现象「没保持住」与根因「抓取和接触设计」均与视频一致：全片 Stage 0/5，丝头一端挂在手上，柄端留在台面，随后滑脱。第一轮的接触部位修正已落实，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": "2026-10-30T19:37:31Z",
+  "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/dexhand-batter-whisk-i00-standard--6v6rpbg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--6v6rpbg/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--6v6rpbg/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--6v6rpbg/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ac5f3ac116556c9b9802be20c3ba1c6e22fd1df2a32e146822d8947cb6dafa23",
+   "video_sha256": "53099a234d434b1f19e30ee2c1ad07a37da0acd256436b2cafd3408c759b1ad6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--dtnidjr.json

@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-standard--dtnidjr",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 1177,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 4000,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 4000,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.914,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.179,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-standard--dtnidjr/replay.mp4",
+  "duration_s": 59.4,
+  "fps": 5.0,
+  "frames": 297,
+  "sha256": "a5af01b01d87ef7684dbbd0f772ca288786a992eb7f5a3629b71c9e91e110813"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.6,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–21.6 s，机器人右手在柄端附近反复接近，手指碰动打蛋器使其在台面上转向；未见相对的手指接触夹住柄部。视频 22.0–32.4 s，右手与工具分离，打蛋器仍留在碗左前方，未被提离台面。"
+     },
+     {
+      "t": 38.0,
+      "log_step": null,
+      "text_zh": "观察：视频 34.0–38.0 s，机器人右手在碗上方运动，但手中没有打蛋器；工具仍在台面原处。横幅保持 Stage 0/5，视频 59.2 s 的终帧也为 Stage 0/5。"
+     },
+     {
+      "t": null,
+      "log_step": 260,
+      "text_zh": "观察：log step 260 的 grab2、lift0–lift7 输出只列出机器人手腕安装点 mount 的坐标与 done=False，没有工具被夹持或拿起验收的数据；log step 275 中 agent 自述已完成拿起及后续流程，与视频中工具未被带起的画面不符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频 20.4–21.6 s，机器人右手指端碰动打蛋器柄，使工具在台面上转向；未形成可见的包围或对夹抓握，左手未参与。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.0,
+      "log_step": null,
+      "text_zh": "观察：视频 34.0–38.0 s，机器人右手空手在碗上方执行路径，打蛋器仍靠在碗左前方的台面上，丝头没有随手进入面糊并绕碗运动；横幅为 Stage 0/5、revolutions 0.00/5。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "观察：视频 59.2 s，横幅仍为 Stage 0/5、revolutions 0.00/5，工具仍留在台面；未见工具的实际搅拌操作。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 39.0,
+      "log_step": null,
+      "text_zh": "观察：视频 38.0–39.0 s，机器人右手虽抬到碗上方，但手中无工具，打蛋器仍在台面，未出现头朝下悬在碗口上方的持工具姿态；横幅 drain 0/25、Stage 0/5。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "观察：视频 59.2 s，横幅 drain 0/25；全程未见机器人持打蛋器进行沥液。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 53.0,
+      "log_step": null,
+      "text_zh": "观察：视频 40.0–53.0 s，机器人右手下降、张手并撤离，打蛋器并未随手搬运，仍在碗左前方；未见沥液后持工具触台再释放的放置过程，横幅 set-down hold 为 0/50。"
+     },
+     {
+      "t": 59.2,
+      "log_step": null,
+      "text_zh": "观察：视频 58.0–59.2 s 的末段，机器人右手空着，工具仍靠近碗，横幅 Stage 0/5、set-down hold 0/50、FAIL: episode_budget。初始靠碗和抓取时的拨动不满足本节点要求的沥液后放置历史。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "whisk_picked_up",
+   "t": 22.0,
+   "log_step": 257,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 20.4–21.6 s，机器人右手在柄端接近并拨动打蛋器；视频 22.0 s 后右手离开工具，打蛋器仍在台面。机器人随后空手上提并执行碗上方路径，直至视频 59.2 s 仍为 Stage 0/5，拿起失败始终未修复。log step 257 的最终局脚本确有夹柄、抬升指令；log step 274 服务报告本局 episode 21 在 control_steps=4000 时 task_failure，与视频末段 episode_budget 相符。"
+  },
+  "unmet": {
+   "whisk_picked_up": false,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 22.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 20.0–22.4 s，机器人右手指端虽碰动了打蛋器柄，但没有将柄包围夹住；工具在台面转向后仍留在原处。视频 32.8–38.0 s，右手空着在碗上方运动，工具仍在台面。这里缺少的是拿起所需的抓持接触，未见先持有再滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 257 的最终局脚本先测量平放工具，再执行 grab、闭指和八次上提；log step 260 打印的只是手腕安装点上升。视频 20.4–22.4 s 显示实际手指动作只使工具转向，视频 34.0–38.0 s 显示手已到碗上方而工具仍在台面，说明夹取和抬升控制未建立能带走工具的抓持。证据支持控制层失败，但不足以区分接触几何、逆解误差或跟踪问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "本次没有状态日志，仅有总览视频；无法确定各手指接触对、接触力及毫米级夹柄误差，因此控制根因不细分。log step 275 的全流程完成说法与视频不符，节点按视频判定；log step 257–265 的阶段名是 agent 脚本打印标签，并非评分器验收。三个原生指标均未出现在 reward 字段中，按要求记 null。"
+ },
+ "summary_zh": "机器人右手接近并拨动打蛋器，但未建立抓持或把工具提离台面，四个节点均未完成，进度始终为 0/4。断点是拿起打蛋器，现象为没建立接触，根因归控制；后续空手执行了碗上方和放下路径，视频 59.2 s 仍显示 Stage 0/5、FAIL: episode_budget。agent 在 log step 275 自述已执行完整流程，与视频不符；缺少状态和接触力日志，无法进一步细分控制原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频全程横幅 Stage 0/5，四个节点均未达成，与标签一致；断点在拿起打蛋器，现象“没建立接触”、根因停在“控制”，与 log step 257/260 的最终局脚本（先用拳头推倒工具，再捏取、上提）及视频相符，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": "2026-10-30T19:12:15Z",
+  "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/dexhand-batter-whisk-i00-standard--dtnidjr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--dtnidjr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ab636ee4901fca67d9cd690c5359987416b640a7c87fb01e5775ef7a82892f82",
+   "video_sha256": "a5af01b01d87ef7684dbbd0f772ca288786a992eb7f5a3629b71c9e91e110813",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--jaqg6q3.json

@@ -0,0 +1,296 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-standard--jaqg6q3",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 97,
+   "control_steps_total": 1918,
+   "elapsed_s": 3655.899,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 764,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 5,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 764,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.467,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.856,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-standard--jaqg6q3/replay.mp4",
+  "duration_s": 17.6,
+  "fps": 5.0,
+  "frames": 88,
+  "sha256": "be59ccc0c353b7c18abc44703a02ad4b5acb3425ceb953d071a1e24c2dc3880a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频 9.4 s 横幅仍为Stage 0/5，视频 9.6 s 首次为Stage 1/5；右手手指合拢夹住银色柄端，打蛋器整体悬空，已离开碗与台面。视频 10.0–13.4 s 继续随右手移动，拿起事件已验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0 s 机器人右手张开靠近打蛋器柄端；视频 4.6–9.0 s 右手在柄端调整并逐渐握持，在台面上拖动打蛋器，丝头仍在台面，横幅为 Stage 0/5；视频 9.4 s 横幅仍为 Stage 0/5，视频 9.6 s 变为 Stage 1/5，打蛋器被提离台面，拿起验收完成；左手悬空，未扶碗。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.6,
+      "log_step": null,
+      "text_zh": "观察：视频 13.4–14.4 s 右手握柄将斜置的打蛋器降入碗口；视频 14.6 s 横幅达到Stage 2/5（已浸入），随后短距离移动时碗被推移。视频 15.4 s 横幅为FAIL: bowl_moved、Stage 2/5、revolutions 0.08/5，至视频 17.4 s 保持该终态，没有达到五圈或Stage 3/5。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 13.4–15.4 s 机器人右手继续夹持打蛋器柄，降下并移动丝头；丝头进入碗内后碰动钢碗，左手未接触钢碗。工具自身轨迹受评，接触记为右手握工具。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.4,
+      "log_step": null,
+      "text_zh": "观察：视频 14.6–15.4 s 刚进入浸入搅拌阶段即因碗移动停止，随后至视频 17.4 s 打蛋器丝头仍在碗内，未见搅拌完成后上提并在碗上方悬停；终态横幅drain 0/25、Stage 2/5。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 打蛋器斜靠碗沿，尚非沥液后离手横放的验收状态；视频 9.6 s 被右手拿起，此后直到视频 17.4 s 始终夹在手中，终态丝头位于碗内，未被放回台面或松手，横幅set-down hold 0/50。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "batter_whisked",
+   "t": 15.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 9.6 s 拿起已验收；视频 14.6–15.4 s 右手握打蛋器在碗内开始移动，钢碗随丝头向画面右下方滑���，视频 15.4 s 出现FAIL: bowl_moved。终态仅Stage 2/5、0.08/5圈，未修复或继续完成搅拌。"
+  },
+  "unmet": {
+   "whisk_picked_up": true,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 15.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 14.6–15.4 s 机器人右手保持夹持，斜向伸入碗内的打蛋器丝头贴近碗壁；丝头移动时钢碗也向画面右下方移位，横幅由IN PROGRESS变为FAIL: bowl_moved。打蛋器没有脱手，失败发生在工具碰动本应保持原位的碗时。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 13.4–15.4 s 机器人右手将打蛋器斜降入碗并开始移动，未能控制丝头与碗壁的相对位置及接触作用，导致碗滑移而提前终止；同段画面中手仍握住柄，故并非抓取丢失。缺少工具位姿误差及接触力记录，无法进一步区分轨迹对准与接触反馈问题，根因保留为控制。"
+   }
+  ],
+  "gap_zh": "无状态日志或接触力记录，无法精确定位丝头与碗壁的接触点，或细分控制失误。日志有五次重置（log step 81 开始episode 6），早先测试不作为本段进度；log step 125 虽提交名为five whisking revolutions的动作，未返回完成读数，五圈未完成以视频终态为准。评分器reward未报告三个原生连续指标，native_metrics均为null；视频横幅的圈数仅作为视觉证据。"
+ },
+ "summary_zh": "本次评分片段中，机器人右手在视频 9.6 s 完成拿起打蛋器，最终完成1/4个节点。视频 14.6 s 开始有效浸入，随后工具碰动钢碗，视频 15.4 s 因bowl_moved停止，搅拌仅0.08/5圈，沥液及放回台面均未开始。可将失败归于控制，但无状态及接触力日志，无法细分轨迹对准或接触反馈问题；会话早先重置的测试不计入本段进度。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值、断点（batter_whisked，操作中）、现象“被挡/碰撞”和根因“控制”与视频一致：9.6 s 达 Stage 1/5，14.6 s Stage 2/5，15.4 s FAIL: bowl_moved、0.08/5圈。仅 whisk_picked_up 的 contact_actual 时间窗与自身证据不符，需改。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "节点值、断点（batter_whisked，操作中）、现象“被挡/碰撞”、根因“控制”与视频一致（9.6 s Stage 1/5，14.6 s Stage 2/5，15.4 s FAIL: bowl_moved、0.08/5圈）。仅 whisk_picked_up 的 contact_actual 说明里“视频 8.0 s 已见打蛋器离台”与帧不符，需改。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的采纳已正确落实：note 不再声称视频 8.0 s 已离台，改为 4.6–9.0 s 台面拖动、9.6 s Stage 1/5 提离，与帧一致。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的采纳已正确落实：note 不再声称视频 8.0 s 已离台，改为 4.6–9.0 s 台面拖动、9.6 s Stage 1/5 提离，与帧一致。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:39:28Z",
+  "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/dexhand-batter-whisk-i00-standard--jaqg6q3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--jaqg6q3/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--jaqg6q3/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--jaqg6q3/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--jaqg6q3/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--jaqg6q3/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "52138de70184dcbbf056be50cfd778476deed9928a424941084470475c7aaf93",
+   "video_sha256": "be59ccc0c353b7c18abc44703a02ad4b5acb3425ceb953d071a1e24c2dc3880a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--neienqf.json

@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-standard--neienqf",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 38,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 636,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 1,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 636,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 54.233,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.279,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_memory_gb": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-standard--neienqf/replay.mp4",
+  "duration_s": 15.0,
+  "fps": 5.0,
+  "frames": 75,
+  "sha256": "9fdd2d53be748f888c8d4c4ea45122f24296727e146a1b14104c223340e65be7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": 78,
+      "text_zh": "观察：视频 2.6–3.6 s，机器人右手在银色打蛋器柄的画面左侧合拢，柄未进入手指包围；视频 3.8–5.2 s 右手抬起，打蛋器仍以柄端着台、丝头靠碗沿的姿态留在原处。横幅保持 Stage 0/5，未出现拿起验收。"
+     },
+     {
+      "t": 12.8,
+      "log_step": 86,
+      "text_zh": "观察：视频 12.6–12.8 s，机器人右手再次向打蛋器丝头和钢碗靠近，手指碰推该区域，钢碗与打蛋器发生移位；横幅出现 FAIL: bowl_moved。视频 13.0–14.8 s 终态仍为 Stage 0/5，打蛋器未被独立提离台面和碗。"
+     },
+     {
+      "t": 14.8,
+      "log_step": 92,
+      "text_zh": "观察：agent 在 log step 92 自述打蛋器曾被提起、翻转时滑落；本次视频 0.0–14.8 s 却始终可见打蛋器留在台面/碗沿附近，Stage 从未离开 0/5。按本次评分视频判为未拿起，不将会话自述或先前局的动作计入进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 2.6–3.6 s 右手空合，未形成对打蛋器柄的抓握；视频 12.8 s 右手指部碰推打蛋器丝头及钢碗边缘区域，物体移位。左手未参与，实际有效接触为碰推。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": 84,
+      "text_zh": "观察：视频 5.4–12.6 s，机器人右腕转动并在碗旁运动，但手中没有打蛋器；打蛋器柄仍着台、丝头靠在碗旁，未随手进入面糊并绕碗轴运行。视频 14.8 s 横幅仍为 Stage 0/5、revolutions 0.00/5。log step 84 的 tilt+whisk 提交完成输出不证明工具完成搅拌。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.8,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–14.8 s 未出现手持打蛋器头朝下悬在碗口正上方的沥液姿态；末帧横幅仍为 drain 0/25、Stage 0/5，搅拌前置事件也未完成。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 打蛋器是柄端着台、丝头斜靠碗沿，不能算沥液后的放回；视频 12.8–14.8 s 机器人右手停在打蛋器丝头/碗沿处，工具未形成远离碗且完全脱手的横放静置。末帧为 FAIL: bowl_moved、set-down hold 0/50、Stage 0/5，未出现合格放置区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "whisk_picked_up",
+   "t": 3.2,
+   "log_step": 78,
+   "where": "操作中",
+   "evidence_zh": "��察：视频 2.6–3.6 s 机器人右手在打蛋器柄侧方空合，视频 3.8 s 抬手后打蛋器仍留在原处；这是首次未完成且此后从未修复的拿起尝试。视频 12.8 s 再次取物时右手碰动钢碗并出现 FAIL: bowl_moved，直至视频 14.8 s 仍为 Stage 0/5。"
+  },
+  "unmet": {
+   "whisk_picked_up": false,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.2,
+    "log_step": 78,
+    "evidence_zh": "观察：视频 2.6–3.6 s 机器人右手指在打蛋器柄旁合拢，柄未被夹在手指之间；视频 3.8–5.2 s 右手空手抬起，打蛋器没有随手离台。所需的抓握接触从未建立，不是已拿起后滑脱。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 12.8,
+    "log_step": 86,
+    "evidence_zh": "观察：视频 12.6 s 右手尚在钢碗旁，视频 12.8 s 右手指部进入打蛋器丝头和碗沿区域，钢碗和工具随即移位；横幅显示 FAIL: bowl_moved，碗倾角读数 2.4 度。该次重新取物的碰撞结束了评分局。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "evidence_zh": "推断：log step 59 在 episode 1 的掉落后场景估计了打蛋器轴向约 [0.709,0.701,0.075] 及柄端 [0.325,-0.242,0.705]；log step 73 将这些值写死进抓取脚本。log step 77 重置到 episode 2 后，log step 78 直接重跑该脚本，没有重新估计物体位置；视频 2.6–3.6 s 右手遂在当前打蛋器柄侧方空合。这支持重置后沿用过期目标位姿造成抓取偏移。log step 86 的重估又把靠碗的一端命名为 butt，log step 87 才交换 head/butt；视频 12.8 s 的末次取物也落在丝头/碗沿区域。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "本次无状态日志，视频仅 5 fps；末尾右手遮住部分丝头和碗沿，不能进一步拆分各指与钢碗的接触对或测出力。已逐帧检查本次视频全部 75 帧及最后一秒，并对照成功参考视频中的拿起与放回外观。评分器未报告 DAG 所列三项原生指标的数值，故 native_metrics 均为 null；横幅可见当前圈数与倾角，不能据此补造评分器的最大值指标。agent 在 log step 92 所述已提起及因伺服柔软而滑落，与本次视频不符，不作为节点或机械根因的证据。"
+ },
+ "summary_zh": "评分局四个节点均未达成：视频 2.6–3.6 s 右手在柄旁空合，随后空手运动，打蛋器始终未被合格拿起；视频 12.8 s 再取物时碰动钢碗，横幅判 FAIL: bowl_moved。日志与画面支持重置后沿用过期物体位姿导致抓取偏移，断点为拿起打蛋器，而非 agent 自述的持物翻转滑落。无状态日志，末尾细分接触与力无法核实，三项原生指标未由评分器报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点均未达成、断点为拿起打蛋器，与视频一致：0–15 s 横幅始终 Stage 0/5，打蛋器留在台面，12.8 s 起右手压到钢碗并出现 FAIL: bowl_moved（12.6 s 仍为 IN PROGRESS）。感知根因标为推断，log 59/73/78 支持重置后沿用旧位姿。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
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+  "effort": "high",
+  "created": "2026-10-30T19:17:58Z",
+  "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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+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--neienqf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--neienqf/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"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--st2qkys.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-standard--st2qkys",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 38,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 919,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 2,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 919,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.581,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.237,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-standard--st2qkys/replay.mp4",
+  "duration_s": 20.6,
+  "fps": 5.0,
+  "frames": 103,
+  "sha256": "44690082f5c8f9fc1c2b455b3994c1dff5d2f7939f9ae27bace5e1f0b7760ed8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.8,
+      "log_step": 76,
+      "text_zh": "观察：视频 3.8 s 右手已合拢包握银色打蛋器柄并向上提，柄端离开原来的台面支点，丝头也离开碗；视频 4.0 s 横幅首次显示 Stage 1/5，确认拿起验收。左手悬空，未扶碗。"
+     },
+     {
+      "t": 20.4,
+      "log_step": null,
+      "text_zh": "观察：视频 20.4 s 终帧横幅仍为 Stage 2/5；拿起是已锁存事件，后续未搅拌成功和放低时的判负不撤销该事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与弯曲的其余手指包握打蛋器柄并提起；左手未参与。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.4,
+      "log_step": 76,
+      "text_zh": "观察：视频 7.4 s 右手握柄将丝头下端降入钢碗，横幅进入 Stage 2/5；视频 7.8–13.8 s 右手持续带动打蛋器在碗内小幅循环，但丝头主要在碗的一侧往复。"
+     },
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：视频 8.4 s、8.8 s、9.4 s 横幅 revolutions 分别为 0.29/5、0.24/5、0.37/5，视频 10.4–13.8 s 又反复升降而未累计到五圈；视频 14.0 s 提出后回到 0.00/5，Stage 始终未达到 3/5。"
+     },
+     {
+      "t": 14.8,
+      "log_step": 118,
+      "text_zh": "观察：log step 118 中 agent 脚本根据机械臂关节正运动学与固定的手内工具坐标自算 net_revs=6.17；这不是评分器的圈数。视频 14.8 s 横幅仍为 Stage 2/5、revolutions 0.00/5，与该自算值不一致，以回放横幅及实际工具运动为准。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手手指持续包握打蛋器柄并带动丝头在碗内移动；左手未接触碗或打蛋器。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.4,
+      "log_step": 76,
+      "text_zh": "观察：视频 14.2–15.2 s 右手握柄将打蛋器头朝下提至碗口上方并短暂停留，确实尝试沥液姿态；但横幅始终为 Stage 2/5、drain 0/25，前置搅拌未完成，未达到沥液事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手手指包握打蛋器柄，将丝头朝下悬于钢碗上方；左手悬空。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.8,
+      "log_step": 115,
+      "text_zh": "观察：视频 15.4–18.2 s 右手保持握柄，把打蛋器从碗上方移至碗旁并转为近水平、向台面放低；视频 18.4 s 横幅出现 FAIL: whisk_dropped，此时右手仍包握柄，未见张手离开后的横放静置。"
+     },
+     {
+      "t": 20.4,
+      "log_step": 115,
+      "text_zh": "观察：视频 19.6–20.4 s 末尾画面冻结，横幅为 Stage 2/5、drain 0/25、set-down hold 0/50；log step 115 服务回报 done=True、reason=task_failure、control_steps=919。未形成沥液后放下、离手静置的合格状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手手指握住打蛋器柄，将其移向碗旁、转为近水平并放低；判负时仍握持，未执行到可见的张手离开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "batter_whisked",
+   "t": 8.8,
+   "log_step": 76,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.8–13.8 s 机器人右手已在操作碗内打蛋器，但视频 8.8 s 圈数由视频 8.4 s 的 0.29 回降为 0.24，此后反复往复，未达到五圈或 Stage 3/5。视频 14.0 s 机器人便将工具提出，直到视频 20.4 s 终帧都未补做搅拌；视频 18.4 s 放低时出现 whisk_dropped 是后续判负，较早未修复的步骤仍是搅拌。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 8.8,
+    "log_step": 76,
+    "evidence_zh": "观察：视频 7.8–13.8 s 右手虽握柄循环移动，丝头主要在碗内偏侧小幅往复；横幅净圈数在视频 9.4 s 为 0.37/5，视频 10.8 s 降至 0.18/5，视频 12.4 s 又为 0.30/5，未形成绕碗轴的持续净转动，视频 14.0 s 提出时清零。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 8.8,
+    "log_step": 76,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 76 的 agent 控制脚本用一次测得的手内工具坐标生成半径 13.5 毫米的重复关节轨迹，执行整段后又以同一固定工具坐标从关节正运动学估计头点；log step 118 因而自算 6.17 圈。log step 127 对本局前后深度图的重新测量却给出头点手内坐标由约 [0.0005,0.2007,0.0305] 米变为 [0.0013,0.1941,0.0129] 米，差约 19 毫米，超过命令圆半径；结合视频 7.8–13.8 s 实际工具偏侧往复、评分净圈数不增长，支持手内工具位姿变化未被控制补偿，不能把腕部估算轨迹当成实际工具头轨迹。"
+   }
+  ],
+  "gap_zh": "无状态日志，无法独立重建搅拌中的毫米级头点轨迹、接触对及手内滑移发生的确切时刻；log step 127 的深度重建是 agent 自己的诊断，只作控制根因的辅助证据。因此根因保留在“控制”，不进一步断言具体握力不足、抓取几何不当或关节跟踪误差；视频横幅足以确定四个节点的验收结果。评分器 reward 未报告三项原生指标的数值，native_metrics 均保留 null。",
+  "unmet": {
+   "whisk_picked_up": true,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  }
+ },
+ "summary_zh": "机器人右手在视频约 4.0 s 完成拿起，随后尝试搅拌、沥液和放台面，最终仅 1/4 节点完成。首个未修复的失败在搅拌：视频 7.8–13.8 s 工具头在碗内偏侧往复，净圈数反复升降而未达五圈；控制脚本固定手内工具坐标的估算与实际轨迹不符，之后放低时于视频 18.4 s 被判 whisk_dropped。无状态日志，不能精确区分手内工具位姿变化的机械成因；节点结果由回放动作和阶段横幅确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点结果（拿起已达成，搅拌/沥液/放台面未达成）、断点（搅拌，操作中）与时钟均与视频横幅一致；位姿不准加控制根因为带标注的推断，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": "2026-10-30T19:21:15Z",
+  "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/dexhand-batter-whisk-i00-standard--st2qkys/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--st2qkys/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "39cc7d1702b67f58e75ae4ca1a89b343042d9eb83dc672bbd6959c407ecc8629",
+   "video_sha256": "44690082f5c8f9fc1c2b455b3994c1dff5d2f7939f9ae27bace5e1f0b7760ed8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--ukfyewv.json

@@ -0,0 +1,255 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-standard--ukfyewv",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 179,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 1,
+   "n_actions": 3867,
+   "no_verdict": 0,
+   "replay_success": 1,
+   "reset_budget": 20,
+   "resets": 3,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 3867,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.463,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.911,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-standard--ukfyewv/replay.mp4",
+  "duration_s": 61.8,
+  "fps": 5.0,
+  "frames": 309,
+  "sha256": "a7742fc9c14fadc7d6c770290bdba07275166d6f733169a1afa53f76b83978fb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，打蛋器斜靠钢碗，柄端位于台面，机器人两手张开，横幅为 Stage 0/5。"
+     },
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.4–7.4 s，机器人右手握柄将打蛋器抬起；视频 6.8 s 横幅仍为 Stage 0/5，视频 7.0 s 首次显示 Stage 1/5，确认原生离碗、离台和连续10控制步拿起验收；视频 8.0 s 可见手持打蛋器悬在台面上方。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右手拇指与其余手指合拢包住打蛋器柄并提起；左手保持张开，未参与扶碗。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [
+     [
+      43.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 22.0–34.0 s，机器人右手将丝头浸入碗内黄色区域并带动打蛋器绕圈，横幅 Stage 2/5 的 revolutions 逐渐增加。"
+     },
+     {
+      "t": 43.0,
+      "log_step": null,
+      "text_zh": "观察：视频 42.4 s 为 Stage 2/5、revolutions 4.87/5；视频 42.6 s 为4.93/5；视频 42.8 s 虽四舍五入显示5.00/5，仍为 Stage 2/5；视频 43.0 s 首次为 Stage 3/5、5.00/5。此时右手仍握柄，丝头仍在碗内，五圈搅拌完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右手持续握住打蛋器柄，带动丝头在碗内绕圈；左手未接触碗。受评对象为打蛋器轨迹，面糊未模拟，不另虚构液体物理接触。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [
+     [
+      47.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "观察：视频 47.0–47.8 s，机器人右手将打蛋器从碗内提起，保持头朝下、位于碗口上方；视频 47.6 s 横幅为 Stage 3/5、drain 12/25，视频 47.8 s 首次为 Stage 4/5、drain 25/25，视频 48.0 s 继续保持，确认沥液姿态验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右手握住打蛋器柄，上提后使丝头朝下悬在钢碗口上方并保持；左手未扶碗。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频 50.0–56.0 s，机器人右手握柄将打蛋器转向并降至碗旁台面；视频 57.0–58.6 s 手指逐渐张开、右手撤离，打蛋器横躺在台面。视频 58.8 s 横幅开始显示 set-down hold 5/50，尚未完成50控制步静置验收。"
+     },
+     {
+      "t": 59.6,
+      "log_step": null,
+      "text_zh": "观察：视频 59.2 s 的 set-down hold 为31/50，视频 59.4 s 为44/50；视频 59.6 s 首次显示 PASS、Stage 5/5、set-down hold 50/50，打蛋器横躺于钢碗旁、与机器人两手分离。逐帧检查视频 60.8–61.6 s，末段仍为同一静置成功画面。"
+     },
+     {
+      "t": null,
+      "log_step": 108,
+      "text_zh": "观察：log step 107 的机器人服务返回 episode 4、control_steps 3867、done True、reason success；log step 108 将该局3867×58的执行器目标保存为交付控制器，并核对保存序列与成功历史完全相同。评分器 reward 的 live_success=1、replay_success=1、live_matches_replay=1，支持视频终态为交付成功局。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右手握柄把打蛋器移至碗旁空台面，降低并倾斜放下，随后张开手指、撤手；左手始终未参与放置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人右手依次完成拿起打蛋器（视频 7.0 s）、碗内净搅拌五圈（视频 43.0 s）、碗口上方沥液（视频 47.8 s）和松手后横放台面静置（视频 59.6 s），四个节点最终全部成立，左手未参与扶碗。视频终态显示 Stage 5/5、PASS，log step 107–108 的成功服务结果和交付序列核对与评分器 live/replay 成功相符，无失败断点。没有状态日志，毫米级几何和连续控制步的验收依赖视频原生阶段与计数横幅；评分器未报告三项原生指标的数值，native_metrics 均保留 null，节点时刻按5帧/秒视频定位。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "四个节点的时刻与视频横幅（Stage 1/5 @7.0 s、3/5 @43.0 s、4/5 @47.8 s、PASS 5/5 @59.6 s）一致，成功局无断点，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": "2026-10-30T19:13:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--ukfyewv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--ukfyewv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e58149e0bb99f9288a22defccefca2858ad0cc84b40ddd1a0320dd0cf9ab350a",
+   "video_sha256": "a7742fc9c14fadc7d6c770290bdba07275166d6f733169a1afa53f76b83978fb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--vckuekb.json

@@ -0,0 +1,240 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-standard--vckuekb",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 222,
+   "control_steps_total": 1757,
+   "elapsed_s": 3477.165,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 210,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 8,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 210,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 14.5,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.3,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-batter-whisk-i00-standard--vckuekb/replay.mp4",
+  "duration_s": 6.4,
+  "fps": 5.0,
+  "frames": 32,
+  "sha256": "d8653484c0dff2260f3fa67a996024064aa15da468a230b03741767b7c97ef08"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": 524,
+      "text_zh": "观察：视频 2.8–3.2 s，机器人右手合拢握住打蛋器柄并向上提起，打蛋器离开台面及碗沿；视频 3.0 s 横幅仍为 Stage 0/5，视频 3.2 s 首次显示 Stage 1/5，拿起验收已完成。log step 524 提交的是第9局的接近、合手、提起及持稳动作。"
+     },
+     {
+      "t": 6.2,
+      "log_step": 525,
+      "text_zh": "观察：视频 4.2–6.2 s，机器人右手持续握着悬空的打蛋器，未见脱手；横幅保持 Stage 1/5。log step 525 的服务状态为 episode=9、control_steps=210、done=False；没有将该服务计数换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.2–4.2 s，机器人右手手指从张开逐渐合拢包住银色打蛋器柄并将其提起；左手保持悬空，没有扶碗。"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.2,
+      "log_step": 524,
+      "text_zh": "观察：视频 0.0–4.2 s，机器人只接近、握柄和提起；视频 4.2–6.2 s，打蛋器丝头朝斜上方停在钢碗外，没有进入浅黄色面糊或绕碗中心画圈。横幅一直显示 revolutions 0.00/5，最高为 Stage 1/5；log step 524 提交的210控制步动作在提起后持稳结束，未执行浸入与搅拌。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.2,
+      "log_step": null,
+      "text_zh": "观察：视频 3.2–6.2 s，机器人持有打蛋器，但丝头斜向上且位于碗外，未在碗口正上方头朝下悬停；横幅保持 Stage 1/5、drain 0/25，搅拌前置也未完成。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，打蛋器斜靠钢碗、柄端着台，属于初始状态，尚未完成拿起、搅拌、沥液及放回。"
+     },
+     {
+      "t": 6.2,
+      "log_step": 525,
+      "text_zh": "观察：视频 4.2–6.2 s，机器人右手一直握住悬空打蛋器，没有向台面放低或松手，台面上的原柄端位置已空出；横幅 set-down hold 保持 0/50，没有横放离手静置。log step 525 的第9局仅有210个控制步。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "batter_whisked",
+   "t": 4.2,
+   "log_step": 524,
+   "where": "首步前",
+   "evidence_zh": "观察：视频约 4.2 s，机器人完成拿起后的上提动作，此后至视频 6.2 s 始终把丝头斜朝上持在碗外，没有启动浸入或绕圈。log step 522 重置到第9局，log step 524 只提交拿起及持稳，log step 525 记录该局仍在进行且只有210控制步；log step 528 随后结束汇报。因此未达步骤是搅拌面糊，其操作尚未开始；视频 4.2 s 作为停在拿起姿态的导航锚点。"
+  },
+  "unmet": {
+   "whisk_picked_up": true,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 4.2,
+    "log_step": 524,
+    "evidence_zh": "观察：视频 3.2 s 已达到 Stage 1/5，但视频 4.2–6.2 s 机器人仅持续持住朝斜上方的打蛋器，未将丝头转向碗内、下降浸入或绕圈，revolutions 始终为 0.00/5。log step 524 的提交仅含接近、抓取、提起和持稳，之后到 log step 528 没有新的机器人运动提交，搅拌步骤未启动。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 没有状态日志，reward 也未报告 revolutions、max_bowl_tilt_deg 或 max_bowl_slide_m 的原生数值，三项指标留 null。log step 483、508、517 记录了已被重置的第6–8局 task_failure，但没有能确定其具体接触失效原因的服务字段；这些调试局不作为本局的现象或进度。log step 527 显示服务预算尚余129.9秒，log step 528 只陈述已保存完整脚本及当前仅执行拿起，没有说明为何不继续第9局；不足以确定控制、规划或交付根因，故根因层留空。"
+ },
+ "summary_zh": "观察：评分的第9局在视频约 3.2 s 由机器人右手握柄提起打蛋器，横幅达到 Stage 1/5，最终完成1/4个节点。观察：视频约 4.2 s 后一直持在碗外，至视频 6.2 s 仍未浸入、搅拌、沥液或放回，断点为搅拌面糊尚未启动。推断：日志确认本局只执行了拿起及持稳，但未提供停在此处的具体成因；早先被重置的调试失败不能计入评分局，根因留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "复核一致：视频横幅 3.0 s 仍为 Stage 0/5，3.2 s 起 Stage 1/5，拿起节点时间正确；其余节点未达，断点 batter_whisked/首步前/没尝试与第9局仅执行拿起（log step 524、525 control_steps=210）相符；根因留空有 gap_zh 说明，未见需要修改的错误。",
+    "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": "2026-10-30T19:13:43Z",
+  "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/dexhand-batter-whisk-i00-standard--vckuekb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--vckuekb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7be8a2333640d8faf5f9990aefa1803c28775e59fd51993c78cea89d8c2c22b8",
+   "video_sha256": "d8653484c0dff2260f3fa67a996024064aa15da468a230b03741767b7c97ef08",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--3npxz7p.json

@@ -0,0 +1,930 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-privileged--3npxz7p",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1855,
+   "sim_steps": 1855,
+   "stages_completed": 3,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.289,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.268,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-bicycle-pump-stroke-i00-privileged--3npxz7p/replay.mp4",
+  "duration_s": 27.6,
+  "fps": 10.0,
+  "frames": 276,
+  "sha256": "8f75764a3c15277819c6f0554702626544493a2dc364049441c3f323f83fe4a1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 29,
+  "final": 29,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": 503,
+      "text_zh": "观察：视频0.6–4.2 s右手在轮圈近侧气门处操作，前臂遮挡泵头细节；视频4.4 s右手开始离开，随后转向T形把手。log step 503的交付生成脚本先以伸出的右食指推入泵头、沿锁杆轨迹拨合，其他手指屈曲，未安排对向夹持。"
+     },
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "推断：视频5.5 s下压、视频5.8 s回升后原生strokes计数变为1/28，此后连续增至28/28，证明泵头此前已坐紧且锁好；连接事件锁存，充气后仍为已完成。"
+     },
+     {
+      "t": 3.8,
+      "log_step": 511,
+      "text_zh": "推断：连接时刻约为视频3.8 s，精度约0.5 s。agent在log step 511自述锁存在交付轨迹control step 269；log step 503连接段共270个控制步。评分器记录1855步，视频26.5 s的顶栏仿真时钟为37.10 s，得到每控制步0.02 s；视频0–26.5 s顶栏仿真时钟约为视频时钟的1.4倍，故269×0.02/1.4≈视频3.84 s，且在视频5.8 s首个有效回程计次处核对了该对应关系。细节被遮挡，不能直接逐帧量测锁角。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：右手伸出的食指先沿气门轴推入黑色泵头，再拨合拇指锁；依据视频气门处的操作及随后有效计次，结合log step 503交付脚本的食指轨迹与其余手指屈曲命令。接触处被前臂遮住，未见合手夹持。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：视频5.4–5.8 s右手以张开的掌面/手指压低T形把手并随其回升；视频5.8 s顶栏原生strokes计数首次显示1/28，表压200.38 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第1次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.6,
+      "log_step": null,
+      "text_zh": "观察：视频6.2–6.6 s右手以张开的掌面/手指压低T形把手并随其回升；视频6.6 s顶栏原生strokes计数首次显示2/28，表压200.76 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第2次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.3,
+      "log_step": null,
+      "text_zh": "观察：视频6.9–7.3 s右手以张开的掌面/手指压低T形把手并随其回升；视频7.3 s顶栏原生strokes计数首次显示3/28，表压201.14 kPa。逐帧检查该次计���变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第3次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频7.6–8.0 s右手以张开的掌面/手指压低T形把手并随其回升；视频8.0 s顶栏原生strokes计数首次显示4/28，表压201.52 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第4次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.7,
+      "log_step": null,
+      "text_zh": "观察：视频8.3–8.7 s右手以张开的掌面/手指压低T形把手并随其回升；视频8.7 s顶栏原生strokes计数首次显示5/28，表压201.90 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第5次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：视频9.0–9.4 s右手以张开的掌面/手指压低T形把手并随其回升；视频9.4 s顶栏原生strokes计数首次显示6/28，表压202.28 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第6次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.1,
+      "log_step": null,
+      "text_zh": "观察：视频9.7–10.1 s右手以张开的掌面/手指压低T形把手并随其回升；视频10.1 s顶栏原生strokes计数首次显示7/28，表压202.66 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第7次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.8,
+      "log_step": null,
+      "text_zh": "观察：视频10.4–10.8 s右手以张开的掌面/手指压低T形把手并随其回升；视频10.8 s顶栏原生strokes计数首次显示8/28，表压203.04 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第8次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：视频11.2–11.6 s右手以张开的掌面/手指压低T形把手并随其回升；视频11.6 s顶栏原生strokes计数首次显示9/28，表压203.42 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第9次泵压由右手张开的掌面和伸出的手指���上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.3,
+      "log_step": null,
+      "text_zh": "观察：视频11.9–12.3 s右手以张开的掌面/手指压低T形把手并随其回升；视频12.3 s顶栏原生strokes计数首次显示10/28，表压203.80 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第10次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频12.6–13.0 s右手以张开的掌面/手指压低T形把手并随其回升；视频13.0 s顶栏原生strokes计数首次显示11/28，表压204.18 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第11次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.7,
+      "log_step": null,
+      "text_zh": "观察：视频13.3–13.7 s右手以张开的掌面/手指压低T形把手并随其回升；视频13.7 s顶栏原生strokes计数首次显示12/28，表压204.56 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第12次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.4,
+      "log_step": null,
+      "text_zh": "观察：视频14.0–14.4 s右手以张开的掌面/手指压低T形把手并随其回升；视频14.4 s顶栏原生strokes计数首次显示13/28，表压204.94 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第13次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.1,
+      "log_step": null,
+      "text_zh": "观察：视频14.7–15.1 s右手以张开的掌面/手指压低T形把手并随其回升；视频15.1 s顶栏原生strokes计数首次显示14/28，表压205.32 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第14次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "观察：视频15.4–15.8 s右手以张开的掌面/手指压低T形把手并随其回升；视频15.8 s顶栏原生strokes计数首次显示15/28，表压205.70 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第15次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.6,
+      "log_step": null,
+      "text_zh": "观察：视频16.2–16.6 s右手以张开的掌面/手指压低T形把手并随其回升；视频16.6 s顶栏原生strokes计数首次显示16/28，表压206.08 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第16次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.3,
+      "log_step": null,
+      "text_zh": "观察：视频16.9–17.3 s右手以张开的掌面/手指压低T形把手并随其回升；视频17.3 s顶栏原生strokes计数首次显示17/28，表压206.46 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第17次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频17.6–18.0 s右手以张开的掌面/手指压低T形把手并随其回升；视频18.0 s顶栏原生strokes计数首次显示18/28，表压206.84 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第18次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.7,
+      "log_step": null,
+      "text_zh": "观察：视频18.3–18.7 s右手以张开的掌面/手指压低T形把手并随其回升；视频18.7 s顶栏原生strokes计数首次显示19/28，表压207.22 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第19次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.4,
+      "log_step": null,
+      "text_zh": "观察：视频19.0–19.4 s右手以张开的掌面/手指压低T形把手并随其回升；视频19.4 s顶栏原生strokes计数首次显示20/28，表压207.60 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第20次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.1,
+      "log_step": null,
+      "text_zh": "观察：视频19.7–20.1 s右手以张开的掌面/手指压低T形把手并随其回升；视频20.1 s顶栏原生strokes计数首次显示21/28，表压207.98 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第21次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.8,
+      "log_step": null,
+      "text_zh": "观察：视频20.4–20.8 s右手以张开的掌面/手指压低T形把手并随其回升；视频20.8 s顶栏原生strokes计数首次显示22/28，表压208.36 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第22次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.6,
+      "log_step": null,
+      "text_zh": "观察：视频21.2–21.6 s右手以张开的掌面/手指压低T形把手并随其回升；视频21.6 s顶栏原生strokes计数首次显示23/28，表压208.74 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第23次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.3,
+      "log_step": null,
+      "text_zh": "观察：视频21.9–22.3 s右手以张开的掌面/手指压低T形把手并随其回升；视频22.3 s顶栏原生strokes计数首次显示24/28，表压209.12 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第24次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.0,
+      "log_step": null,
+      "text_zh": "观察：视频22.6–23.0 s右手以张开的掌面/手指压低T形把手并随其回升；视频23.0 s顶栏原生strokes计数首次显示25/28，表压209.50 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第25次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.7,
+      "log_step": null,
+      "text_zh": "观察：视频23.3–23.7 s右手以张开的掌面/手指压低T形把手并随其回升；视频23.7 s顶栏原生strokes计数首次显示26/28，表压209.88 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第26次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.4,
+      "log_step": null,
+      "text_zh": "观察：视频24.0–24.4 s右手以张开的掌面/手指压低T形把手并随其回升；视频24.4 s顶栏原生strokes计数首次显示27/28，表压210.26 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第27次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": null,
+      "text_zh": "观察：视频24.7–25.1 s右手以张开的掌面/手指压低T形把手并随其回升；视频25.1 s顶栏原生strokes计数首次显示28/28，表压210.64 kPa；表压210.64 kPa已超过目标210.6 kPa。逐帧检查该次计数变化，时刻精度为视频0.1 s；此有效累计次数保持到视频27.5 s末帧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：第28次泵压由右手张开的掌面和伸出的手指从上方向下按T形把手，随后抬手让活塞回升；没有合手包围把手。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.2,
+      "log_step": 503,
+      "text_zh": "观察：视频25.1 s计数达到28/28后，视频25.2–26.4 s右手从把手向上、向机器人方向撤回，未返回轮圈近侧的泵头或锁杆；视频26.5–27.5 s末段保持同一姿态，黑色泵头仍在气门处，released hold为0/50且状态为running。log step 503的交付脚本完成28次往复后直接撤臂并保持60个控制步，没有开锁或退开泵头的动作。"
+     },
+     {
+      "t": 27.5,
+      "log_step": null,
+      "text_zh": "推断：本次没有充气后的脱开事件。成功参考视频27.0–28.8 s可见右手返回气门处操作，随后泵头退开、released hold达到50/50并显示SUCCESS；本次视频25.2–27.5 s没有相应动作或退开结果。参考仅用于识别可见线索，本次判定由本次末段及交付脚本支持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_down_depth_m",
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_return_depth_m",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "piston_release_depth_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "head_disconnected",
+   "t": 25.2,
+   "log_step": 503,
+   "where": "首步前",
+   "evidence_zh": "观察：视频25.1 s已完成第28次有效泵压，视频25.2 s起机器人直接撤回右手，直到视频27.5 s末帧均未返回泵头，未开始开锁、退头。log step 503实际交付的1855步生成脚本在28次泵压后仅撤臂及保持，省略了脱开阶段；评分器stages_completed=3、success=0。此处首步前指泵头脱开这一步尚未启动。"
+  },
+  "unmet": {
+   "head_connected": true,
+   "pump_stroke_1": true,
+   "pump_stroke_2": true,
+   "pump_stroke_3": true,
+   "pump_stroke_4": true,
+   "pump_stroke_5": true,
+   "pump_stroke_6": true,
+   "pump_stroke_7": true,
+   "pump_stroke_8": true,
+   "pump_stroke_9": true,
+   "pump_stroke_10": true,
+   "pump_stroke_11": true,
+   "pump_stroke_12": true,
+   "pump_stroke_13": true,
+   "pump_stroke_14": true,
+   "pump_stroke_15": true,
+   "pump_stroke_16": true,
+   "pump_stroke_17": true,
+   "pump_stroke_18": true,
+   "pump_stroke_19": true,
+   "pump_stroke_20": true,
+   "pump_stroke_21": true,
+   "pump_stroke_22": true,
+   "pump_stroke_23": true,
+   "pump_stroke_24": true,
+   "pump_stroke_25": true,
+   "pump_stroke_26": true,
+   "pump_stroke_27": true,
+   "pump_stroke_28": true,
+   "head_disconnected": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 25.2,
+    "log_step": 503,
+    "evidence_zh": "观察：视频25.2–27.5 s机器人撤手并停住，未对轮圈气门处的锁杆或泵头作任何操作；log step 503提交生成代码从28次泵压循环直接进入RETRACT AND HOLD，未包含开锁和退头。log step 445、451、466、475、484的开锁测试属于会话中的其他试验，并未进入本次交付。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/没有本次状态日志；视频气门操作阶段被前臂遮挡，连接准确时刻与食指推拨接触方式需结合交付脚本及后续有效计次推断。log step 445–499记录了独立的开锁、接触及逆解测试命令，但相关最终试验的完成读数未保存在这些步骤的out中；log step 503明确省略脱开，未说明省略的具体技术原因。因此根因留空，不能仅凭省略认定规划错误、控制失败或误以为完成。评分器reward也未报告DAG所列7项原生指标的数值，native_metrics均按要求填null；视频顶栏的计数和表压用于节点证据。"
+ },
+ "summary_zh": "本次完成泵头连接和28次有效泵压，视频25.1 s达到210.64 kPa，共完成29/30个节点。随后机器人直接撤手，交付脚本没有充气后的开锁和退头，断点为泵头脱离气门（该步首步前），现象为没尝试，末帧仍为running、released hold 0/50��连接细节被遮挡且根因证据不足，连接时间和接触方式结合脚本推断，省略脱开阶段的根因留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间与原生计数一致：视频顶栏 strokes 1/28 对应仿真 8.12 s，换算为视频约 5.8 s；2/28 对应约 6.6 s，与标注相符。末帧 strokes 28/28、released hold 0/50，泵头仍在，脱开未达成，断点为 head_disconnected（首步前、没尝试），符合 log step 503 的交付脚本（28 次泵压后只撤臂保持，无开锁/退头）。log 445–499 的开锁测试输出未保存，无法判断省略原因，所以根因留空并写 gap_zh 是诚实做法。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": "2026-10-30T19:22:31Z",
+  "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/dexhand-bicycle-pump-stroke-i00-privileged--3npxz7p/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-privileged--3npxz7p/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4c0e06579f1b2814e7d5fe7cc5f208e63ccbab401033064b55be74f9293c5b00",
+   "video_sha256": "8f75764a3c15277819c6f0554702626544493a2dc364049441c3f323f83fe4a1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--krmnbsh.json

@@ -0,0 +1,891 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-privileged--krmnbsh",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 3439,
+   "sim_steps": 3439,
+   "stages_completed": 5,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.764,
+   "peak_processes": 9,
+   "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/dexhand-bicycle-pump-stroke-i00-privileged--krmnbsh/replay.mp4",
+  "duration_s": 29.8,
+  "fps": 10.0,
+  "frames": 298,
+  "sha256": "4dc12203b311a105b2cd9ab5492b4d7373945bb00362c801df641f9e607d84f7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 30,
+  "final": 30,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "观察：视频1.4–2.2 s，机器人右手伸出的食指抵住轮圈近侧黑色泵头/锁杆，泵头向轮圈靠拢；视频3.4–4.2 s，食指向下拨压锁杆，随后抬离，未见拇指与其他手指合拢夹持泵头。"
+     },
+     {
+      "t": 3.8,
+      "log_step": 43,
+      "text_zh": "推断：接通时间约为视频3.8 s（约±0.3 s），由合锁动作结束及后续有效计次共同确定；总览遮挡使毫米级座深和锁角不能直接量测。log step 43明确为从复位生成并保存的最终交付，记录control step 510时head=-0.0175 m、lever=1.599 rad、conn=True，与视频4.2 s附近右手完成合锁后离开的动作相符；视频6.7 s首次有效计次进一步证实接通。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右手伸出的食指先抵推泵头/开放锁杆，使泵头向轮圈坐入，再拨压锁杆闭合；未形成对向夹持。左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.7,
+      "log_step": null,
+      "text_zh": "观察：视频6.4 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频6.6 s顶栏strokes仍为0/28，视频6.7 s首次显示1/28，证明第1次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第1次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.2,
+      "log_step": null,
+      "text_zh": "观察：视频7.0 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频7.1 s顶栏strokes仍为1/28，视频7.2 s首次显示2/28，证明第2次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第2次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.8,
+      "log_step": null,
+      "text_zh": "观察：视频7.6 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频7.7 s顶栏strokes仍为2/28，视频7.8 s首次显示3/28，证明第3次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第3次泵压由右手展开的掌面向下按压T形把手，再��把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频8.2 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频8.3 s顶栏strokes仍为3/28，视频8.4 s首次显示4/28，证明第4次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第4次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频8.7 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频8.9 s顶栏strokes仍为4/28，视频9.0 s首次显示5/28，证明第5次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第5次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频9.3 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频9.5 s顶栏strokes仍为5/28，视频9.6 s首次显示6/28，证明第6次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第6次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.2,
+      "log_step": null,
+      "text_zh": "观察：视频9.9 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频10.1 s顶栏strokes仍为6/28，视频10.2 s首次显示7/28，证明第7次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第7次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.7,
+      "log_step": null,
+      "text_zh": "观察：视频10.5 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频10.6 s顶栏strokes仍为7/28，视频10.7 s首次显示8/28，证明第8次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第8次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.3,
+      "log_step": null,
+      "text_zh": "观察：视频11.1 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频11.2 s顶栏strokes仍为8/28，视频11.3 s首次显示9/28，证明第9次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第9次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": null,
+      "text_zh": "观察：视频11.7 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频11.8 s顶栏strokes仍为9/28，视频11.9 s首次显示10/28，证明第10次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第10次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：视频12.2 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频12.4 s顶栏strokes仍为10/28，视频12.5 s首次显示11/28，证明第11次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第11次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.1,
+      "log_step": null,
+      "text_zh": "观察：视频12.8 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频13.0 s顶栏strokes仍为11/28，视频13.1 s首次显示12/28，证明第12次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第12次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.7,
+      "log_step": null,
+      "text_zh": "观察：视频13.4 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频13.6 s顶栏strokes仍为12/28，视频13.7 s首次显示13/28，证明第13次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第13次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.2,
+      "log_step": null,
+      "text_zh": "观察：视频14.0 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频14.1 s顶栏strokes仍为13/28，视频14.2 s首次显示14/28，证明第14次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第14次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.8,
+      "log_step": null,
+      "text_zh": "观察：视频14.6 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频14.7 s顶栏strokes仍为14/28，视频14.8 s首次显示15/28，证明第15次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第15次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.4,
+      "log_step": null,
+      "text_zh": "观察：视频15.2 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频15.3 s顶栏strokes仍为15/28，视频15.4 s首次显示16/28，证明第16次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第16次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频15.7 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频15.9 s顶栏strokes仍为16/28，视频16.0 s首次显示17/28，证明第17次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第17次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.6,
+      "log_step": null,
+      "text_zh": "观察：视频16.3 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频16.5 s顶栏strokes仍为17/28，视频16.6 s首次显示18/28，证明第18次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第18次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.2,
+      "log_step": null,
+      "text_zh": "观察：视频16.9 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频17.1 s顶栏strokes仍为18/28，视频17.2 s首次显示19/28，证明第19次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第19次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.7,
+      "log_step": null,
+      "text_zh": "观察：视频17.5 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频17.6 s顶栏strokes仍为19/28，视频17.7 s首次显示20/28，证明第20次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第20次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.3,
+      "log_step": null,
+      "text_zh": "观察：视频18.1 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频18.2 s顶栏strokes仍为20/28，视频18.3 s首次显示21/28，证明第21次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第21次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.9,
+      "log_step": null,
+      "text_zh": "观察：视频18.7 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频18.8 s顶栏strokes仍为21/28，视频18.9 s首次显示22/28，证明第22次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第22次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.5,
+      "log_step": null,
+      "text_zh": "观察：视频19.2 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频19.4 s顶栏strokes仍为22/28，视频19.5 s首次显示23/28，证明第23次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第23次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.1,
+      "log_step": null,
+      "text_zh": "观察：视频19.8 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频20.0 s顶栏strokes仍为23/28，视频20.1 s首次显示24/28，证明第24次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第24次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.7,
+      "log_step": null,
+      "text_zh": "观察：视频20.4 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频20.6 s顶栏strokes仍为24/28，视频20.7 s首次显示25/28，证明第25次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第25次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.2,
+      "log_step": null,
+      "text_zh": "观察：视频21.0 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频21.1 s顶栏strokes仍为25/28，视频21.2 s首次显示26/28，证明第26次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第26次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.8,
+      "log_step": null,
+      "text_zh": "观察：视频21.6 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频21.7 s顶栏strokes仍为26/28，视频21.8 s首次显示27/28，证明第27次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第27次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.4,
+      "log_step": null,
+      "text_zh": "观察：视频22.2 s，机器人右手保持手指展开，以掌面下压黑色T形把手，顶栏handle depth达到约180–192 mm；随后把手随右手回升，视频22.3 s顶栏strokes仍为27/28，视频22.4 s首次显示28/28，证明第28次有效下压及回程完成。视频顶栏为回放器显示的评分器原生泵压计数，计次后不回退。 视频22.4 s顶栏表压为210.64 kPa，超过目标210.6 kPa；视频23.0 s另完成第29次，属于额外泵压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第28次泵压由右手展开的掌面向下按压T形把手，再随把手回升；没有手指合拢包住把手的抓握，左手未参与。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.0,
+      "log_step": null,
+      "text_zh": "观察：视频26.0–26.8 s，机器人右手伸出食指在轮圈近侧泵头上拨动锁杆，使锁杆重新翘起；视频27.6–28.2 s，食指抵推泵头靠轮圈一侧，黑色泵头向离开轮圈方向退移，随后右手向上离开；其余手指未与食指构成夹持。"
+     },
+     {
+      "t": 28.2,
+      "log_step": 43,
+      "text_zh": "推断：泵头脱离阈值约在视频28.1 s达成（约±0.3 s），由视频27.6–28.2 s的退移动作和log step 43最终交付的读数共同确定。该步记录开锁后control step 3310时head=-0.0175 m、lever=0，control step 3380时head=0.0002 m、lever=0，故已退离座位；视频28.2 s顶栏仿真67.68 s与control step 3380×0.02=仿真67.60 s相符。视频是压缩回放，运动段顶栏仿真时间约为视频时间的2.4倍，此换算由视频23.0 s的第29次计数及视频28.7 s的终止时钟仿真68.78 s核对，未使用agent工作时间。"
+     },
+     {
+      "t": 28.7,
+      "log_step": 45,
+      "text_zh": "观察：视频28.3–28.7 s，右手上移、泵体保持直立且活塞杆回顶；顶栏released hold由7/50增至50/50，并于视频28.7 s显示SUCCESS，视频29.7 s末帧仍显示29/28、211.02 kPa及50/50。log step 45中官方重放评分器两次均返回success=True、stage=5、strokes=29、tire_gauge_pa=211020.0，最终状态哈希一致；与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右手食指先拨开泵头锁杆，再从靠轮圈一侧抵推泵头套环，使泵头沿气门轴向外退开；随后抬手离开，未抓持泵头。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better",
+   "value": 211020.0
+  },
+  {
+   "name": "piston_down_depth_m",
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_return_depth_m",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "piston_release_depth_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人右手先推入泵头并压合锁杆，再以展开掌面完成泵压；视频22.4 s达28次、表压210.64 kPa，随后额外完成第29次，开锁退开泵头，全部30个事件节点达成。视频28.7 s显示SUCCESS及离手保持50/50，末帧仍保持成功；log step 45的两次官方重放均成功且哈希一致，原生气压指标211020 Pa取自其评分器字段。无状态日志，泵头座深及锁角有遮挡，接通与脱开时刻约有0.3 s误差；其余未报告的原生指标保留null，未将会话调试中的倾倒、滑指等问题计入本次交付。",
+ "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，30个事件节点均达成；抽查视频HUD：6.7 s strokes 1/28，22.4 s 28/28、210.64 kPa，28.1 s 29/28且手已退开，与标注一致；无失败层问题，validator通过。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:22:48Z",
+  "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/dexhand-bicycle-pump-stroke-i00-privileged--krmnbsh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-privileged--krmnbsh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e34a09aabddd598dc437ade3d67029211e841d20f86425f05a44d4aaa9d69bdc",
+   "video_sha256": "4dc12203b311a105b2cd9ab5492b4d7373945bb00362c801df641f9e607d84f7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--mmibxrh.json

@@ -0,0 +1,901 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-privileged--mmibxrh",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
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+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 4895,
+   "sim_steps": 4895,
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+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 5.581,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.833,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-bicycle-pump-stroke-i00-privileged--mmibxrh/replay.mp4",
+  "duration_s": 29.9,
+  "fps": 10.0,
+  "frames": 299,
+  "sha256": "dbc9fd4aba8cc8629b61086c827d3eb8e1051570a7225fb8d02e1b34f03c2740"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 30,
+  "final": 30,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.2,
+      "log_step": null,
+      "text_zh": "观察：视频 1.8–2.2 s，机器人右手伸出的手指抵住轮圈近侧黑色泵头并使其向轮圈移动；视频 3.2–4.5 s，右手继续在锁杆处推拨后抬离。手掌遮住部分座深及锁角细节。"
+     },
+     {
+      "t": 4.1,
+      "log_step": 85,
+      "text_zh": "推断：log step 85 的重生成轨迹记录 connect_control=691，log step 87 核对其动作数组与交付文件完全相同，且两次新进程重放成功、终态哈希一致。每控制步为仿真 0.02 s，接通对应仿真 13.82 s；视频 4.0/4.1 s 顶栏分别为仿真 13.60/13.94 s，故到达锚点取视频约 4.1 s。此压缩映射也在视频 7.8–7.9 s 首次计数变化处核对：control 1337 对应仿真 26.74 s，落在顶栏仿真 26.52–26.86 s 之间。"
+     },
+     {
+      "t": 7.9,
+      "log_step": null,
+      "text_zh": "观察：视频 7.9 s 顶栏 strokes 首次变为 1/28，确认此前泵头已坐紧锁好并能有效计次。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右手伸出的食指先沿气门轴推入黑色泵头，再拨压拇指锁；未见拇指与其他手指对夹包住泵头。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.9,
+      "log_step": null,
+      "text_zh": "观察：视频 7.8–7.9 s 的顶栏 strokes 从 0/28 变为 1/28，轮胎表压显示 200.38 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第1次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第1次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.8,
+      "log_step": null,
+      "text_zh": "观察：视频 8.7–8.8 s 的顶栏 strokes 从 1/28 变为 2/28，轮胎表压显示 200.76 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第2次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第2次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.3,
+      "log_step": null,
+      "text_zh": "观察：视频 9.2–9.3 s 的顶栏 strokes 从 2/28 变为 3/28，轮胎表压显示 201.14 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第3次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第3次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "观察：视频 9.8–9.9 s 的顶栏 strokes 从 3/28 变为 4/28，轮胎表压显示 201.52 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第4次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第4次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.4,
+      "log_step": null,
+      "text_zh": "观察：视频 10.3–10.4 s 的顶栏 strokes 从 4/28 变为 5/28，轮胎表压显示 201.90 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第5次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第5次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.9–11.0 s 的顶栏 strokes 从 5/28 变为 6/28，轮胎表压显示 202.28 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第6次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第6次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频 11.4–11.5 s 的顶栏 strokes 从 6/28 变为 7/28，轮胎表压显示 202.66 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第7次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第7次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.1,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–12.1 s 的顶栏 strokes 从 7/28 变为 8/28，轮胎表压显示 203.04 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第8次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第8次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.7,
+      "log_step": null,
+      "text_zh": "观察：视频 12.6–12.7 s 的顶栏 strokes 从 8/28 变为 9/28，轮胎表压显示 203.42 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第9次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第9次泵压中，机器人右手张开的掌面向下压黑色 T ��把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "观察：视频 13.1–13.2 s 的顶栏 strokes 从 9/28 变为 10/28，轮胎表压显示 203.80 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第10次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第10次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.8,
+      "log_step": null,
+      "text_zh": "观察：视频 13.7–13.8 s 的顶栏 strokes 从 10/28 变为 11/28，轮胎表压显示 204.18 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第11次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第11次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.3,
+      "log_step": null,
+      "text_zh": "观察：视频 14.2–14.3 s 的顶栏 strokes 从 11/28 变为 12/28，轮胎表压显示 204.56 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第12次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第12次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.9,
+      "log_step": null,
+      "text_zh": "观察：视频 14.8–14.9 s 的顶栏 strokes 从 12/28 变为 13/28，轮胎表压显示 204.94 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第13次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第13次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.5,
+      "log_step": null,
+      "text_zh": "观察：视频 15.4–15.5 s 的顶栏 strokes 从 13/28 变为 14/28，轮胎表压显示 205.32 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第14次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第14次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 15.9–16.0 s 的顶栏 strokes 从 14/28 变为 15/28，轮胎表压显示 205.70 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第15次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第15次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使��手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.6,
+      "log_step": null,
+      "text_zh": "观察：视频 16.5–16.6 s 的顶栏 strokes 从 15/28 变为 16/28，轮胎表压显示 206.08 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第16次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第16次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.1,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0–17.1 s 的顶栏 strokes 从 16/28 变为 17/28，轮胎表压显示 206.46 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第17次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第17次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.7,
+      "log_step": null,
+      "text_zh": "观察：视频 17.6–17.7 s 的顶栏 strokes 从 17/28 变为 18/28，轮胎表压显示 206.84 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第18次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第18次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.3,
+      "log_step": null,
+      "text_zh": "观察：视频 18.2–18.3 s 的顶栏 strokes 从 18/28 变为 19/28，轮胎表压显示 207.22 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第19次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第19次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.8,
+      "log_step": null,
+      "text_zh": "观察：视频 18.7–18.8 s 的顶栏 strokes 从 19/28 变为 20/28，轮胎表压显示 207.60 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第20次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第20次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.4,
+      "log_step": null,
+      "text_zh": "观察：视频 19.3–19.4 s 的顶栏 strokes 从 20/28 变为 21/28，轮胎表压显示 207.98 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第21次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第21次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指���握把手。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.9,
+      "log_step": null,
+      "text_zh": "观察：视频 19.8–19.9 s 的顶栏 strokes 从 21/28 变为 22/28，轮胎表压显示 208.36 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第22次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第22次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20.4–20.5 s 的顶栏 strokes 从 22/28 变为 23/28，轮胎表压显示 208.74 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第23次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第23次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20.9–21.0 s 的顶栏 strokes 从 23/28 变为 24/28，轮胎表压显示 209.12 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第24次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第24次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.6,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5–21.6 s 的顶栏 strokes 从 24/28 变为 25/28，轮胎表压显示 209.50 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第25次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第25次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.2,
+      "log_step": null,
+      "text_zh": "观察：视频 22.1–22.2 s 的顶栏 strokes 从 25/28 变为 26/28，轮胎表压显示 209.88 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第26次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第26次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.7,
+      "log_step": null,
+      "text_zh": "观察：视频 22.6–22.7 s 的顶栏 strokes 从 26/28 变为 27/28，轮胎表压显示 210.26 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第27次有效计数，取首次显示新计数的视频帧作为到达时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第27次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.3,
+      "log_step": null,
+      "text_zh": "观察：视频 23.2–23.3 s 的顶栏 strokes 从 27/28 变为 28/28，轮胎表压显示 210.64 kPa；机器人右手保持张开，以掌面下压 T 形把手后抬手，让把手沿银色活塞杆回升。这是第28次有效计数，取首次显示新计数的视频帧作为到达时间。 视频 23.3 s 已达 210.64 kPa，超过任务目标 210.6 kPa。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "第28次泵压中，机器人右手张开的掌面向下压黑色 T 形把手，随后抬高手掌并减压，使把手在弹簧作用下回升；没有合指夹握把手。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.7,
+      "log_step": null,
+      "text_zh": "观察：视频 24.2–26.7 s，机器人右手从把手处返回轮圈近侧，伸出的手指在泵头及锁杆处拨动；视频 27.5–28.6 s，右手沿泵头方向侧移后抬离。轮胎计数保持 28/28，泵头细部部分被手遮挡。"
+     },
+     {
+      "t": 28.4,
+      "log_step": 85,
+      "text_zh": "推断：log step 85 与交付文件动作数组一致的重生成轨迹记录 disconnect_control=4827；按每控制步仿真 0.02 s 得仿真 96.54 s。视频 28.3/28.4 s 的顶栏时钟为仿真 96.22/96.56 s，沿已在首次泵压核对的压缩映射，脱开锚点取视频约 28.4 s；该记录还给出最终 head_disconnected=True、锁角约 0.145 rad、泵头滑动坐标约 -0.00327 m。"
+     },
+     {
+      "t": 28.8,
+      "log_step": null,
+      "text_zh": "观察：视频 28.6/28.7/28.8 s 顶栏 released hold 依次为 17/50、34/50、50/50，视频 28.8 s 显示 SUCCESS，且机器人右手已抬离泵头、把手回顶、泵体直立；视频 28.9–29.8 s 的尾帧保持成功画面。"
+     },
+     {
+      "t": 29.8,
+      "log_step": 85,
+      "text_zh": "观察：run.json 的评分器字段 success=1、stages_completed=5、deterministic=1；log step 85 的两份新进程重放结果均为 success=true、stage=5、strokes=28、tire_gauge_pa=210640.0，终态哈希相同。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人右手食指先拨开拇指锁，再抵住黑色泵头套环使其沿气门轴退离轮圈，最后抬离；未见对向夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better",
+   "value": 210640.0
+  },
+  {
+   "name": "piston_down_depth_m",
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_return_depth_m",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "piston_release_depth_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人完成接通泵头、28次有效泵压和脱开泵头，30/30个事件节点最终均达成；视频 23.3 s 顶栏计数为28/28、表压210.64 kPa，视频 28.8 s 显示松手静置50/50及SUCCESS。右手以食指推拨泵头和锁杆、以张开掌面反复下压把手，交付文件两次新进程重放成功且终态哈希一致（log step 85、87）。没有独立状态日志，泵头座深及锁角受手遮挡，连接和脱开时间结合已核对的顶栏仿真时钟与交付轨迹控制步推断；原生指标仅将重放评分结果明确报告的表压填值，其余未单列报告的指标留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，30/30节点均达成；顶栏计数、表压与SUCCESS画面与标注一致，接通/脱开时间的控制步映射已在可见事件处核对，contact_actual（食指推拨、张开掌面下压）与画面相符。",
+    "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": "2026-10-30T19:15:08Z",
+  "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/dexhand-bicycle-pump-stroke-i00-privileged--mmibxrh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-privileged--mmibxrh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7855f066d03926391ce070b26fc368669cb9fa2576a8459f0efcea7f394bab88",
+   "video_sha256": "dbc9fd4aba8cc8629b61086c827d3eb8e1051570a7225fb8d02e1b34f03c2740",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--ovu6hqq.json

@@ -0,0 +1,961 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-privileged--ovu6hqq",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 4955,
+   "sim_steps": 4955,
+   "stages_completed": 3,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.666,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.84,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-bicycle-pump-stroke-i00-privileged--ovu6hqq/replay.mp4",
+  "duration_s": 30.2,
+  "fps": 10.0,
+  "frames": 302,
+  "sha256": "575d86f25ccf4c3b1c9e52b065ece113774c8e8eb050d7fb8834ebbaf5f2ff49"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 29,
+  "final": 29,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.6–4.5 s 右手结束气门处操作并抬离，随后可见黑色泵头留在气门座处，锁杆平伏；视频 6.9 s 顶栏首次显示 strokes 1/28，确认此前已坐紧且锁好。"
+     },
+     {
+      "t": 3.7,
+      "log_step": 46,
+      "text_zh": "推断：连接时刻约为视频 3.7 s。log step 46 的重放状态给出公共前缀的 connect_control=618；log step 80、85、97 把该前缀延续为28次泵压段，后由 log step 140、148、152 延续并保存交付。618个控制步×0.02 s=仿真 12.36 s，落在视频 3.6 s 顶栏仿真 12.24 s 与视频 3.7 s 顶栏仿真 12.58 s 之间；视频 6.9 s 的首次有效计次与此前连接相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右手伸出的手指在气门处推动泵头并拨合拇指锁；视频 0.4–3.7 s 接触区部分被腕部遮挡，未见拇指与其他手指对夹包住泵头。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.9,
+      "log_step": null,
+      "text_zh": "观察：视频 6.9 s 顶栏原生有效泵压计数首次显示 strokes 1/28，气压为 200.38 kPa；此前相邻视频帧的计数为0/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第1次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 顶栏原生有效泵压计数首次显示 strokes 2/28，气压为 200.76 kPa；此前相邻视频帧的计数为1/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第2次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "观察：视频 8.1 s 顶栏原生有效泵压计数首次显示 strokes 3/28，气压为 201.14 kPa；此前相邻视频帧的计数为2/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第3次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.7,
+      "log_step": null,
+      "text_zh": "观察：视�� 8.7 s 顶栏原生有效泵压计数首次显示 strokes 4/28，气压为 201.52 kPa；此前相邻视频帧的计数为3/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第4次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.3,
+      "log_step": null,
+      "text_zh": "观察：视频 9.3 s 顶栏原生有效泵压计数首次显示 strokes 5/28，气压为 201.90 kPa；此前相邻视频帧的计数为4/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第5次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.8,
+      "log_step": null,
+      "text_zh": "观察：视频 9.8 s 顶栏原生有效泵压计数首次显示 strokes 6/28，气压为 202.28 kPa；此前相邻视频帧的计数为5/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第6次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.4,
+      "log_step": null,
+      "text_zh": "观察：视频 10.4 s 顶栏原生有效泵压计数首次显示 strokes 7/28，气压为 202.66 kPa；此前相邻视频帧的计数为6/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第7次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0 s 顶栏原生有效泵压计数首次显示 strokes 8/28，气压为 203.04 kPa；此前相邻视频帧的计数为7/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第8次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：视频 11.6 s 顶栏原生有效泵压计数首次显示 strokes 9/28，气压为 203.42 kPa；此前相邻视频帧的计数为8/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第9次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.2,
+      "log_step": null,
+      "text_zh": "观察：视频 12.2 s 顶栏原生有效泵压计数首次显示 strokes 10/28，气压为 203.80 kPa；此前相邻视频帧的计数为9/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第10次下压，再抬手让把手回升；没有以拇指和其他手指对��握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 12.8 s 顶栏原生有效泵压计数首次显示 strokes 11/28，气压为 204.18 kPa；此前相邻视频帧的计数为10/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第11次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.4 s 顶栏原生有效泵压计数首次显示 strokes 12/28，气压为 204.56 kPa；此前相邻视频帧的计数为11/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第12次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0 s 顶栏原生有效泵压计数首次显示 strokes 13/28，气压为 204.94 kPa；此前相邻视频帧的计数为12/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第13次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.6,
+      "log_step": null,
+      "text_zh": "观察：视频 14.6 s 顶栏原生有效泵压计数首次显示 strokes 14/28，气压为 205.32 kPa；此前相邻视频帧的计数为13/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第14次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.1,
+      "log_step": null,
+      "text_zh": "观察：视频 15.1 s 顶栏原生有效泵压计数首次显示 strokes 15/28，气压为 205.70 kPa；此前相邻视频帧的计数为14/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第15次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频 15.7 s 顶栏原生有效泵压计数首次显示 strokes 16/28，气压为 206.08 kPa；此前相邻视频帧的计数为15/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第16次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.3,
+      "log_step": null,
+      "text_zh": "观察：视频 16.3 s 顶栏原生有效泵压计数首次显示 strokes 17/28，气压为 206.46 kPa；此前相邻视频帧的计数为16/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第17次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.9,
+      "log_step": null,
+      "text_zh": "观察：视频 16.9 s 顶栏原生有效泵压计数首次显示 strokes 18/28，气压为 206.84 kPa；此前相邻视频帧的计数为17/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第18次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.5 s 顶栏原生有效泵压计数首次显示 strokes 19/28，气压为 207.22 kPa；此前相邻视频帧的计数为18/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第19次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.1,
+      "log_step": null,
+      "text_zh": "观察：视频 18.1 s 顶栏原生有效泵压计数首次显示 strokes 20/28，气压为 207.60 kPa；此前相邻视频帧的计数为19/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第20次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.7,
+      "log_step": null,
+      "text_zh": "观察：视频 18.7 s 顶栏原生有效泵压计数首次显示 strokes 21/28，气压为 207.98 kPa；此前相邻视频帧的计数为20/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第21次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.3,
+      "log_step": null,
+      "text_zh": "观察：视频 19.3 s 顶栏原生有效泵压计数首次显示 strokes 22/28，气压为 208.36 kPa；此前相邻视频帧的计数为21/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第22次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.8,
+      "log_step": null,
+      "text_zh": "观察：视频 19.8 s 顶栏原生有效泵压计数首次显示 strokes 23/28，气压为 208.74 kPa；此前相邻视频帧的计数为22/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第23次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.4,
+      "log_step": null,
+      "text_zh": "观察：视频 20.4 s 顶栏原生有效泵压计数首次显示 strokes 24/28，气压为 209.12 kPa；此前相邻视频帧的计数为23/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第24次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.0,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0 s 顶栏原生有效泵压计数首次显示 strokes 25/28，气压为 209.50 kPa；此前相邻视频帧的计数为24/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第25次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.6,
+      "log_step": null,
+      "text_zh": "观察：视频 21.6 s 顶栏原生有效泵压计数首次显示 strokes 26/28，气压为 209.88 kPa；此前相邻视频帧的计数为25/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第26次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.2,
+      "log_step": null,
+      "text_zh": "观察：视频 22.2 s 顶栏原生有效泵压计数首次显示 strokes 27/28，气压为 210.26 kPa；此前相邻视频帧的计数为26/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第27次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.8,
+      "log_step": null,
+      "text_zh": "观察：视频 22.8 s 顶栏原生有效泵压计数首次显示 strokes 28/28，气压为 210.64 kPa；此前相邻视频帧的计数为27/28，把手完成下压后回升。右手以展开的掌指面下压T形把手，回程时抬手减压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手展开的掌面及手指从上方压T形把手完成第28次下压，再抬手让把手回升；没有以拇指和其他手指对夹握住把手。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.4,
+      "log_step": null,
+      "text_zh": "观察：视频 25.4–27.8 s 右手在气门处操作，指端接触黑色泵头，泵头始终留在气门座处，未出现沿阀杆向轮毂方向退开的位移；视频 28.9–30.1 s 手抬离后，泵头仍套在近侧气门上。"
+     },
+     {
+      "t": 30.1,
+      "log_step": 158,
+      "text_zh": "观察：视频 30.1 s 顶栏仍为 running、strokes 28/28、210.64 kPa、released hold 0/50；评分器 reward.stages_completed=3、success=0。agent 在 log step 158 自述交付的4955行动行尚未脱开泵头，与视频终态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右手伸出的食指在泵头处拨动锁杆并推压黑色泵头；视频 26.6–27.8 s 可见指端抵在泵头侧面，未形成拇指与其余手指的对夹抓握，泵头未退离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_down_depth_m",
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_return_depth_m",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "piston_release_depth_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "head_disconnected",
+   "t": 27.0,
+   "log_step": 152,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 22.8 s 已计满28次，随后右手移向气门；视频 26.6–27.8 s 指端在泵头处推进，但泵头未退离气门，直至视频 30.1 s 仍未修复；评分器仅完成前三阶段。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 27.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 26.6–27.8 s 右手指端抵在泵头处并推进，黑色泵头仍在气门座处，未见退座运动；视频 30.1 s 右手抬起后泵头仍连接，顶栏 released hold 为0/50。log step 140 的脚本将指端目标由 hp+axis*0.030 移到 hp+axis*0.004，log step 152 的最终修改保留这两个目标并延长移动。推断：结合 inputs/run.json 的 task_text 所述沿阀杆轴退离轮圈的要求及可见动作，指端选择的接近侧与推动方向不符合拆头所需方向，属于位姿方向错误；这些证据不足以判定接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：log step 140 的拆头脚本把指端目标由 hp+axis*0.030 移到 hp+axis*0.004；log step 145 修改绕行路线，log step 152 延长接近及推动动作后仍保留这个方向。结合任务所述退头方向和视频 26.6–27.8 s 从轮毂侧向泵头/轮圈推进、泵头保持在座位的结果，该拆头方案朝座位推压，方向与让泵头沿阀杆退开的目标相反。问题在所选运动方案，单纯延长同向推动不能完成拆开。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志；右腕遮挡了部分泵头和锁杆，无法量测全过程的毫米级座深、锁角及接触力。连接时刻结合交付公共前缀的控制计数与已检查的视频顶栏仿真时钟推定；逐次泵压时刻直接读视频帧，未把agent工作时间换算成视频时间。拆头方向根因结合脚本与可见动作推断；日志未返回最终脚本的完整特征读数，不把log step 145自述的开锁角当作本次评分局已开锁的证明，画面也无法证实拆头前是否真正开锁。DAG原生指标未出现在reward字段，native_metrics值留null，视频顶栏另有气压读数。",
+  "unmet": {
+   "head_connected": true,
+   "pump_stroke_1": true,
+   "pump_stroke_2": true,
+   "pump_stroke_3": true,
+   "pump_stroke_4": true,
+   "pump_stroke_5": true,
+   "pump_stroke_6": true,
+   "pump_stroke_7": true,
+   "pump_stroke_8": true,
+   "pump_stroke_9": true,
+   "pump_stroke_10": true,
+   "pump_stroke_11": true,
+   "pump_stroke_12": true,
+   "pump_stroke_13": true,
+   "pump_stroke_14": true,
+   "pump_stroke_15": true,
+   "pump_stroke_16": true,
+   "pump_stroke_17": true,
+   "pump_stroke_18": true,
+   "pump_stroke_19": true,
+   "pump_stroke_20": true,
+   "pump_stroke_21": true,
+   "pump_stroke_22": true,
+   "pump_stroke_23": true,
+   "pump_stroke_24": true,
+   "pump_stroke_25": true,
+   "pump_stroke_26": true,
+   "pump_stroke_27": true,
+   "pump_stroke_28": true,
+   "head_disconnected": false
+  }
+ },
+ "summary_zh": "评分轨迹完成泵头连接和28次有效泵压，视频 22.8 s 顶栏为28/28、210.64 kPa，最终节点为29/30。断在泵头脱离气门：视频 26.6–27.8 s 右手在泵头处推进而未退座，脚本的推动方向与拆开目标相反，至视频 30.1 s 泵头仍连接且released hold为0/50。无状态日志，锁角与座深部分被腕部遮挡，连接时刻及拆头方向解释包含上述推断。",
+ "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（连接、28次泵压的视频时间、head_disconnected 未达、29/30、断点 head_disconnected）与视频顶栏和评分器 stages_completed=3 相符，无异议。问题在现象：只有\"指端推向座位\"的位姿/方向证据，没有力的可见或传感证据，不应标接触力异常。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "连接、28次泵压的视频时间、head_disconnected 未达、29/30 与断点均与视频顶栏（22.8 s 起 28/28、30.1 s released hold 0/50、泵头仍套在气门上）及 stages_completed=3 相符；第1轮提出的现象已改为位姿不准，推断与观察已分开标注，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": "2026-10-30T19:37:42Z",
+  "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/dexhand-bicycle-pump-stroke-i00-privileged--ovu6hqq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-privileged--ovu6hqq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-privileged--ovu6hqq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-privileged--ovu6hqq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c5d8c658f9ac62d4aaaee03a0a05fbcdece7f5bea2e72f193ceba3f16d673bed",
+   "video_sha256": "575d86f25ccf4c3b1c9e52b065ece113774c8e8eb050d7fb8834ebbaf5f2ff49",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--u434y2h.json

@@ -0,0 +1,588 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-privileged--u434y2h",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 2884,
+   "sim_steps": 2083,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.784,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.99,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-bicycle-pump-stroke-i00-privileged--u434y2h/replay.mp4",
+  "duration_s": 22.0,
+  "fps": 10.0,
+  "frames": 220,
+  "sha256": "f9c791bb803fa3a8eda9cec3589632dda476f0255bb3a61518749b216dc677aa"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–7.0 s 右手食指拨动轮圈近侧泵头的锁杆，视频 10.0–14.0 s、16.0–20.5 s 又以伸出的食指推压、拖动黑色泵头；没有握住泵头，也没有转入按压 T 形把手。"
+     },
+     {
+      "t": 20.9,
+      "log_step": 155,
+      "text_zh": "推断：泵头虽被推向座位，但座深与合锁未同时达标。视频 20.7–20.9 s 右臂重新抬转后泵体倾斜并显示 FAIL: pump_tipped；与最终交付对应的 log step 155 记录 after drags head=-0.01813、lever=1.011、conn=False，重合锁时倾角0.2673 rad，最终 connected=False。log step 155 保存2884行动行，log step 157 确认交付同为2884行，与评分器 n_actions=2884、stages_completed=0 相符，因此不计入早期测试的已连接状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 4.0–7.0 s 右手伸出食指拨锁，视频 10.0–14.0 s、16.0–20.5 s 指端抵着泵头推压并拖动；手指没有与拇指形成对向夹持。推断：视频 20.7–20.9 s 重新抬转右臂时又碰动泵杆，使泵体倾斜。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第1次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第2次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第3次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第4次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第5次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第6次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第7次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第8次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第9次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第10次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第11次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第12次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第13次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第14次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第15次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第16次���效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第17次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第18次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第19次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第20次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第21次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第22次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第23次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第24次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第25次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第26次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、���程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第27次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.8 s 右手一直在泵头区域作业，未在 T 形把手上做完整下压、回程；视频 20.9–21.9 s 终止画面始终显示 strokes 0/28、tire 200.00 kPa、FAIL: pump_tipped。第28次有效泵压未达到，且未开始该步操作。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 20.9–21.9 s 已因 pump_tipped 终止，顶栏仍为 strokes 0/28、tire 200.00 kPa、released hold 0/50；视频此前只有连接尝试，没有充气后开锁并退开泵头的动作。推断：本节点要求的28次泵压前置从未满足，故初态断开不能计作此步完成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_down_depth_m",
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_return_depth_m",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "piston_release_depth_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "head_connected",
+   "t": 20.8,
+   "log_step": 155,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 16.0–20.5 s 右手仍在推进泵头，视频 20.7–20.9 s 右臂抬转经过银色泵杆处，泵体随即向一侧倾斜，顶栏倾角从接近0°增至15.3°并显示 FAIL: pump_tipped。log step 155 的最终保存运行同样记录在 reclose 阶段倾角0.2673 rad、connected=False；连接步骤没有完成，之后也未修复。"
+  },
+  "unmet": {
+   "head_connected": false,
+   "pump_stroke_1": false,
+   "pump_stroke_2": false,
+   "pump_stroke_3": false,
+   "pump_stroke_4": false,
+   "pump_stroke_5": false,
+   "pump_stroke_6": false,
+   "pump_stroke_7": false,
+   "pump_stroke_8": false,
+   "pump_stroke_9": false,
+   "pump_stroke_10": false,
+   "pump_stroke_11": false,
+   "pump_stroke_12": false,
+   "pump_stroke_13": false,
+   "pump_stroke_14": false,
+   "pump_stroke_15": false,
+   "pump_stroke_16": false,
+   "pump_stroke_17": false,
+   "pump_stroke_18": false,
+   "pump_stroke_19": false,
+   "pump_stroke_20": false,
+   "pump_stroke_21": false,
+   "pump_stroke_22": false,
+   "pump_stroke_23": false,
+   "pump_stroke_24": false,
+   "pump_stroke_25": false,
+   "pump_stroke_26": false,
+   "pump_stroke_27": false,
+   "pump_stroke_28": false,
+   "head_disconnected": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 20.8,
+    "log_step": 155,
+    "evidence_zh": "观察：视频 20.6–20.9 s 右臂从泵头上方抬起并转动，前臂横过泵杆所在位置，泵体紧随该运动倾向一侧；终止画面报告倾角15.3°和 FAIL: pump_tipped，把手仍完全伸出、strokes仍为0/28。推断：连接尝试中的右臂运动碰动打气筒，而非完成泵压后放手不稳；机器人支架没有失衡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 20.8,
+    "log_step": 155,
+    "source_zh": "视频",
+    "evidence_zh": "推断：右臂在准备重新合锁时未能避开旁边的自由站立泵体。视频 20.6–20.9 s 的抬转、泵体倾斜与 log step 155 的 reclose tilt=0.2673、connected=False 相互对应；log step 124 给出的 reclose 代码是食指推进泵头后重新调整手臂位姿再拨锁。失败在这段运动执行中发生，证据支持控制问题，但不足以区分轨迹设计、逆解与反馈跟踪。"
+   }
+  ],
+  "gap_zh": "没有状态日志或最终评分回放的逐子步接触对，碰撞的具体机器人连杆与泵部件只能由总览画面的交叠和泵体倾斜推断，控制子类不细分。泵头座深和锁角无法从总览精确测量，连接未完成结合最终交付对应的 log step 155 与评分器 stages_completed=0 判断。DAG所列7项原生指标均未由 run.json 的评分器字段报告，native_metrics.value 保持null；视频顶栏读数仅用作视频证据。"
+ },
+ "summary_zh": "评分轨迹仅尝试把泵头接上气门，右手先拨锁再推压泵头，但座深与合锁未同时达标，最终为0/30节点，未开始有效泵压或充气后拆头。视频约20.8 s，重新合锁过程中的右臂运动碰动打气筒，泵体倾至15.3°并以pump_tipped失败，归为控制问题；log step 155、157确认最终交付为这次2884行失败运行，早期测试中的28次泵压不属于评分轨迹。缺少状态日志，精确碰撞对及控制子类无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、log 一致：评分轨迹（2884 行）在视频约20.8 s 重新合锁时右臂抬转，泵体倾至15.3°并报 pump_tipped，head_connected 未达成，断点、被挡/碰撞与控制（未细分）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": "2026-10-30T19:14:12Z",
+  "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/dexhand-bicycle-pump-stroke-i00-privileged--u434y2h/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-privileged--u434y2h/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ada12d770e6aaafcafc6b23f6e75601dcc3ea75d6771ebddda3caf76e3144dce",
+   "video_sha256": "f9c791bb803fa3a8eda9cec3589632dda476f0255bb3a61518749b216dc677aa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--3aqiqb5.json

@@ -0,0 +1,644 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-standard--3aqiqb5",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 231,
+   "control_steps_total": 11355,
+   "elapsed_s": 3644.647,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 1986,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 10,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1986,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.56,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.264,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-bicycle-pump-stroke-i00-standard--3aqiqb5/replay.mp4",
+  "duration_s": 40.8,
+  "fps": 5.0,
+  "frames": 204,
+  "sha256": "2941bb1afa823ff3810fe159c3e300fe05100d483164f1146e8188b4a40db366"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": 475,
+      "text_zh": "观察：视频 1.2–8.4 s 机器人右手降到轮圈近侧泵头处并作推拨动作，泵头被手和腕遮挡；视频 8.6–10.4 s 右手转向左侧 T 形把手。log step 471、474–476 确认最终执行的是复位后的 episode 11，而非前面的会话测试。"
+     },
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10.6 s 及视频 40.6 s 的泵头局部可见黑色锁杆没有朝轮毂方向伸出压平；成功参考视频 6.0 s、8.4 s 的同一部位可见朝轮毂方向的锁杆，参考视频 8.4 s 已有 strokes 4/28。参考仅用于辨认接通姿态。"
+     },
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "推断：视频 10.6–40.6 s 泵头始终未呈现参考中坐紧合锁的姿态，顶栏 strokes 始终为 0/28；末帧仍为 running。结合 DAG 中接通过后提前松开会立即终止的规则，判定本回合没有完成坐紧与合锁的联合连接条件；不是仅据最终零分判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 1.2–8.4 s 右手在泵头及锁杆处尝试推拨，但所有操作帧中目标接触区域都被右手和腕遮挡；可确认操作对象，无法确认究竟哪些手指碰到泵头或锁杆、是否形成夹持。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.8,
+      "log_step": null,
+      "text_zh": "观察：视频 10.6–13.8 s 机器人右手围住 T 形把手作上下往复；视频 11.8 s 顶栏 handle depth 为 201.0 mm，视频 13.2 s 为 52.2 mm，视频 13.8 s 又到 200.6 mm，但 strokes 仍为 0/28、表压仍为 200.00 kPa。把手运动本身没有形成有效计次。"
+     },
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 14–39.6 s 机器人右手继续反复操作把手。逐帧顶栏读数显示，视频 14.0、14.2、14.8 s 的 handle depth 分别为 145.7、52.1、200.7 mm；视频 25.0、25.2、25.8 s 分别为 143.7、51.5、200.7 mm；视频 38.2、38.8、39.2、39.6 s 分别为 48.8、200.5、48.6、171.7 mm，证明后半段仍有重复压下与回程。视频 39.8–40.6 s 已停止变化；末帧 strokes 0/28、表压 200.00 kPa、handle depth 201.9 mm。所有未计数的往复均记录为首个有效泵压的重复尝试，不能把程序中的重复次数当成有效次数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 11.8 s 近景可见右手拇指与卷曲手指从上下两侧围住黑色 T 形把手，并在视频 10.6–39.6 s 随把手反复上下操作；视频 14.2–14.8 s、25.2–25.8 s、38.2–38.8 s 的深度变化支持后半段仍在往复。此接触属于尚未完成的第1次有效泵压的重复尝试。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分���顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第2次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第3次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第4次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第5次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第6次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第7次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第8次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第9次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第10次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第11次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第12次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第13次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第14次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第15次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第16次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第17次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第18次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第19次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第20次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第21次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第22次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画��中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第23次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第24次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第25次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第26次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第27次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–40.6 s 已检查的全程画面中，评分器顶栏 strokes 保持 0/28，视频 11.8 s、13.2 s 及末帧的视频 40.6 s 均未增加；右手虽反复操作把手，却没有任何有效计次，因此累计第28次有效泵压及其前置节点均未达到。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10.6–39.6 s 机器人右手持续操作 T 形把手，视频 39.8–40.6 s 仍停在把手处，没有在充气后返回泵头开锁并退座；末帧 strokes 0/28、表压 200.00 kPa。没有达到该节点所要求的至少28次有效泵压前置条件，也未启动充气后的脱开操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_down_depth_m",
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_return_depth_m",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "piston_release_depth_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "head_connected",
+   "t": 8.4,
+   "log_step": 475,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 1.2–8.4 s 机器人右手尝试推拨泵头和锁杆后离开，视频 10.6 s 泵头露出时锁杆未呈现朝轮毂压平的接通姿态；此后右手只操作把手，没有返回修复连接。视频 40.6 s 的泵头姿态仍未改变、strokes 仍为 0/28，因此首个未修复步骤是泵头接上气门，视频 8.4 s 为结束该次连接尝试的近似锚点。"
+  },
+  "unmet": {
+   "head_connected": false,
+   "pump_stroke_1": false,
+   "pump_stroke_2": false,
+   "pump_stroke_3": false,
+   "pump_stroke_4": false,
+   "pump_stroke_5": false,
+   "pump_stroke_6": false,
+   "pump_stroke_7": false,
+   "pump_stroke_8": false,
+   "pump_stroke_9": false,
+   "pump_stroke_10": false,
+   "pump_stroke_11": false,
+   "pump_stroke_12": false,
+   "pump_stroke_13": false,
+   "pump_stroke_14": false,
+   "pump_stroke_15": false,
+   "pump_stroke_16": false,
+   "pump_stroke_17": false,
+   "pump_stroke_18": false,
+   "pump_stroke_19": false,
+   "pump_stroke_20": false,
+   "pump_stroke_21": false,
+   "pump_stroke_22": false,
+   "pump_stroke_23": false,
+   "pump_stroke_24": false,
+   "pump_stroke_25": false,
+   "pump_stroke_26": false,
+   "pump_stroke_27": false,
+   "pump_stroke_28": false,
+   "head_disconnected": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 8.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1.2–8.4 s 机器人右手在泵头处尝试推拨，离开后的视频 10.6 s 及视频 40.6 s 可见锁杆没有朝轮毂方向压平到接通姿态；与成功参考视频 6.0 s、8.4 s 的锁杆方向不同。右手未把连接机构操作到位，随后转向把手且未再返回修复连接。泵头操作时接触区被手和腕遮挡，没有可见的受压卡住过程或本回合的力读数，不能据未合锁本身判断接触力异常。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 8.4,
+    "log_step": 472,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 472 的最终控制器明确以泵头坐紧并合锁为首阶段目标，log step 473 验证的是轨迹生成与关节限位，log step 475–476 在新 episode 11 执行该控制器；视频 1.2–8.4 s 右手确实对泵头操作，但视频 10.6 s 机构仍未到接通姿态就转入把手往复。目标及阶段顺序有依据，失败落在连接的精细接触执行；缺少本回合指尖实际轨迹、接触对及锁角记录，只标控制，不细分为抓取设计、逆解或反馈控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志；连接操作期间泵头和锁杆的手部接触被完全遮挡，所以 head_connected 的 contact_actual 为未知。后续露出的锁杆姿态及原生计数足以判断连接未完成，但不能量测座深、锁角或区分漏碰、接触几何与跟踪误差；最终脚本在 inputs/run.json 的中段亦有截断，根因仅保留控制。日志最后一次状态来自 log step 476，未记录最终回合的服务终止原因；不把前面 episode 10 的失败或会话测试当成本回合事实。DAG 的7项原生指标没有出现在最终评分器 reward 字段中，native_metrics.value 按规则均留空，视频顶栏读数另记于节点证据。"
+ },
+ "summary_zh": "评分视频中机器人右手尝试连接泵头后转而反复操作把手，但泵头未呈现坐紧合锁的姿态，原生计数始终为0/28、表压保持200.00 kPa，30个节点均未完成。断点为泵头接上气门：连接机构未操作到位且未再修复，现象为位姿不准，精细接触执行支持控制类根因。连接处被右手遮挡且无状态日志，实际接触方式与更细的控制原因无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（30 个均未达成）、断点 head_connected 与 contact_actual 未知基本成立；但证据把把手描述为“反复往复”与顶栏读数不符，且现象“接触力异常”缺乏力或卡住的证据，更像位姿不准。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "30个节点均未达成、断点 head_connected、位姿不准现象与控制根因均与视频及顶栏读数一致（strokes 始终 0/28）；第1轮问题已修正，无新增错误。",
+    "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": "2026-10-30T19:38:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--3aqiqb5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--3aqiqb5/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--3aqiqb5/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--3aqiqb5/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "aec7b8b6acb9e459f539f7a645837630f09ad93ce545cd8f1a66d21bd32e79f1",
+   "video_sha256": "2941bb1afa823ff3810fe159c3e300fe05100d483164f1146e8188b4a40db366",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--kyo5hw8.json

@@ -0,0 +1,604 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-standard--kyo5hw8",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 1834,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 1778,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 7,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1778,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.468,
+   "peak_processes": 11,
+   "peak_disk_gb": 1.025,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-bicycle-pump-stroke-i00-standard--kyo5hw8/replay.mp4",
+  "duration_s": 36.6,
+  "fps": 5.0,
+  "frames": 183,
+  "sha256": "14fe9d5f4d700f8bedd2bc87d6f3857f18a42daea8bad09e616fdf86359e0b08"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–6.8 s，机器人右手伸出的手指抵在黑色泵头靠轮毂一侧并向轮圈方向推；视频 7.4–10.0 s 又两次扫过泵头上方。视频 11.2 s 撤手后，短锁杆仍未呈现参考成功视频 6.0 s 中朝轮毂伸平的形态。"
+     },
+     {
+      "t": 14.6,
+      "log_step": null,
+      "text_zh": "推断：视频 13.8–14.0 s 的顶栏把手深度达到 184.2–198.5 mm，视频 14.6 s 回到 23.2 mm，满足一次深压及回程的深度要求，原生 strokes 却仍为 0/28；结合视频 11.2 s 的泵头锁杆形态，连接的坐紧与合锁联合条件未完成。其后右手不再返回泵头，直至视频 36.4 s 计数仍为零，没有修复此步。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右手伸出的单根手指以指端及指背抵推黑色泵头，随后侧向扫过锁杆区域；未见拇指与其他手指对夹包住泵头。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.6,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–15.0 s，机器人右手掌侧压下 T 形把手再抬起，顶栏把手深度在视频 14.0 s 为 198.5 mm、视频 14.6 s 为 23.2 mm，strokes 仍为 0/28、气压仍为 200.00 kPa。视频 15.0–35.6 s 继续往复按压，视频 36.4 s 的最终静止帧计数仍为 0/28；没有完成第1次有效泵压。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手张开的掌侧抵住 T 形把手反复下压，抬手时把手随弹簧回升；未见手指合拢包握把手。由于有效计数始终为零，这些往复均记为对第1次有效泵压的重复尝试。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 2 次，故第2次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 3 次，故第3次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 4 次，故第4次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 5 次，故第5次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 6 次，故第6次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 7 次，故第7次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 8 次，故第8次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 9 次，故第9次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 10 次，故第10次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 11 次，故第11次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 12 次，故第12次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 13 次，故第13次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 14 次，故第14次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持���一末帧，气压为 200.00 kPa。累计未达到 15 次，故第15次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 16 次，故第16次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 17 次，故第17次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 18 次，故第18次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 19 次，故第19次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 20 次，故第20次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 21 次，故第21次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 22 次，故第22次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 23 次，故第23次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 24 次，故第24次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 25 次，故第25次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 26 次，故第26次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 27 次，故第27次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–35.6 s 机器人虽持续按压把手，顶栏原生 strokes 始终为 0/28；视频 35.6–36.4 s 保持同一末帧，气压为 200.00 kPa。累计未达到 28 次，故第28次有效泵压未完成；未把未计数的机械往复当作已完成次数。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36.4,
+      "log_step": null,
+      "text_zh": "观察：视频 10.2 s 后右手离开泵头，转到打气筒把手上，此后到视频 35.6 s 一直在泵压，视频 35.6–36.4 s 停在最后姿态；未再回到泵头执行开锁及退头。最终顶栏 strokes 0/28、气压 200.00 kPa，充气后的拆开前置条件也未满足。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_down_depth_m",
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_return_depth_m",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "piston_release_depth_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "head_connected",
+   "t": 9.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 5.0–6.8 s 右手抵推泵头，视频 7.4–10.0 s 扫动锁杆区域后撤走；视频 11.2 s 可见锁杆未伸平成参考成功视频中的朝轮毂形态。随后视频 13.8–14.6 s 出现满足深度要求的完整把手往复而 strokes 仍为 0/28，此后直至视频 36.4 s 都未修复接通；最早未修复的是泵头连接步骤，而非日志自述的泵压次数不足。"
+  },
+  "unmet": {
+   "head_connected": false,
+   "pump_stroke_1": false,
+   "pump_stroke_2": false,
+   "pump_stroke_3": false,
+   "pump_stroke_4": false,
+   "pump_stroke_5": false,
+   "pump_stroke_6": false,
+   "pump_stroke_7": false,
+   "pump_stroke_8": false,
+   "pump_stroke_9": false,
+   "pump_stroke_10": false,
+   "pump_stroke_11": false,
+   "pump_stroke_12": false,
+   "pump_stroke_13": false,
+   "pump_stroke_14": false,
+   "pump_stroke_15": false,
+   "pump_stroke_16": false,
+   "pump_stroke_17": false,
+   "pump_stroke_18": false,
+   "pump_stroke_19": false,
+   "pump_stroke_20": false,
+   "pump_stroke_21": false,
+   "pump_stroke_22": false,
+   "pump_stroke_23": false,
+   "pump_stroke_24": false,
+   "pump_stroke_25": false,
+   "pump_stroke_26": false,
+   "pump_stroke_27": false,
+   "pump_stroke_28": false,
+   "head_disconnected": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 9.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 5.0–6.8 s 右手指端已抵到黑色泵头，视频 8.4–10.0 s 又贴着泵头及锁杆区域扫动，但撤手后的短锁杆没有参考成功视频 6.0 s 中的伸平形态；视频 14.0 s 深压至 198.5 mm、视频 14.6 s 回升至 23.2 mm 后原生计数仍为零。推断：接触操作没有把连接机构推合到有效位置，属于未压合到位；不是从未碰到泵头。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 153 写出的控制脚本仅以右臂关节位置误差结束 go_q，依次执行预设 H_touch/H_seat 及 L_start/L_end ��目标后便进入泵压；log step 157 调整泵压参数、log step 158 启动最后一轮时保留了这一连接流程，没有依据泵头座深或合锁结果作纠正。视频 5.0–10.0 s 显示指端已到目标附近并发生接触，却未完成锁合，之后直接离开并持续无效泵压，支持归为精细接触控制不足；现有证据不足以细分为接触几何、跟踪误差或施力参数。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，视频只有总览，无法精确量测泵头滑动坐标、锁角及接触力，因而不能进一步拆分座深不足和锁杆未到阈值的贡献，也不细分控制根因。log step 162/166 的“stroke 12”等是脚本循环进度及 agent 自述，不能代替视频原生计数；视频最终为 0/28。评分器 reward 未报告 DAG 所列原生数值指标，因此 native_metrics 的 value 均留 null；视频顶栏读数仅作为节点证据。"
+ },
+ "summary_zh": "最后评分回合中，机器人右手抵推泵头并扫动锁杆，随后反复按压把手，但视频原生计数始终为 0/28、气压为 200.00 kPa，最终完成 0/30 个节点，且未执行充气后的脱开。最早未修复的断点是泵头接通：接触操作未使连接机构锁合，关节目标脚本随后直接进入无效泵压；日志所称的循环次数不代表有效泵压次数。无状态日志，泵头座深、锁角及具体控制误差只能作有限判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点全部未达成、断点为泵头接通、接触力异常+控制根因与视频（顶栏 strokes 全程 0/28、气压 200.00 kPa）一致，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": "2026-10-30T19:19:55Z",
+  "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/dexhand-bicycle-pump-stroke-i00-standard--kyo5hw8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--kyo5hw8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ce90e65ac6762190c6202eaf5155f13b589202162c73398a0537d2bed94b349a",
+   "video_sha256": "14fe9d5f4d700f8bedd2bc87d6f3857f18a42daea8bad09e616fdf86359e0b08",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--rt2uqxj.json

@@ -0,0 +1,615 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-standard--rt2uqxj",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 475,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 1136,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 10,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1136,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.36,
+   "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/dexhand-bicycle-pump-stroke-i00-standard--rt2uqxj/replay.mp4",
+  "duration_s": 24.0,
+  "fps": 5.0,
+  "frames": 120,
+  "sha256": "093e386689690f1589a3288af7153aadfcbb52b9ea5792f92f81503bf37993ba"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": 214,
+      "text_zh": "观察：视频约2.6–8.6 s，机器人右手伸出的食指在轮圈近侧黑色泵头上按压并横向扫动；视频约8.8–11.0 s右手改变姿态操作锁杆区域，随后离开。没有看见手指从两侧夹住泵头。"
+     },
+     {
+      "t": 11.2,
+      "log_step": null,
+      "text_zh": "观察：视频11.2 s、12.4 s及末帧23.8 s，右手已离开泵头，黑色锁杆仍短而翘起，没有成功参考视频约5.8 s中锁杆向轮毂方向充分放平伸出的形态；泵头接气门处仍露出黄色阀杆。参考仅用于辨认到位外观。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "推断：视频13.6 s顶栏把手深度184.1 mm，视频14.0 s回到33.4 mm，已出现一次满足深压和回程深度的往复，顶栏却仍为strokes 0/28；视频22.8 s最终判负是pump_tipped。结合接通过后提前失去座紧或闭锁会立即终止的任务规则，以及右手离开后锁杆未充分放平的外观，判断接通条件从未同时达成，不能采用agent在log step 216中自述的“Stage 1 solved”。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约2.6–11.0 s，机器人右手食指抵压黑色泵头上部后横向推扫，随后在拇指锁附近拨压；未见拇指与其余手指相向夹紧泵头。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.6,
+      "log_step": 214,
+      "text_zh": "观察：视频12.6–14.0 s机器人右手掌部抵住黑色T形把手下压再抬起，顶栏深度在视频13.6 s为184.1 mm、视频14.0 s为33.4 mm，但strokes仍为0/28，轮胎表压200.00 kPa。此后继续往复，至视频23.8 s末帧计数仍为0/28；脚本在log step 214打印的stroke序号不是评分器有效计数。"
+     },
+     {
+      "t": 22.8,
+      "log_step": 214,
+      "text_zh": "观察：视频21.6–22.8 s，右手继续压把手，泵体随压泵倾斜；视频22.8 s顶栏显示FAIL: pump_tipped、pump tilt 15.1 deg、handle depth 196.4 mm、strokes 0/28，末帧视频23.8 s保持此状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约12.6–22.8 s，机器人右手掌部及指根抵压T形把手，随下压和抬手反复往复；伸出的手指位于把手上方，画面未显示相向夹紧把手的抓握。全部往复均未计入首次有效泵压。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第2次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第3次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第4次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第5次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第6次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第7次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第8次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第9次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第10次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第11次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第12次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第13次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第14次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一���为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第15次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第16次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第17次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第18次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第19次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第20次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第21次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第22次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第23次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第24次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第25次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第26次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第27次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.6 s至23.8 s检查到的压泵及末段帧中，顶栏原生计数一直为strokes 0/28、表压200.00 kPa；末帧仍为0/28。第28次有效泵压未达到，不能把脚本往复次数当作有效次数。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.8,
+      "log_step": 214,
+      "text_zh": "观察：视频约11.2 s右手离开泵头后一直操作左侧T形把手，视频22.8 s压泵倾斜判负后冻结至视频23.8 s；没有充气完成后返回泵头开锁并退开的动作，末帧strokes 0/28、表压200.00 kPa。充气后脱开所需前置条件与动作均未达成；初始未接通不计为此事件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_down_depth_m",
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_return_depth_m",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "piston_release_depth_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "head_connected",
+   "t": 11.2,
+   "log_step": 214,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约2.6–11.0 s机器人右手按推泵头并操作锁杆，视频11.2 s离开后锁杆仍未呈成功参考中的充分放平形态；视频13.6 s深压184.1 mm、视频14.0 s返回33.4 mm却没有有效计次，直到视频23.8 s仍为0/28。首个未完成且未再修复的步骤是泵头接通；后续右手压泵导致视频22.8 s显示FAIL: pump_tipped，并未修复此步。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 11.2,
+    "log_step": 214,
+    "evidence_zh": "观察：视频约3.0–10.8 s机器人右手食指已抵压、推扫黑色泵头及锁杆区域，但视频11.2 s撤手后锁杆仍翘出，未形成参考成功视频约5.8 s所示的充分放平锁紧外观。推断：泵头的坐紧与合锁操作未到位；视频13.6–14.0 s完整深压回程仍计数为0支持接通失败，不是完全没有碰到目标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 214,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 205写入并由log step 214最后回合执行的控制脚本，以食指按压和横扫使泵头就位；log step 186所示合锁函数随后按假定已就位的锁杆轴心运行固定弧线。log step 214反馈的sweep与sweep2末端指尖目标误差分别约30.5 mm和37.3 mm，视频约3.0–11.2 s的实际接触没有形成充分座紧合锁，之后完整深压回程仍不计次。证据支持精细接触执行未到位；不能进一步确定是接触几何、轨迹跟踪还是所施接触力的问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分器reward也未报告泵头滑动坐标、锁角、接通锁存标志或各原生连续指标。泵头操作时部分被右手遮挡、总览分辨率不足以量出毫米级座深及锁角；接通未达依据撤手后的外观、完整深压回程不计数及最终pump_tipped而非提前断开判负联合推断，根因只保留控制大类。log step 216的已连接及已计次说法与评分视频不符；其余重置回合不计入本次进度。",
+  "unmet": {
+   "head_connected": false,
+   "pump_stroke_1": false,
+   "pump_stroke_2": false,
+   "pump_stroke_3": false,
+   "pump_stroke_4": false,
+   "pump_stroke_5": false,
+   "pump_stroke_6": false,
+   "pump_stroke_7": false,
+   "pump_stroke_8": false,
+   "pump_stroke_9": false,
+   "pump_stroke_10": false,
+   "pump_stroke_11": false,
+   "pump_stroke_12": false,
+   "pump_stroke_13": false,
+   "pump_stroke_14": false,
+   "pump_stroke_15": false,
+   "pump_stroke_16": false,
+   "pump_stroke_17": false,
+   "pump_stroke_18": false,
+   "pump_stroke_19": false,
+   "pump_stroke_20": false,
+   "pump_stroke_21": false,
+   "pump_stroke_22": false,
+   "pump_stroke_23": false,
+   "pump_stroke_24": false,
+   "pump_stroke_25": false,
+   "pump_stroke_26": false,
+   "pump_stroke_27": false,
+   "pump_stroke_28": false,
+   "head_disconnected": false
+  }
+ },
+ "summary_zh": "本次评分回合完成0/30个节点：机器人右手反复按推泵头并操作锁杆，但未达到同时座紧与锁闭的接通条件，随后深压和回程也始终未获得首次有效计数。首个未修复断点是泵头接上气门，支持控制执行未到位；后续压泵使泵体逐渐倾斜，视频22.8 s显示pump_tipped判负，末帧仍为0/28、200.00 kPa。无状态日志，不能精确分开座深与锁角各自不足多少，也不能采用agent最终报告中的已连接、已计次结论。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "0/30、断点head_connected、接触力异常+控制与帧一致：视频11.2 s泵头仍露黄色阀杆，13.6 s深压184.1 mm仍0/28，22.8 s FAIL: pump_tipped；与参考视频对照无需修改。",
+    "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": "2026-10-30T19:25:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--rt2uqxj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--rt2uqxj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "28f935c94018238604402fa286a47a754bc5b7624f05ae06414476a225484462",
+   "video_sha256": "093e386689690f1589a3288af7153aadfcbb52b9ea5792f92f81503bf37993ba",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--semi8z7.json

@@ -0,0 +1,913 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-standard--semi8z7",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 127,
+   "control_steps_total": 4773,
+   "elapsed_s": 1265.88,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 1,
+   "missing_log": 0,
+   "n_actions": 4773,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 0,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 4773,
+   "success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.575,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.84,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-bicycle-pump-stroke-i00-standard--semi8z7/replay.mp4",
+  "duration_s": 61.0,
+  "fps": 5.0,
+  "frames": 305,
+  "sha256": "ea8395214722909b3a63f412cebf85a16baa70f1bfa8589135012de71491d61d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 30,
+  "final": 30,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频4.4–5.2 s，机器人右手伸出的食指把黑色泵头沿气门轴推向轮圈；视频8.8–10.0 s，食指再次接触锁杆并扫压，撤指后锁杆朝轮毂方向平放。右手其余手指收拢避让，没有包夹泵头。"
+     },
+     {
+      "t": 9.6,
+      "log_step": 44,
+      "text_zh": "推断：结合视频9.2–10.0 s的合锁动作及视频16.6 s首次有效计数1/28，泵头已坐紧锁好；连接首达约视频9.6 s，遮挡及毫米级阈值带来约0.4 s误差。log step 44记录本回合合锁扫动后控制步达到780，作为动作顺序的辅助证据，未用agent时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人右手伸出的食指先沿气门轴把泵头推向轮圈，再推拨拇指锁合上；接触先后发生，未形成对向夹持。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.6,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频15.8 s顶栏把手深度为200.5 mm，视频16.6 s把手回升，原生strokes计数由0/28变为1/28，胎压显示200.38 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频17.4 s顶栏把手深度为190.0 mm，视频18.0 s把手回升，原生strokes计数由1/28变为2/28，胎压显示200.76 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.4,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频18.8 s顶栏把手深度为195.7 mm，视频19.4 s把手回升，原生strokes计数由2/28变为3/28，胎压显示201.14 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.8,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频20.2 s顶栏把手深度为195.9 mm，视频20.8 s把手回升，原生strokes计数由3/28变为4/28，胎压显示201.52 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频21.4 s顶栏把手深度为193.4 mm，视频22.0 s把手回升，原生strokes计数由4/28变为5/28，胎压显示201.90 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.4,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频22.8 s顶栏把手深度为195.9 mm，视频23.4 s把手回升，原生strokes计数由5/28变为6/28，胎压显示202.28 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.6,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频24.0 s顶栏把手深度为184.4 mm，视频24.6 s把手回升，原生strokes计数由6/28变为7/28，胎压显示202.66 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频25.4 s顶栏把手深度为195.0 mm，视频26.0 s把手回升，原生strokes计数由7/28变为8/28，胎压显示203.04 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.4,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频26.8 s顶栏把手深度为195.9 mm，视频27.4 s把手回升，原生strokes计数由8/28变为9/28，胎压显示203.42 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.6,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频28.0 s顶栏把手深度为190.0 mm，视频28.6 s把手回升，原生strokes计数由9/28变为10/28，胎压显示203.80 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [
+     [
+      30.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频29.4 s顶栏把手深度为195.7 mm，视频30.0 s把手回升，原生strokes计数由10/28变为11/28，胎压显示204.18 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 31.4,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频30.8 s顶栏把手深度为195.9 mm，视频31.4 s把手回升，原生strokes计数由11/28变为12/28，胎压显示204.56 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 32.6,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频32.0 s顶栏把手深度为193.4 mm，视频32.6 s把手回升，原生strokes计数由12/28变为13/28，胎压显示204.94 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [
+     [
+      34.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频33.4 s顶栏把手深度为195.9 mm，视频34.0 s把手回升，原生strokes计数由13/28变为14/28，胎压显示205.32 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [
+     [
+      35.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.2,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频34.6 s顶栏把手深度为184.4 mm，视频35.2 s把手回升，原生strokes计数由14/28变为15/28，胎压显示205.70 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [
+     [
+      36.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.6,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频36.0 s顶栏把手深度为195.0 mm，视频36.6 s把手回升，原生strokes计数由15/28变为16/28，胎压显示206.08 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [
+     [
+      38.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 38.0,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频37.4 s顶栏把手深度为195.9 mm，视频38.0 s把手回升，原生strokes计数由16/28变为17/28，胎压显示206.46 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [
+     [
+      39.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 39.2,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频38.6 s顶栏把手深度为190.0 mm，视频39.2 s把手回升，原生strokes计数由17/28变为18/28，胎压显示206.84 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [
+     [
+      40.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 40.6,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频40.0 s顶栏把手深度为195.7 mm，视频40.6 s把手回升，原生strokes计数由18/28变为19/28，胎压显示207.22 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [
+     [
+      42.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 42.0,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频41.4 s顶栏把手深度为195.8 mm，视频42.0 s把手回升，原生strokes计数由19/28变为20/28，胎压显示207.60 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [
+     [
+      43.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 43.2,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频42.6 s顶栏把手深度为193.4 mm，视频43.2 s把手回升，原生strokes计数由20/28变为21/28，胎压显示207.98 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [
+     [
+      44.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 44.6,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频44.0 s顶栏把手深度为195.9 mm，视频44.6 s把手回升，原生strokes计数由21/28变为22/28，胎压显示208.36 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [
+     [
+      45.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 45.8,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频45.2 s顶栏把手深度为184.4 mm，视频45.8 s把手回升，原生strokes计数由22/28变为23/28，胎压显示208.74 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [
+     [
+      47.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 47.2,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频46.6 s顶栏把手深度为195.0 mm，视频47.2 s把手回升，原生strokes计数由23/28变为24/28，胎压显示209.12 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [
+     [
+      48.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 48.6,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频48.0 s顶栏把手深度为195.9 mm，视频48.6 s把手回升，原生strokes计数由24/28变为25/28，胎压显示209.50 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [
+     [
+      49.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 49.8,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频49.2 s顶栏把手深度为190.0 mm，视频49.8 s把手回升，原生strokes计数由25/28变为26/28，胎压显示209.88 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [
+     [
+      51.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 51.2,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频50.6 s顶栏把手深度为195.7 mm，视频51.2 s把手回升，原生strokes计数由26/28变为27/28，胎压显示210.26 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 52.6,
+      "log_step": null,
+      "text_zh": "观察：机器人右手以张开的掌面按压T形把手后上移卸载；视频52.0 s顶栏把手深度为195.8 mm，视频52.6 s把手回升，原生strokes计数由27/28变为28/28，胎压显示210.64 kPa。逐帧按视频时钟定位，计数首达在相邻0.2 s帧之间；该累计事件随后保持。"
+     },
+     {
+      "t": 53.8,
+      "log_step": null,
+      "text_zh": "观察：视频52.6 s顶栏为28/28、210.64 kPa，已经超过210.6 kPa目标；视频53.8 s又完成一次，变为29/28、211.02 kPa。最终视频60.8 s仍显示29/28，额外一次不撤销前28次事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手张开的掌面从上方向下按压T形把手，随后掌面上移卸载，让活塞回升；手指未包夹把手。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [
+     [
+      58.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频55.8–57.4 s，机器人右手食指在轮圈近侧将拇指锁向上拨起；视频58.2–58.8 s，食指从靠轮圈侧推黑色泵头向外退开，金色气门杆露出更多，视频59.2 s食指已上抬离开。全过程未见手指对向包夹泵头。"
+     },
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "推断：结合视频58.2–59.2 s泵头退开的前后帧与随后联合释放计数，约视频58.8 s达到充气后脱开，毫米级退座阈值的视觉定位误差约0.4 s；此时已完成29次有效泵压。"
+     },
+     {
+      "t": 59.8,
+      "log_step": 74,
+      "text_zh": "观察：视频59.2、59.4、59.6 s顶栏released hold依次为13/50、29/50、45/50，视频59.8 s达到50/50并显示SUCCESS；视频60.0–60.8 s保持该成功画面，右手离开泵头、把手回顶且泵直立。log step 74的实时服务返回control_steps=4773、done=True、reason=success；run.json的reward同时记录live_success=1、success=1、resets=0、resumes=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人右手伸出的食指先向上拨开拇指锁，再抵住泵头靠轮圈一侧向外推退，最后抬指离开；未抓握拉出。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_down_depth_m",
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_return_depth_m",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "piston_release_depth_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人约在视频9.6 s将泵头坐紧合锁，视频16.6–52.6 s依次完成28次有效泵压，并在视频53.8 s达到29/28、211.02 kPa。视频58.8 s左右开锁退开泵头，视频59.8 s顶栏释放保持达到50/50并显示SUCCESS，末帧仍成功，30个事件节点全部完成，无失败断点。没有状态日志，连接和脱开时刻的毫米级阈值只能结合前后帧与有效计数、最终验收推断（约0.4 s误差）；reward未单列DAG所列原生物理指标，因此native_metrics的value均留null。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功回合，30个事件节点全部到达，无断点；抽查视频时间与顶栏strokes计数、SUCCESS画面一致，接触标注符合实际（食指推/扫、掌面压）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:25:13Z",
+  "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/dexhand-bicycle-pump-stroke-i00-standard--semi8z7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--semi8z7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dac9bfde2e23626ef94c58e95c83cb7ee3e49131cd41faad508ff8a18c4b0467",
+   "video_sha256": "ea8395214722909b3a63f412cebf85a16baa70f1bfa8589135012de71491d61d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--tt3rntd.json

@@ -0,0 +1,925 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-standard--tt3rntd",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 49,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 1759,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 3,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1759,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.44,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.272,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-bicycle-pump-stroke-i00-standard--tt3rntd/replay.mp4",
+  "duration_s": 36.2,
+  "fps": 5.0,
+  "frames": 181,
+  "sha256": "c63b004738e8016b48b6bc90448175d1589576a20d1342b150dec21f41b30440"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 29,
+  "final": 29,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.6,
+      "log_step": 76,
+      "text_zh": "观察：视频约2.0–2.8 s右手伸出的食指抵推黑色泵头，视频约3.6–4.6 s继续拨压锁杆，视频4.6 s锁杆朝向轮毂；视频7.0 s顶栏原生 strokes 首次达到1/28。推断：随后有效计次证实泵头已坐紧锁好，连接首次完成约记在视频4.6 s，受手指遮挡和5 fps采样影响约有0.4 s误差；该事件锁存。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：右手伸出的食指先抵推泵头入座，再拨压拇指锁；其余手指弯曲，未以对向指面夹住泵头。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 77,
+      "text_zh": "观察：视频7.0 s顶栏原生 strokes 首次显示1/28，前一采样帧为0/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第1次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.8,
+      "log_step": 77,
+      "text_zh": "观察：视频7.8 s顶栏原生 strokes 首次显示2/28，前一采样帧为1/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第2次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.8,
+      "log_step": 77,
+      "text_zh": "观察：视频8.8 s顶栏原生 strokes 首次显示3/28，前一采样帧为2/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第3次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": 77,
+      "text_zh": "观察：视频9.6 s顶栏原生 strokes 首次显示4/28，前一采样帧为3/28；右��掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第4次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": 77,
+      "text_zh": "观察：视频10.6 s顶栏原生 strokes 首次显示5/28，前一采样帧为4/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第5次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 79,
+      "text_zh": "观察：视频12.0 s顶栏原生 strokes 首次显示6/28，前一采样帧为5/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第6次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": 79,
+      "text_zh": "观察：视频12.8 s顶栏原生 strokes 首次显示7/28，前一采样帧为6/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第7次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.6,
+      "log_step": 79,
+      "text_zh": "观察：视频13.6 s顶栏原生 strokes 首次显示8/28，前一采样帧为7/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第8次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.4,
+      "log_step": 79,
+      "text_zh": "观察：视频14.4 s顶栏原生 strokes 首次显示9/28，前一采样帧为8/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第9次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.2,
+      "log_step": 79,
+      "text_zh": "观察：视频15.2 s顶栏原生 strokes 首次显示10/28，前一采样帧为9/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第10次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌��向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": 79,
+      "text_zh": "观察：视频16.0 s顶栏原生 strokes 首次显示11/28，前一采样帧为10/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第11次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.8,
+      "log_step": 79,
+      "text_zh": "观察：视频16.8 s顶栏原生 strokes 首次显示12/28，前一采样帧为11/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第12次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.6,
+      "log_step": 79,
+      "text_zh": "观察：视频17.6 s顶栏原生 strokes 首次显示13/28，前一采样帧为12/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第13次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.4,
+      "log_step": 79,
+      "text_zh": "观察：视频18.4 s顶栏原生 strokes 首次显示14/28，前一采样帧为13/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第14次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.2,
+      "log_step": 79,
+      "text_zh": "观察：视频19.2 s顶栏原生 strokes 首次显示15/28，前一采样帧为14/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第15次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": 79,
+      "text_zh": "观察：视频20.0 s顶栏原生 strokes 首次显示16/28，前一采样帧为15/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第16次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.8,
+      "log_step": 79,
+      "text_zh": "观察：视频20.8 s顶栏原生 strokes 首次显示17/28，前一采样帧为16/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第17次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.6,
+      "log_step": 79,
+      "text_zh": "观察：视频21.6 s顶栏原生 strokes 首次显示18/28，前一采样帧为17/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第18次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.4,
+      "log_step": 79,
+      "text_zh": "观察：视频22.4 s顶栏原生 strokes 首次显示19/28，前一采样帧为18/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第19次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.2,
+      "log_step": 79,
+      "text_zh": "观察：视频23.2 s顶栏原生 strokes 首次显示20/28，前一采样帧为19/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第20次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 79,
+      "text_zh": "观察：视频24.0 s顶栏原生 strokes 首次显示21/28，前一采样帧为20/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第21次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.8,
+      "log_step": 79,
+      "text_zh": "观察：视频24.8 s顶栏原生 strokes 首次显示22/28，前一采样帧为21/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第22次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.6,
+      "log_step": 79,
+      "text_zh": "观察：视频25.6 s顶栏原生 strokes 首次显示23/28，前一采样帧为22/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第23次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.4,
+      "log_step": 79,
+      "text_zh": "观察：视频26.4 s顶栏原生 strokes 首次显示24/28，前一采样帧为23/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第24次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.2,
+      "log_step": 79,
+      "text_zh": "观察：视频27.2 s顶栏原生 strokes 首次显示25/28，前一采样帧为24/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第25次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.0,
+      "log_step": 79,
+      "text_zh": "观察：视频28.0 s顶栏原生 strokes 首次显示26/28，前一采样帧为25/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第26次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.8,
+      "log_step": 79,
+      "text_zh": "观察：视频28.8 s顶栏原生 strokes 首次显示27/28，前一采样帧为26/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第27次有效泵压已经完成，计数在后续视频中未减少。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.6,
+      "log_step": 79,
+      "text_zh": "观察：视频29.6 s顶栏原生 strokes 首次显示28/28，前一采样帧为27/28；右手掌面从上方压在黑色T形把手上，银色活塞杆随下压缩短、回程伸长，手指保持伸展而非合拢抓握。此时累计第28次有效泵压已经完成，计数在后续视频中未减少。 视频29.6 s顶栏 tire 为210.64 kPa，已超过210.6 kPa目标；视频31.2 s进一步达到30/28，末帧仍为30/28。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手掌面向下按压T形把手，随后抬手减压让活塞回升；手指伸展，未包住把手。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.2,
+      "log_step": 84,
+      "text_zh": "观察：视频32.4–33.2 s右手回到气门上方，视频约33.4–34.8 s伸出的食指拨动锁杆，随后抬开；视频35.0–36.0 s黑色泵头仍套在黄色阀杆上，未出现沿阀杆向外退开的动作，顶栏保持running、strokes 30/28、released hold 0/50。log step 84的脚本仅执行开锁航点并返回done=False、reason=None，log step 86出现模型过滤拦截。推断：充气后的拆开节点未完成；这不等于一次已经完成的退泵头动作失败，过滤中断前没有观察到该动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：右手伸出的食指接触并拨动泵头拇指锁后抬起；没有夹握泵头或将泵头推出阀杆。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_down_depth_m",
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_return_depth_m",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "piston_release_depth_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "head_disconnected",
+   "t": 35.0,
+   "log_step": 84,
+   "where": "操作中",
+   "evidence_zh": "观察：视频29.6 s已计满28次，视频31.2 s达到30次；视频33.4–35.0 s机器人右手在泵头处拨锁后抬起，但视频35.0–36.0 s泵头仍套在气门上。log step 84仅执行开锁测试，服务返回done=False、reason=None；log step 85查看结果后，log step 86报告模型过滤拦截。推断：中断时正在处理的未完成步骤为泵头脱离气门，以视频35.0 s作导航锚点；尚无证据表明此前发生了不可修复的物理失败。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 86明确记录Gemini过滤拦截；此前log step 84服务仍返回done=False、reason=None，视频末段保持running而非SUCCESS或任务失败终止。推断：这是结果固定前的外部过滤中断；开锁后的退泵头与最终离手静置动作尚未发生，不能把外部截断归为没尝试、接触失败或控制根因，故现象和根因均留空，目录原始success=0照录。inputs中没有状态日志，视频仅提供总览，毫米级座深及锁角不能精确量测；连接时间由可见拨锁与后续原生有效计次共同估计。评分器reward未报告DAG所列7项连续指标，其value均置null，视频顶栏读数仅作节点证据。",
+  "unmet": {
+   "head_connected": true,
+   "pump_stroke_1": true,
+   "pump_stroke_2": true,
+   "pump_stroke_3": true,
+   "pump_stroke_4": true,
+   "pump_stroke_5": true,
+   "pump_stroke_6": true,
+   "pump_stroke_7": true,
+   "pump_stroke_8": true,
+   "pump_stroke_9": true,
+   "pump_stroke_10": true,
+   "pump_stroke_11": true,
+   "pump_stroke_12": true,
+   "pump_stroke_13": true,
+   "pump_stroke_14": true,
+   "pump_stroke_15": true,
+   "pump_stroke_16": true,
+   "pump_stroke_17": true,
+   "pump_stroke_18": true,
+   "pump_stroke_19": true,
+   "pump_stroke_20": true,
+   "pump_stroke_21": true,
+   "pump_stroke_22": true,
+   "pump_stroke_23": true,
+   "pump_stroke_24": true,
+   "pump_stroke_25": true,
+   "pump_stroke_26": true,
+   "pump_stroke_27": true,
+   "pump_stroke_28": true,
+   "head_disconnected": false
+  }
+ },
+ "summary_zh": "评分回合为log step 76复位后的第4回合：视频约4.6 s接通泵头，视频29.6 s完成第28次有效泵压，视频31.2 s累计30次，最终达到29/30个节点。视频末段右手拨动拇指锁后抬起，泵头尚未退离气门，log step 86的模型过滤在服务仍运行时截断会话；现象与根因留空，不将中断归为机器人能力失败。没有状态日志，连接时刻和锁角仅能由视频及后续原生计次辅助判断，末秒已逐帧核查。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间与顶栏读数一致（1/28 在视频7.0 s，28/28 在29.6 s，30/28 在31.2 s），head_disconnected 未到达，末帧（视频36.0 s）泵头仍套在阀杆上；因 Gemini 过滤在 log step 86 截断，现象与根因留空并有 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": "2026-10-30T19:27:20Z",
+  "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/dexhand-bicycle-pump-stroke-i00-standard--tt3rntd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--tt3rntd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "19ed6e7dea364138de3af70e03297310b8700aa919e629f059735e0aff8278ec",
+   "video_sha256": "c63b004738e8016b48b6bc90448175d1589576a20d1342b150dec21f41b30440",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--wpb5ckd.json

@@ -0,0 +1,897 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-standard--wpb5ckd",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 233,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 1,
+   "n_actions": 3638,
+   "no_verdict": 0,
+   "replay_success": 1,
+   "reset_budget": 20,
+   "resets": 11,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 3638,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.643,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.273,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-bicycle-pump-stroke-i00-standard--wpb5ckd/replay.mp4",
+  "duration_s": 57.2,
+  "fps": 5.0,
+  "frames": 286,
+  "sha256": "2d4f4fbdebffc3e7afd6261e9e0835734b14525fd048305086d166020833e4d5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 30,
+  "final": 30,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.6,
+      "log_step": 89,
+      "text_zh": "推断：视频2.0–7.4 s，机器人右手伸出的食指先向轮圈推泵头，再拨压锁杆并补推座紧；视频6.4–7.2 s为最后一次压锁，视频7.4 s手离开后锁杆保持朝轮毂方向。结合视频9.2 s首个有效泵压计数，确认泵头已坐紧锁好；连接首达时间估为视频6.6 s，因毫米级座深及锁角不可量测，实际越阈可能在视频5.0–7.2 s之间。"
+     },
+     {
+      "t": 9.2,
+      "log_step": null,
+      "text_zh": "观察：视频9.2 s，机器人右手操作把手回升，顶栏原生计数由0/28变为1/28；按本任务计数规则，泵头在压下和回程计次时均须已坐紧并锁好。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人右手食指沿气门轴推动泵头及锁杆，随后拨合、压低锁杆并补推座紧；动作依次发生，未见拇指与食指相向夹持泵头。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.2,
+      "log_step": null,
+      "text_zh": "观察：视频9.2 s，顶栏strokes原生计数首次显示1/28（前一帧为0/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频10.0 s，顶栏strokes原生计数首次显示2/28（前一帧为1/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.8,
+      "log_step": null,
+      "text_zh": "观察：视频10.8 s，顶栏strokes原生计数首次显示3/28（前一帧为2/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动��塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：视频11.6 s，顶栏strokes原生计数首次显示4/28（前一帧为3/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.4,
+      "log_step": null,
+      "text_zh": "观察：视频12.4 s，顶栏strokes原生计数首次显示5/28（前一帧为4/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "观察：视频13.2 s，顶栏strokes原生计数首次显示6/28（前一帧为5/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.8,
+      "log_step": null,
+      "text_zh": "观察：视频13.8 s，顶栏strokes原生计数首次显示7/28（前一帧为6/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.6,
+      "log_step": null,
+      "text_zh": "观察：视频14.6 s，顶栏strokes原生计数首次显示8/28（前一帧为7/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.4,
+      "log_step": null,
+      "text_zh": "观察：视频15.4 s，顶栏strokes原生计数首次显示9/28（前一帧为8/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.2,
+      "log_step": null,
+      "text_zh": "观察：��频16.2 s，顶栏strokes原生计数首次显示10/28（前一帧为9/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频17.0 s，顶栏strokes原生计数首次显示11/28（前一帧为10/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.8,
+      "log_step": null,
+      "text_zh": "观察：视频17.8 s，顶栏strokes原生计数首次显示12/28（前一帧为11/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.6,
+      "log_step": null,
+      "text_zh": "观察：视频18.6 s，顶栏strokes原生计数首次显示13/28（前一帧为12/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.4,
+      "log_step": null,
+      "text_zh": "观察：视频19.4 s，顶栏strokes原生计数首次显示14/28（前一帧为13/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.2,
+      "log_step": null,
+      "text_zh": "观察：视频20.2 s，顶栏strokes原生计数首次显示15/28（前一帧为14/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.0,
+      "log_step": null,
+      "text_zh": "观察：视频21.0 s，顶栏strokes原生计数首次显示16/28（前一帧为15/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.8,
+      "log_step": null,
+      "text_zh": "观察：视频21.8 s，顶栏strokes原生计数首次显示17/28（前一帧为16/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.6,
+      "log_step": null,
+      "text_zh": "观察：视频22.6 s，顶栏strokes原生计数首次显示18/28（前一帧为17/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.4,
+      "log_step": null,
+      "text_zh": "观察：视频23.4 s，顶栏strokes原生计数首次显示19/28（前一帧为18/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频24.0 s，顶栏strokes原生计数首次显示20/28（前一帧为19/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.8,
+      "log_step": null,
+      "text_zh": "观察：视频24.8 s，顶栏strokes原生计数首次显示21/28（前一帧为20/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.6,
+      "log_step": null,
+      "text_zh": "观察：视频25.6 s，顶栏strokes原生计数首次显示22/28（前一帧为21/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.4,
+      "log_step": null,
+      "text_zh": "观察：视频26.4 s，顶栏strokes原生计数首次显示23/28（前一帧为22/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.2,
+      "log_step": null,
+      "text_zh": "观察：视频27.2 s，顶栏strokes原生计数首次显示24/28（前一帧为23/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.0,
+      "log_step": null,
+      "text_zh": "观察：视频28.0 s，顶栏strokes原生计数首次显示25/28（前一帧为24/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.8,
+      "log_step": null,
+      "text_zh": "观察：视频28.8 s，顶栏strokes原生计数首次显示26/28（前一帧为25/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.6,
+      "log_step": null,
+      "text_zh": "观察：视频29.6 s，顶栏strokes原生计数首次显示27/28（前一帧为26/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [
+     [
+      30.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.4,
+      "log_step": null,
+      "text_zh": "观察：视频30.4 s，顶栏strokes原生计数首次显示28/28（前一帧为27/28）；机器人右手在此前数帧从上方向下按T形把手，随后把手随银色活塞杆回升，完成本次有效往复。时间取5 fps视频中首次显示新计数的帧，精度约0.2 s。 此帧表压为210.64 kPa，已超过210.6 kPa目标；视频33.6 s计数继续达到32/28，表压212.16 kPa。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右手以朝下的掌面按压黑色T形把手，再上移减压，让弹簧推动活塞回顶；未见手指相向包夹把手。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [
+     [
+      55.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 55.2,
+      "log_step": 102,
+      "text_zh": "推断：视频35.8–52.0 s，机器人右手食指多次拨擦锁杆末端，锁杆逐步翘起；视频52.4–53.0 s先推退泵头一小段，视频54.6–55.2 s再次从靠轮圈一侧推泵头，视频55.6 s手抬离后可见泵头与黄色气门杆端部之间的间隙。视频55.4 s原生released hold已为13/50，表明脱开和其他验收前提均已成立；故将脱开时刻估为视频55.2 s，约有0.3 s不确定性。"
+     },
+     {
+      "t": 56.0,
+      "log_step": 102,
+      "text_zh": "观察：视频55.4、55.6、55.8 s的released hold依次为13/50、26/50、39/50；视频56.0–57.0 s显示SUCCESS、32/28、212.16 kPa与50/50。机器人右手已离开泵头，把手在顶端，泵体直立静止；log step 102中机器人服务返回episode=12、control_steps=3638、done=True、reason=success。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人右手食指先反复拨擦锁杆使其打开，再从泵头靠轮圈一侧推退泵头，两次推移后抬手离开；未见捏握泵头或双手协作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_down_depth_m",
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "piston_return_depth_m",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "piston_release_depth_m",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pump_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "handle_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分回合为第12回合：机器人右手接上并锁好泵头，视频9.2–30.4 s依次完成所需28次有效泵压，随后继续至32次、表压212.16 kPa，约视频55.2 s脱开泵头，30/30节点均达到。视频56.0 s显示SUCCESS及released hold 50/50，与log step 102的服务成功结果和评分器live_matches_replay=1一致，无失败断点。没有状态日志，泵头毫米级座深及锁角的首次越阈时刻只能由局部帧和后续原生计数推断；全部时刻均为文件视频时钟，顶栏仿真时钟另行加速，评分器reward未逐项报告DAG原生指标，故其value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": "成功回合，30/30节点与顶栏原生计数（视频9.2 s首次1/28、30.4 s 28/28、55.2 s前后32/28与212.16 kPa）一致，接触标注与无断点均合理，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": "2026-10-30T19:16:47Z",
+  "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/dexhand-bicycle-pump-stroke-i00-standard--wpb5ckd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--wpb5ckd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2d474e1bd8fed43974515d081e5144df9bd2c0c846c65fd6b22e7a31cfdcf709",
+   "video_sha256": "2d4f4fbdebffc3e7afd6261e9e0835734b14525fd048305086d166020833e4d5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--8plcwnh.json

@@ -0,0 +1,191 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-privileged--8plcwnh",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 297,
+   "sim_steps": 297,
+   "stages_completed": 4,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.848,
+   "peak_processes": 10,
+   "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/dexhand-book-page-turn-i00-privileged--8plcwnh/replay.mp4",
+  "duration_s": 8.1,
+  "fps": 10.0,
+  "frames": 81,
+  "sha256": "e510e260928efaf7f60308e522b80b05b69e19b1b1d1fe0cdab3e87722e6bb9d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，书摊开在桌上，目标页仍平放于原页堆；录像的原生检查器叠字为 Leaf 2 angle -0.3 deg、stage 0/4、hold 0/50，翻页尚未完成。"
+     },
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5–3.5 s，机器人右食指拨起一张硬纸页并引导其绕书脊旋转；视频 2.0 s 叠字角度约41度、stage 1/4，视频 3.5 s 纸页已越过竖直位置且 stage 为2/4。"
+     },
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–5.0 s，机器人右手退出，目标页继续落向另一侧页堆；视频 5.0 s 书已重新摊平、图案组合改变，原生检查器叠字为角度181.6度、stage 3/4、hold 3/50、hand-book contacts 0，仍在稳定验收中。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.9 s 叠字仍为 INCOMPLETE、hold 48/50；视频 6.0 s 首次出现 PASS，stage 4/4、hold 50/50、目标页角度181.7度、其他叶片最大变化0.0度、hand-book contacts 0。目标页平放于左侧页堆，双手离书，节点在视频采样精度约0.1秒内于此达成。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.1–8.0 s 标注为 PASS、final state，保持同一摊平终态与 hold 50/50；已逐帧检查视频 7.1–8.0 s，未见新的运动。这段冻结画面不另计保持时长。"
+     },
+     {
+      "t": null,
+      "log_step": 124,
+      "text_zh": "观察：log step 112 的生成脚本记录靠近页缘、沿圆弧拨页、撤手与等待，并保存交付轨迹；log step 117、120 调用该交付文件进行回放，log step 124 的文件检查输出为297行、58维动作。inputs/run.json 的评分器字段 success=1、stages_completed=4、deterministic=1，与视频成功叠字一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 1.5–3.5 s，机器人右手伸出的食指指尖接触第2号硬纸页外缘，沿绕书脊的弧线拨起并推过竖直位置；未见拇指与其他手指对向夹持。左手未参与翻页，视频 4.0 s 右手已离开书页，叠字 hand-book contacts 为0。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人用右食指拨起第2号硬纸页，越过书脊后撤手，纸页落在左侧页堆；视频 6.0 s 首次显示 PASS、stage 4/4、hold 50/50，完成唯一的翻页节点。观察：评分器记录 success=1、deterministic=1；视频 6.1–8.0 s 是成功终态冻结画面，不计为新增保持时间。观察：本次没有状态日志，瞬时角速度及全部物理子步条件无法独立复核，依录像原生验收叠字和评分器确��完成；评分器未报告DAG所列五项原生指标的数值，均保留为null。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点 target_page_turned 在视频 6.0 s 首次 PASS（5.9 s 为 INCOMPLETE hold 48/50），与叠字和评分器 success=1 一致；接触为右手食指推/扫，叠字显示 3.5 s 角度100.3度、stage 2/4。成功运行，failure 为空合理。",
+    "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": "2026-10-30T19:10:38Z",
+  "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/dexhand-book-page-turn-i00-privileged--8plcwnh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-privileged--8plcwnh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ea7d31a4ae164351528a1b0ed5c62f175cb4d5a90bf2d0ca703eba9c85a6c2a0",
+   "video_sha256": "e510e260928efaf7f60308e522b80b05b69e19b1b1d1fe0cdab3e87722e6bb9d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--c2uk6tq.json

@@ -0,0 +1,191 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-privileged--c2uk6tq",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 461,
+   "sim_steps": 461,
+   "stages_completed": 4,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.544,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.252,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-privileged--c2uk6tq/replay.mp4",
+  "duration_s": 11.4,
+  "fps": 10.0,
+  "frames": 114,
+  "sha256": "ce72f312a11a8b8581409c9c9bbd7f8362591f8bf0667e458c017c63e73640f5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频开头书摊平，右侧顶页尚未翻动；原生回放叠字为Leaf 2 angle -0.3 deg、stage 0/4、hold 0/50，节点初始不成立。"
+     },
+     {
+      "t": 2.9,
+      "log_step": null,
+      "text_zh": "观察：视频1.3–2.9 s，机器人右手张开，以食指指尖拨动目标页外缘，目标页逐渐离开右侧页堆；视频2.9 s叠字为Leaf 2 angle 31.4 deg、stage 1/4 (lifted)，没有对向合指夹持。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频5.5–6.0 s，机器人右食指持续带动同一硬纸页绕书脊旋转；视频6.0 s该页越过竖直，叠字为90.4 deg、stage 2/4 (past_vertical)，hand-book contacts为1。"
+     },
+     {
+      "t": 8.3,
+      "log_step": null,
+      "text_zh": "观察：视频7.7–8.3 s，机器人右手向外撤离，目标页自行落向左侧页堆，摊开图案改变；视频8.3 s叠字为181.6 deg、stage 3/4 (laid)、hand-book contacts 0、hold 4/50，此时尚未完成稳定验收。"
+     },
+     {
+      "t": 9.3,
+      "log_step": null,
+      "text_zh": "观察：视频9.2 s叠字仍为hold 49/50；视频9.3 s首次显示PASS、stage 4/4 (held)、hold 50/50，目标页平放左侧页堆，机器人双手与书分离；叠字报告目标角181.7 deg、其他页最大变化0.0 deg、hand-book contacts 0。视频9.4–11.3 s为同一通过终态的冻结画面，不追加保持时间。"
+     },
+     {
+      "t": 9.3,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json的评分器字段为success=1、stages_completed=4、deterministic=1、n_actions=461、infra_error=0，与视频9.3 s的原生通过叠字一致；参考成功视频也以目标页落到左堆、手离书且hold达到50/50验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频1.3–6.0 s，机器人右手食指指尖从目标第2号页外缘拨起并沿书脊转动方向带动页片；手指保持张开，未夹住页片，左手未参与翻页。视频7.0 s叠字hand-book contacts已为0；视频7.3–8.3 s右手撤离，页片继续落向左侧页堆。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人以右食指拨起第2号硬纸页，依次经过抬起、越过竖直和落到左侧页堆，视频9.3 s原生叠字首次显示PASS、stage 4/4及hold 50/50，唯一节点完成，评分器success=1。观察：末尾视频10.4–11.3 s仍是离手后的通过终态冻结画面；本次完成后的摊开外观与参考成功视频一致。观察：没有状态日志，无法独立复核瞬时角速度和全部物理子步条件，联合验收依据视频原生计数与评分结果；评分器reward未报告DAG列出的五项原生���标数值，native_metrics均留null。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点 target_page_turned 在视频 9.3 s 叠字首次 PASS、stage 4/4、hold 50/50，与评分器 success=1 一致；接触为右食指推/扫，与帧相符；无失败，failure 为 null 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": "2026-10-30T19:11:32Z",
+  "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/dexhand-book-page-turn-i00-privileged--c2uk6tq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-privileged--c2uk6tq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f50240e2b3852651423e832418bd552af3aea3750cd92df347dccbcf5999d56a",
+   "video_sha256": "ce72f312a11a8b8581409c9c9bbd7f8362591f8bf0667e458c017c63e73640f5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--fopfeun.json

@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-privileged--fopfeun",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 1,
+   "infra_error": 0,
+   "n_actions": 1200,
+   "sim_steps": 1200,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.247,
+   "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/dexhand-book-page-turn-i00-privileged--fopfeun/replay.mp4",
+  "duration_s": 26.1,
+  "fps": 10.0,
+  "frames": 261,
+  "sha256": "c46507e3e948790e4f365dad070089404f3b67a5ae296cc4c37e949ba16627b4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 书摊开为原来的第4、5页，目标页平放于右侧，叠字页角约-0.3°、stage 0/4、hold 0/50；翻过指定页的条件初始不成立。"
+     },
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 16.8–23.9 s，机器人左手指端从上方接触右侧页堆并逐渐屈曲，右手停在书外；目标页没有竖起或越过书脊。视频 17.0 s 叠字手书接触数为2，页角-0.3°；视频 23.9 s 页角2.1°、stage 0/4、hold 0/50。"
+     },
+     {
+      "t": 26.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.2–26.0 s 为标注 final state 的冻结终态，书仍显示原来的展开面，左手仍压在右页上；视频 26.0 s 叠字页角2.1°、stage 0/4、hold 0/50、手书接触数10。未达到翻到左堆及离手稳定的验收条件，冻结尾帧不增加保持时长。"
+     },
+     {
+      "t": null,
+      "log_step": 215,
+      "text_zh": "观察：log step 211 的交付生成器仅移动左臂、使左食指在固定臂位屈曲，右臂保持停放；log step 215 将末尾屈指动作删为三组并重新生成。评分器 reward 记录 n_actions=1200、stages_completed=0、success=0，与本次视频的动作和阶段一致；会话中其他测试不计进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约17.0–24.0 s，机器人左手食指及随后靠近页面的其他指段从上方压触右侧顶页／页堆，屈指时带来小幅擦动；未见拇指与手指夹住单页，右手全程停在书外。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "target_page_turned",
+   "t": 17.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约17.0 s，左手已压到右侧页堆，页角仍约-0.3°；随后视频17.0–24.0 s 屈指接触一直未使目标页抬起越过30°，末尾仍停留于stage 0/4。翻页步骤在这次接触操作中未获修复。"
+  },
+  "unmet": {
+   "target_page_turned": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 18.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频17.0–23.9 s，机器人左手从上方压住页堆并屈指，页片始终贴近下方页堆，仅有轻微翘动；视频23.9 s 页角仅2.1°，书体却已有8.3毫米位移和3.04°转动。推断：接触主要造成压擦及小幅带动书体，没有形成有效的单页抬升，属于页片受压而不能翻动的接触力异常；没有先夹持后滑脱的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：交付的接触几何未能把单页从页堆分离并施加有效的翻转作用。视频17.0–23.9 s 显示左手指端落在右页上表面，屈指后仍压触页堆，没有可见的托住页缘或对向夹持；log step 211 的生成器在左臂到位后固定臂位，仅增加左食指屈曲，log step 215 保留三组屈曲动作，与所见动作吻合。成功参考使用不同的Sharpa手，未验证同一Wuji手的可行替代接触。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有仿真状态日志或逐接触力记录；总览及叠字能够判定未翻页并确认接触，但不能分辨每个指段与各层页片的全部接触对或力方向，也不能核验2毫秒物理子步条件。同一Wuji手的替代接触方案未获验证；评分器reward未报告DAG所列五项原生指标的数值，native_metrics按要求填null，画面叠字仅作为视觉证据。"
+ },
+ "summary_zh": "机器人左手接近并压触右侧页堆、屈指尝试翻页，但目标页未抬到30°，翻过指定页节点从未达到，最终为0/1。断点在视频约17.0 s的翻页操作中：上方压擦的接触未能分离并抬起单页，视频末帧仍为页角2.1°、stage 0/4、hold 0/50且左手未离书；无状态日志，精确接触对及力方向仍无法核验。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（视频约17 s 翻页操作中）和叠字读数（页角-0.3°→2.1°、stage 0/4、hold 0/50）均与视频一致；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": "2026-10-30T19:17:15Z",
+  "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/dexhand-book-page-turn-i00-privileged--fopfeun/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-privileged--fopfeun/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ffdbbfbcf378638138e179f156d003aed9407daeb0f41389b24bfc5ad417bc56",
+   "video_sha256": "c46507e3e948790e4f365dad070089404f3b67a5ae296cc4c37e949ba16627b4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--hx4pekz.json

@@ -0,0 +1,186 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-privileged--hx4pekz",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 639,
+   "sim_steps": 639,
+   "stages_completed": 4,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 5.571,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.243,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-privileged--hx4pekz/replay.mp4",
+  "duration_s": 14.9,
+  "fps": 10.0,
+  "frames": 149,
+  "sha256": "d55261a273e5df14f7d5f7c271984239d817835d9612031049124b3e25f772c8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 目标硬纸页平放在右堆，展面为黄圆和蓝星；原生回放叠字（基准检查器显示的页角、阶段、机器人与书接触数及保持计数）为页角约−0.3度、stage 0/4、hold 0/50，尚未完成翻页。"
+     },
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.8–6.5 s 右手伸指接触右侧顶页外缘并抬起该页，视频 6.2–7.7 s 密集帧显示页缘抬起后暂时回落、改由伸出的手指从下方承托；视频 8.0–9.8 s 手指继续托拨目标页至近竖直，未见拇指与其他指相向夹持，左手停在书外。"
+     },
+     {
+      "t": 10.4,
+      "log_step": null,
+      "text_zh": "观察：视频 9.8 s 目标页角85.2度、stage 1/4；视频 10.4 s 页已越过书脊竖直位置，叠字为107.3度、stage 2/4、机器人与书接触数0，右手撤开，目标页随后自行落向左堆。"
+     },
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 11.8 s 页已落平在左堆，展面变为绿环和黄圆，叠字为181.3度、stage 3/4、hold 1/50、机器人与书接触数0；视频 11.8–12.8 s 逐帧检查显示保持计数持续增长，视频 12.7 s 为46/50，视频 12.8 s 首次显示PASS、stage 4/4、hold 50/50，页角181.7度、其他页最大角变化0.0度、机器人与书接触数0。因此从视频 12.8 s 记为完成，后接冻结终态至视频 14.8 s，冻结段不补算保持时间。"
+     },
+     {
+      "t": null,
+      "log_step": 55,
+      "text_zh": "观察：log step 52 保存639步交付轨迹；log step 53 的两次独立进程回放均返回成功且终态哈希一致；log step 55 的基准回放器返回success=true、stage=4、steps=639、failure=null。inputs/run.json 的reward亦为success=1、stages_completed=4、deterministic=1，与本次视频终态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 3.8–10.3 s 由右手单独接触第2号目标硬纸页，以伸出的手指拨动页缘、带页越过竖直；依次发生的接触包括起页时压擦外缘、换指后从下方托起页面，以及最后侧向拨推。视频 10.4 s 右手已撤离书，左手未参与；未见合手夹住页面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次交付轨迹由右手压擦起页、换指托起并拨过竖直，随后撤手，让指定第2号硬纸页落至左堆；视频 12.8 s 原生叠字达到hold 50/50、stage 4/4及PASS，完成唯一节点，末态保持成功。独立回放结果与评分器success=1、deterministic=1一致。没有状态日志，瞬时角速度、逐链接接触和物理子步条件无法独立复核，联合验收依据视频原生叠字及评分器结果；五项原生指标未在reward中单独报告，故值留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点时间（视频 12.8 s 首次显示 PASS、hold 50/50、stage 4/4；12.7 s 为 46/50 INCOMPLETE）与叠字一致，成功轨迹无失败，接触（单手指推/扫）与画面相符。",
+    "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": "2026-10-30T19:10:59Z",
+  "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/dexhand-book-page-turn-i00-privileged--hx4pekz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-privileged--hx4pekz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a350af55f08c1d63a2b1b7c046cad88aebddead71e5f629f39df0616cd8b2827",
+   "video_sha256": "d55261a273e5df14f7d5f7c271984239d817835d9612031049124b3e25f772c8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--sobtvnq.json

@@ -0,0 +1,207 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-privileged--sobtvnq",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 2900,
+   "sim_steps": 2900,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.741,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.266,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-privileged--sobtvnq/replay.mp4",
+  "duration_s": 31.1,
+  "fps": 10.0,
+  "frames": 311,
+  "sha256": "f65b4a01c73f8cebf48d1411ce90f0de0538387a9f5d9bf14296448385d80a93"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 书摊开在桌上，第2号叶片平躺在右堆；画面原生叠字（回放器显示的任务角度、阶段及接触计数）为 Leaf 2 angle -0.3 deg、stage 0/4、hold 0/50。"
+     },
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.2–3.2 s 机器人右臂移动，右食指朝书页表面下降；视频 3.2–6.0 s 手指随后偏转并停在页上方，书页没有抬起，叠字 hand-book contacts 为0、stage为0/4。"
+     },
+     {
+      "t": 31.0,
+      "log_step": 84,
+      "text_zh": "观察：视频 6.0–29.0 s 的逐秒检查以及视频 30.0–31.0 s 的逐帧检查均显示书仍为初始摊开面，第2号叶片未翻到左堆；末帧为 INCOMPLETE，angle -0.3 deg、stage 0/4、hold 0/50。log step 84 核对交付数组为2900×58，与评分器 n_actions=2900 一致。"
+     },
+     {
+      "t": null,
+      "log_step": 83,
+      "text_zh": "观察：log step 83 的最后一次生成运行输出末段 drag、err=20.9mm、hb=0、RESULT 2900 none 0.0，并保存2900行轨迹；log step 85 的 agent 自述交付未通过、没有接触书页。此处仅用日志确认交付版本；节点未达成由本次视频中页始终未翻起及末帧叠字判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 2.0–4.0 s 右食指朝第2号叶片表面下降并改变指向，左手未参与；视频 5.0 s 后右食指悬在页上方，叠字手书接触数为0。按未建立接触的实际尝试记录单指按压／摩擦方式，未观察到真正压住、拖动书页或对向夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "target_page_turned",
+   "t": 5.0,
+   "log_step": 83,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.0–5.0 s 机器人右食指向页面接近后改变指向，却没有带起第2号叶片；视频 5.0 s 已悬停于书页上方，随后直到视频 29.0 s 仍停在那里，末尾视频 30.0–31.0 s 冻结画面也保持初始摊开面。画面叠字始终未进入 lifted，stage 0/4、hold 0/50；翻过指定页这一步未完成。"
+  },
+  "unmet": {
+   "target_page_turned": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 5.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 2.0–6.0 s 右食指虽靠近书页并改变指向，页始终平躺；视频 5.0 s 可见指尖与书页之间有间隙，原生叠字 hand-book contacts=0、Leaf 2 angle=-0.3 deg。视频 6.0–29.0 s 的逐秒画面及视频 30.0–31.0 s 的末帧检查没有出现接触、抬页或翻页。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 5.0,
+    "log_step": 83,
+    "source_zh": "日志 / ���频",
+    "evidence_zh": "推断：最终控制器没有把右食指送到能作用于页面的位姿，并在残余误差下停滞。log step 82 的脚本修改规定指尖位置误差小于0.015米才继续增加拖动角；log step 83 改为倾斜指向后，保存的最终运行末段仍持续输出 drag、err=20.9mm、hb=0。log step 84 确认交付该2900行数组；视频 5.0–29.0 s 的悬停与页不动和该记录吻合。尚不能据此判定该姿态本身不可达还是逆解／跟踪未收敛，故根因保留到控制大类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法独立检查逐物理子步接触、关节限位及全部瞬时阈值；但本次视频明确显示未翻页，节点终值可判为false。log step 85 中 agent 声称目标超出可达范围，缺少最终交付运行完整关节状态或可达性证明，不能据此再标够不着，也不足以细分接触几何与逆解／反馈问题。原生指标在评分器 reward 字段中均未报告，native_metrics 的值保留null；会话其他试验的推书、碰掌及人为设置页角后的自由落页均不计为本次轨迹进展。"
+ },
+ "summary_zh": "观察：本次轨迹中机器人右食指接近书页后悬停，第2号叶片始终留在右堆；视频 31.0 s 的末帧仍为stage 0/4、hold 0/50，翻过指定页节点最终0/1。推断：失败发生在翻页操作中，所需接触未建立；最终生成日志的持续位置误差及拖动冻结条件支持控制问题，但缺少最终关节状态和可达性证明，无法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": "节点未达成、断点、没建立接触与控制根因均与视频叠字一致（Leaf 2 angle -0.3 deg、stage 0/4、contacts 0，全程未变），时钟均为视频时间，未发现需要修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:13:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-privileged--sobtvnq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-privileged--sobtvnq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4e45954d4e3cb0a741a8b9f413eb71861e141664719eb1ee74441426e43f9808",
+   "video_sha256": "f65b4a01c73f8cebf48d1411ce90f0de0538387a9f5d9bf14296448385d80a93",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--tgdxrza.json

@@ -0,0 +1,196 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-privileged--tgdxrza",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 2345,
+   "sim_steps": 2345,
+   "stages_completed": 4,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 6.339,
+   "peak_processes": 10,
+   "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/dexhand-book-page-turn-i00-privileged--tgdxrza/replay.mp4",
+  "duration_s": 31.5,
+  "fps": 10.0,
+  "frames": 315,
+  "sha256": "178b51b8fd3efd3f951440942d1e2ded0acb6df364892a534b0760a64a4cceec"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频起始书摊开为原来的第4、5页，目标叶片平放右堆；叠字为stage 0/4、hold 0/50，节点尚未成立。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–12.5 s，机器人左食指向下按住左页堆，右食指从右侧顶页外缘拨起叶片，未见拇指与食指合拢夹持；视频16.0 s目标页已抬到28.1度，此后继续上翻，视频25.0 s叠字角度90.3度、stage 2/4，显示已越过竖直。"
+     },
+     {
+      "t": 28.7,
+      "log_step": null,
+      "text_zh": "观察：视频26.0 s叠字hand-book contacts为0，机器人随后撤开双手；视频28.6 s目标页接近落平但hold仍为0/50，视频28.7 s叶片已落到左堆，叠字181.6度、stage 3/4、hold 1/50，尚未满足完整保持窗口。"
+     },
+     {
+      "t": 29.4,
+      "log_step": null,
+      "text_zh": "观察：视频29.3 s叠字hold 49/50，视频29.4 s首次显示PASS、stage 4/4、hold 50/50，目标页角度181.7度、其他页最大变化0.0度、机器人与书接触数0，书脊移位0.6毫米、旋转0.01度；翻后页摊平，画面与成功参照的第6、7页展开状态一致。以视频29.4 s记节点首次完成。"
+     },
+     {
+      "t": 31.4,
+      "log_step": null,
+      "text_zh": "观察：视频30.5–31.4 s逐帧检查均为PASS的final state冻结画面，两手离书、目标页留在左堆，未见状态丢失；冻结画面不计作额外保持时长。"
+     },
+     {
+      "t": null,
+      "log_step": 55,
+      "text_zh": "观察：inputs/run.json的reward报告success=1、stages_completed=4、deterministic=1；log step 54及55报告对已保存交付文件的两次独立回放均success=true、stage=4、steps=2345且最终state_sha一致。此处仅核对交付与成功结果，节点时刻取自视频，未将agent工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频12.5–25.0 s，机器人右食指以单指拨动第2号叶片外缘并沿翻页弧线推送，左食指同时按住左页堆；右手未合手夹住纸页。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频8.5–25.0 s，机器人左食指向下按压左侧页堆，右食指在其中后段同时拨动目标页；左手的实际固定方式为指尖按压，未见抓握。视频26.0 s两手与书接触计数已归零，随后撤手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人以左食指按住左页堆、右食指拨页的双臂协作方式，将第2号叶片从右堆翻到左堆，双手离书后于视频29.4 s达到原生保持50/50并显示PASS，唯一节点最终完成（1/1���。评分器确认成功且交付文件两次独立回放一致；末尾冻结画面不另计保持时间。没有逐帧状态日志，微观接触和物理子步约束无法独立复核；DAG五项原生指标未在reward字段中报告，value保留null。",
+ "conf": 9,
+ "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，唯一节点target_page_turned视频29.4 s首次PASS(hold 50/50)与帧一致；起点0 s未成立、25.0 s已过竖直、26 s后接触数0，final、接触标注、无failure均成立。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:20:02Z",
+  "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/dexhand-book-page-turn-i00-privileged--tgdxrza/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-privileged--tgdxrza/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e44a673e726a2bda5bb3e7d99b294d8e922cb4ff9a5509c4449aec3d5c24185c",
+   "video_sha256": "178b51b8fd3efd3f951440942d1e2ded0acb6df364892a534b0760a64a4cceec",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--tlu4a3t.json

@@ -0,0 +1,208 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-privileged--tlu4a3t",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 364,
+   "sim_steps": 364,
+   "stages_completed": 2,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 5.688,
+   "peak_processes": 16,
+   "peak_disk_gb": 0.986,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-privileged--tlu4a3t/replay.mp4",
+  "duration_s": 9.4,
+  "fps": 10.0,
+  "frames": 94,
+  "sha256": "66b408703f116fe36e182a45a8667afce8aac65396294504088bb7c4e7ff193f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0秒，书仍摊开于初始页，叠字为leaf 2 angle -0.3 deg、stage 0/4、hold 0/50，指定页尚未翻过。"
+     },
+     {
+      "t": 6.9,
+      "log_step": null,
+      "text_zh": "观察：视频2.0秒指定页已被右手食指带起；视频6.4秒页已越过竖直，视频6.9秒叠字角度179.3度、stage 2/4、hold 0/50。视频7.0—7.3秒右手又贴在书页上，接触计数为2—4；未出现离手稳定50次控制的完成状态。"
+     },
+     {
+      "t": 7.3,
+      "log_step": 132,
+      "text_zh": "观察：视频7.3秒显示FAIL: book_displaced，角度179.9度、stage 2/4 (past_vertical)、hand-book contacts 3、book shift 30.0 mm、hold 0/50；视频7.4—9.3秒为相同终态冻结画面。log step 132保存并回放364步交付轨迹，服务返回book_displaced、stage 2，与视频一致；评分器stages_completed=2、success=0。"
+     },
+     {
+      "t": 7.3,
+      "log_step": 140,
+      "text_zh": "观察：agent在log step 140自述已进入laid，但本次视频7.3秒明确停在stage 2/4 (past_vertical)，故不采纳该完成阶段自述。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频0.7—5.5秒，右手伸出的食指指腹接触第2号页外缘，边压边拖起纸页；未见拇指与其他手指相向夹紧。视频7.0—7.3秒右手继续贴压翻落的页，左手没有参与固定书体。log step 130的交付生成代码以右食指斜向压边并上拖，属于单指摩擦带页。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "target_page_turned",
+   "t": 7.3,
+   "log_step": 132,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人正用右手翻指定页；视频0.7—1.1秒书体随接触平移，叠字位移由2.1增至27.8毫米。视频7.0—7.3秒右手重新接触落下的页，书体位移由29.2增至30.0毫米，视频7.3秒触发FAIL: book_displaced，hold仍为0/50；log step 132对实际交付文件的回放返回同一失败原因，翻页步骤未完成。"
+  },
+  "unmet": {
+   "target_page_turned": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 7.3,
+    "log_step": 132,
+    "evidence_zh": "观察：视频0.7—1.1秒，右食指接触页缘时，整本书相对桌面移动，叠字book shift从2.1增至27.8毫米，而页角仅由-0.6增至10.1度。视频7.0—7.3秒手再次压到页上，书体进一步移动并触发book_displaced；操作叶片的接触同时带动了本应留在原位的书体。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "t": 7.3,
+    "log_step": 130,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 130生成交付轨迹的代码持续以约(0,-0.714,0.7)方向的法向压住页缘并向上拖，页落下前后仍追踪页角，未安排脱离书体的阶段；log step 132确认保存并回放的正是这组动作。视频0.7—1.1秒及7.0—7.3秒显示这套单指斜压接触把作用力传给自由书体，左手没有提供反向固定，导致平移超限。成功参考视频4.0—6.0秒展示了单指拨页后撤开、书体位移维持20.7毫米并达到hold 50/50，证实存在合法可行接触方案；它仅用于可行性比较，不作为本次进度证据。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志，无法独立核验逐物理子步的接触对和瞬时力；接触几何导致书体平移的根因结合交付代码和视频推断，未进一步归为具体反馈增益或参数错误。评分器reward未报告DAG所列五项原生连续指标的数值，native_metrics均保留null；视频叠字与回放打印值仅用作事件证据。"
+ },
+ "summary_zh": "机器人用右食指压拖第2号页，已把它带过竖直并翻到约180度，但没有达到离手稳定50次控制，最终节点完成0/1。翻页接触同时推动书体，视频7.3秒因book_displaced终止；交付文件的回放结果与视频一致。缺少状态日志及逐子步接触力，根因依据实际交付代码和可见平移推断为抓取和接触设计不当。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（视频7.3秒 book_displaced）、带动本体现象与抓取和接触设计根因均与视频叠字和log step 132回放一致，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": "2026-10-30T19:13:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-privileged--tlu4a3t/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-privileged--tlu4a3t/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "46b131a23a3c342ee2a078aabd0fb8f5e7a84ada3a4136a900e104119c530813",
+   "video_sha256": "66b408703f116fe36e182a45a8667afce8aac65396294504088bb7c4e7ff193f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--963dbeq.json

@@ -0,0 +1,208 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-standard--963dbeq",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 116,
+   "control_steps_total": 1468,
+   "elapsed_s": 1160.332,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 1,
+   "missing_log": 0,
+   "n_actions": 329,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 9,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 329,
+   "success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.416,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.31,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-standard--963dbeq/replay.mp4",
+  "duration_s": 8.8,
+  "fps": 5.0,
+  "frames": 44,
+  "sha256": "be2738cd6ffd740ce5f7e9f6e2440a33a3fb6bc6f9b2f708f1d7f29fe319c809"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 157,
+      "text_zh": "观察：视频 0.0 s 书摊开为原来的第4、5页，叠字为第2号叶片角度−0.3度、stage 0/4、hold 0/50；log step 157 将在线环境重置到 episode 10，此后的最终回合才是本次评分对象。"
+     },
+     {
+      "t": 3.2,
+      "log_step": 160,
+      "text_zh": "观察：视频 1.6–3.2 s 机器人右手伸出的食指接触并拨起右侧顶层纸页，另一只手未参与；视频 3.2 s 叠字为31.5度、stage 1/4。log step 160 的控制脚本仅移动右臂并以 right_index_DP 为末端目标，与画面动作相符。"
+     },
+     {
+      "t": 4.4,
+      "log_step": 166,
+      "text_zh": "观察：视频 3.4–5.4 s 机器人右食指沿翻页弧线拨动纸页，视频 4.4 s 指定页越过竖直位置，叠字为95.2度、stage 2/4；没有看见拇指与食指夹住纸页。"
+     },
+     {
+      "t": 5.6,
+      "log_step": null,
+      "text_zh": "观察：视频 5.6 s 指定页已落到左侧页堆，摊开面图案已改变，叠字为181.6度、stage 3/4、hand-book contacts 0、hold 1/50；视频 5.8、6.0、6.2、6.4 s 保持计数依次为11、21、31、41，机器人右手逐渐向上撤离。"
+     },
+     {
+      "t": 6.6,
+      "log_step": 170,
+      "text_zh": "观察：视频 6.6 s 机器人右手已离书，目标页平放在左堆，叠字为PASS、stage 4/4、hold 50/50、hand-book contacts 0、目标角181.7度、其他页最大变化0.0度、书移位21.7毫米和转动1.69度；log step 170 的服务状态为 episode 10、control_steps 329、done True、reason success，reward.live_success 和 reward.success 均为1。达到时间按已检查的视频帧取约视频 6.6 s，精度约0.2秒。"
+     },
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.8–8.6 s 为重复的最终画面，直至视频 8.6 s 仍显示翻页完成、零手书接触和hold 50/50；未将这段冻结画面追加为稳定保持时长。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 1.6–5.4 s 机器人右手伸出的食指接触第2号硬纸页外缘并向上、越过书脊拨动；没有合手夹持，左手未接触书。视频 5.6 s 起叠字手书接触数为0，右手随后抬离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：最终评分回合为 episode 10，机器人用右食指将指定第2号叶片���右堆拨过书脊落到左堆，视频约6.6 s 离手稳定计数达到50/50，唯一节点完成，服务和评分器均报告成功。观察：视频 6.8–8.6 s 为冻结终态，不另计保持时长；此前重置回合中的失败不属于本次评分轨迹。观察：没有状态日志，逐物理子步的接触及速度无法独立核验，验收依靠已检查画面、原生叠字及最终服务结果；reward未报告五项原生指标的数值，故均填null。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "唯一目标节点在视频约6.6 s达到（叠字PASS、stage 4/4、hold 50/50、手书接触0），推/扫接触与画面一致，成功回合无失败层，未发现需要修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:12:07Z",
+  "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/dexhand-book-page-turn-i00-standard--963dbeq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--963dbeq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c26e05c2d3471fd6a3d298e870829b96977330c5b7867957a66674fd86d68fb8",
+   "video_sha256": "be2738cd6ffd740ce5f7e9f6e2440a33a3fb6bc6f9b2f708f1d7f29fe319c809",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--acorojn.json

@@ -0,0 +1,216 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-standard--acorojn",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 364,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 420,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 9,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 420,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.54,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.086,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-standard--acorojn/replay.mp4",
+  "duration_s": 10.6,
+  "fps": 5.0,
+  "frames": 53,
+  "sha256": "73921b2091a20ad3a88dbc2a124566e334c65f447d7053bbc60293ae4ce3baf0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，目标页平放在右侧，书仍显示初始图案；叠字为 leaf 2 angle -0.3 deg、stage 0/4、hold 0/50。"
+     },
+     {
+      "t": 2.2,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–2.4 s，机器人右食指向书的右侧外缘推进，书体发生小幅平移；视频 2.2 s 叠字为目标页角 -0.4 度、书体位移 12.9 毫米、stage 0/4。视频 2.4–3.2 s，右手上抬而目标页仍平放，没有随指尖翻起。"
+     },
+     {
+      "t": 8.4,
+      "log_step": 99,
+      "text_zh": "观察：视频 3.2–8.4 s，右手在书上方划弧并撤离，目标页留在右侧，抽取的每帧均为 stage 0/4、hold 0/50。log step 99 重置后执行的第10回合共420次控制，log step 104确认此后仍是该回合；评分字段 n_actions=420、live_matches_replay=1，与本次录像相符，先前重置掉的回合不计进度。"
+     },
+     {
+      "t": 10.4,
+      "log_step": null,
+      "text_zh": "观察：视频 8.6–10.4 s 为末态展示，逐帧检查包括视频最后一秒，目标页仍未翻过书脊，叠字为 -0.3 度、stage 0/4、hold 0/50、INCOMPLETE。成功参考视频 3.2–6.0 s 可清楚看见目标页竖起、翻到左侧以及 hold 达到50/50；本次视频不存在这些完成线索。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 2.0–2.2 s，机器人伸出的右食指在右侧页堆外缘短时推碰书，随即书体平移约12.9毫米；之后指尖上抬而书页不跟随。未见拇指与食指对夹或合手抓握，左手未参与；各采样帧的 hand-book contacts 均为0，短时接触由前后动作及书体位移推断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "target_page_turned",
+   "t": 2.4,
+   "log_step": 99,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.2 s，右食指已推进到页堆外缘并使书体平移；视频 2.4–3.2 s，右手开始上抬、跨过书上方，目标页却仍平放在右侧，stage始终0/4。此后直到视频 10.4 s 均未修复，故失败步骤为翻过指定页。log step 99和104确认评分保留的是最后第10回合。"
+  },
+  "unmet": {
+   "target_page_turned": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 2.4,
+    "log_step": 99,
+    "evidence_zh": "推断：视频 2.0–3.2 s，机器人右食指虽短时推碰书缘并带来书体平移，却未建立能分离并托起第2号页的有效接触；指尖上升后页仍平放，��标角约-0.3度，stage 0/4。视频 3.2–8.4 s，手继续划弧而页未被带走，因此不是已持稳后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 99及104显示，agent的脚本意图用右食指楔入顶页边缘，然后沿书脊周围的弧线抬页、翻页并撤离；视频 2.2–3.2 s却显示推进主要使整本书平移、指尖随后空抬，视频 3.2–8.4 s目标页继续留在原侧。脚本执行了手部运动，却没有实现所需的抬页接触，归入控制。log step 89、91、95还记录了接近页边航点的逆解残差，但这些属于其他会话试验，不能单独证明最后回合的具体失效子类。"
+   }
+  ],
+  "gap_zh": "无状态日志，只有5帧/秒的总览视频；视频 2.0–2.2 s间的短时接触未在采样叠字中留下非零接触数，无法核实具体碰到哪一层页、接触法向和力。能确认未建立有效抬页接触，但不足以区分接触几何设计与残余逆解或跟踪误差，故根因停在控制。log step 105关于“最佳尝试抬页后落回”的自述不能替代本次始终stage 0/4的画面。DAG的五项原生指标未在评分字段中报告，native_metrics值均为null；录像叠字只作为视觉证据。"
+ },
+ "summary_zh": "最后第10回合中，机器人右食指推进页堆外缘，使书体小幅平移，随后在书上方划弧撤离；目标页始终未翻到左侧，唯一节点未达成，末态为0/1。断点为视频约2.4 s的翻页操作：指尖未建立有效抬页接触，根因归为控制。缺少高频接触和状态记录，无法进一步判定是接触几何还是逆解、跟踪误差；先前重置回合及末尾冻结展示不增加进度。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "唯一节点未达成、末态0/1、断点在视频约2.4 s的翻页操作，与帧和叠字一致；接触、现象与根因（控制）有证据且表述克制，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": "2026-10-30T19:19:24Z",
+  "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/dexhand-book-page-turn-i00-standard--acorojn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--acorojn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "681c2160ef5bdd1365c8159af78e48bbc70ed8c0be4ff07b229dbbb0a3055900",
+   "video_sha256": "73921b2091a20ad3a88dbc2a124566e334c65f447d7053bbc60293ae4ce3baf0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--ireabwj.json

@@ -0,0 +1,202 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-standard--ireabwj",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 15,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 1,
+   "n_actions": 471,
+   "no_verdict": 0,
+   "replay_success": 1,
+   "reset_budget": 20,
+   "resets": 1,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 471,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.379,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.271,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-standard--ireabwj/replay.mp4",
+  "duration_s": 11.8,
+  "fps": 5.0,
+  "frames": 59,
+  "sha256": "64d15e03f35974da9af03e9570e6734dc50ee748f6d33b2c72f370195e60a68e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 书页平摊，原生叠字显示第2号叶片角度为−0.3度、stage 0/4、hold 0/50，尚未翻页。"
+     },
+     {
+      "t": 4.6,
+      "log_step": 40,
+      "text_zh": "观察：视频 2.4–4.6 s 机器人右手伸直的食指接触并拨动右侧顶页外缘，其他手指保持弯曲，没有对向夹持；视频 4.6 s 目标页抬起，叠字为30.7度、stage 1/4。log step 40 的第二回合脚本命令右食指沿圆弧运动。"
+     },
+     {
+      "t": 6.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.6 s 机器人右食指带动目标页越过竖直，叠字为90.2度、stage 2/4，手与书接触数为1。"
+     },
+     {
+      "t": 8.4,
+      "log_step": 45,
+      "text_zh": "观察：视频 7.4 s 机器人右食指已离页，叠字接触数为0；视频 8.4 s 目标页已落向左侧页堆，角度180.7度，摊开图案已改变，但stage仍为2/4、hold 0/50，尚不能记为完成。log step 45 的脚本继续翻页后抬手并回撤。"
+     },
+     {
+      "t": 9.6,
+      "log_step": 45,
+      "text_zh": "观察：视频 8.6 s 目标页落平且stage 3/4、hold 9/50；视频 9.4 s 为hold 49/50，视频 9.6 s 首次显示PASS、stage 4/4、hold 50/50，目标页角度181.7度、其他页最大变化0.0度、手与书接触数0、书体移位3.8毫米、旋转0.08度。机器人双手均离开书；完成时刻位于视频 9.4–9.6 s，取首个成功画面视频 9.6 s。log step 45 的服务执行结果为Done=True、Reason=success、control_steps=471；评分器字段live_success=1、replay_success=1、live_matches_replay=1与画面一致。"
+     },
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：视频 9.8–11.6 s 为成功终态冻结画面，目标页仍平摊在左侧，叠字保持PASS、hold 50/50、接触数0；已检查包括视频最后一秒的全部帧。冻结画面不作为额外保持时长。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 2.4–7.2 s，机器人右手伸直的食指在第2号硬纸页外缘接触、拨起并沿书脊圆弧推动其翻转，未合手捏持；左手未参与接触书。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：评分回合中机器人以右食指拨起并翻过第2号硬纸页，回撤离书后，视频 9.6 s 首次显示PASS及hold 50/50，唯一节点完成并保持至视频结束，与成功参考的落页、离手和计数满值表现一致。观察：log step 40 ��置后的第二回合在log step 45 返回success，评分器在线与回放均成功；第一回合的失败不属于本次评分视频，log step 47 的模型过滤发生在成功返回之后。观察：没有状态日志，瞬时角速度和全部物理子步条件无法独立复核，联合验收依据原生成功叠字及评分器结果；评分器未报告DAG所列五项连续指标的数值，native_metrics均保留null，视频末尾冻结画面未计为新的稳定保持。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "唯一目标节点 target_page_turned 在视频 9.6 s 首次显示 PASS / hold 50/50，与我抽检的帧一致；右食指推/扫的接触标签与画面相符，成功运行无 failure，原生指标为 null 也合理。未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:10:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--ireabwj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--ireabwj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f1ea5f91f932fb9e03aa331686fd7adbc26a3fd7247b8e82ece4b7feadd28901",
+   "video_sha256": "64d15e03f35974da9af03e9570e6734dc50ee748f6d33b2c72f370195e60a68e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--m3srp7s.json

@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-standard--m3srp7s",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 135,
+   "control_steps_total": 1856,
+   "elapsed_s": 3622.464,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 591,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 12,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 591,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.326,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.244,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-standard--m3srp7s/replay.mp4",
+  "duration_s": 14.0,
+  "fps": 5.0,
+  "frames": 70,
+  "sha256": "38e73d577e903fcfad6ebdb8c4870c67c241b0cd066997ef328f22786ceeccc6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 书摊开，目标叶片平放于右侧页堆；画面原生叠字为 leaf 2 angle -0.3 deg、stage 0/4、hold 0/50。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–3.2 s 右手指端接触书的近侧外缘，书体稍被推动，目标页仍平放；视频 3.4–8.6 s 未见目标页抬起或过书脊，阶段仍为 0/4。"
+     },
+     {
+      "t": 9.0,
+      "log_step": 65,
+      "text_zh": "观察：视频 8.8–11.8 s 右手继续向书边推进，书随之平移，目标页没有分离或竖起。log step 65 显示最后重置为 episode 13，脚本停在 ystep 接近阶段，未输出后续 swing 或 lay；此前重置回合不计入本次进度。"
+     },
+     {
+      "t": 13.8,
+      "log_step": 66,
+      "text_zh": "观察：视频 12.0–13.8 s 为追加终态冻结画面，至视频 13.8 s 书仍显示初始摊开面，原生叠字为 INCOMPLETE、leaf 2 angle -1.2 deg、stage 0/4、hold 0/50、hand-book contacts 1。log step 66 的服务状态为 done False、control_steps 591，评分器 success=0；未出现翻至左堆并离手稳定的结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 2.4–3.2 s 及视频 8.8–11.8 s，机器人右手弯曲的指端从书的近侧外缘推抵书体，后段推动整书平移；未见拇指与手指对向夹住单独页片。log step 63、65 的控制脚本以右食指为接近作用端，左手未参与。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "target_page_turned",
+   "t": 8.8,
+   "log_step": 65,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 8.8 s 起，右手向书边推进时带动书体平移，目标页却持续贴在右侧页堆；到视频 11.8 s 仍为 stage 0/4，随后终态也未修复。log step 65 的最终在线回合只记录到 ystep 30，log step 66 确认仍未成功结束；断点是翻过指定页，未将此前测试回合的 task_failure 当成本次事件。"
+  },
+  "unmet": {
+   "target_page_turned": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 9.0,
+    "log_step": 65,
+    "evidence_zh": "观察：视频 8.6 s 书脊移位叠字为 3.6 mm；右手在视频 8.8–11.8 s 推抵书边时，书体随手滑移，视频 11.8 s 达到 14.0 mm、旋转 1.77 deg，而目标页角仅 -1.2 deg、stage 0/4。相对翻页没有发生，主要运动落在整本书上；这些数值未达到书脊移位或旋转的失败阈值，不据此另判约束违规。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 63 的脚本用右食指关节目标与实测差值作为接触代理，通过机械臂移动进行定位；log step 65 的最后在线执行在接近阶段输出的 dev 始终约为 -0.08 至 -0.09，并未进入后续翻转段。结合视频 8.8–11.8 s 手指已推着整书移动而叶片未抬起，问题在于接触建立与精细执行未形成有效的单页翻转，归于控制；现有记录不足以细分接触设计或反馈控制。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，录像仅有总览，指端与各层页片的具体接触对及接触力不可独立确定；log step 63 的接近代码在输入记录中被截断，不能核实其完整接触判定逻辑，故根因仅标到控制。评分器 reward 未报告 DAG 的五项原生连续指标，native_metrics 的 value 均保留 null；证据中的角度和位移来自已检查的视频叠字。"
+ },
+ "summary_zh": "最后在线回合中，机器人右手接近并推抵书边，但目标页始终未抬起，翻过指定页节点从未完成，最终进度为 0/1。视频 8.8–11.8 s 显示右手主要带动整本书滑移，末帧仍为 stage 0/4、hold 0/50，归于控制未建立有效翻页动作。缺少接触状态与力记录，无法进一步确定控制子类；此前重置回合与末尾冻结画面均不计作本次完成证据。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "目标页全程未抬起（视频叠字 stage 0/4、leaf 2 约 -1.2°），节点未达成、final=false、断点与带动本体现象（书移位 14 mm、整书被推动）与帧一致；根因停在控制并说明无法细分，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:38:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--m3srp7s/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--m3srp7s/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "19a210a6f07568dc4f24cc7d11a03f994383293854b92c0f77c9fff83779c814",
+   "video_sha256": "38e73d577e903fcfad6ebdb8c4870c67c241b0cd066997ef328f22786ceeccc6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--uqerv3m.json

@@ -0,0 +1,207 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-standard--uqerv3m",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 512,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 1,
+   "n_actions": 1578,
+   "no_verdict": 0,
+   "replay_success": 1,
+   "reset_budget": 20,
+   "resets": 15,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1578,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.305,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.018,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-standard--uqerv3m/replay.mp4",
+  "duration_s": 33.8,
+  "fps": 5.0,
+  "frames": 169,
+  "sha256": "39a70d6fb6ac03d66f67a154826aee0ecad8734b147b73aa9a9ac81f9afffb51"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，书的目标页平放于右侧页堆，叠字为 leaf 2 angle -0.3 deg、stage 0/4、hold 0/50，翻页节点尚未成立。"
+     },
+     {
+      "t": 23.6,
+      "log_step": 165,
+      "text_zh": "观察：视频 20.4–23.6 s，机器人右食指抵住目标硬纸页外缘并向上拨起，左食指进入抬起页的下方，随后双手共同接触书页；视频 23.6 s 叠字 hand-book contacts 2，页角 24.5 度。log step 163、165 的控制脚本分别命令左食指插入页下并抬升，与画面中的左右手分工一致；双手没有对向合拢夹住书页。"
+     },
+     {
+      "t": 28.4,
+      "log_step": null,
+      "text_zh": "观察：视频 24.4 s，目标页已被机器人抬至 36.0 度，stage 1/4；视频 28.4 s，目标页越过书脊上方的竖直位置，叠字页角 97.1 度、stage 2/4。翻页过程中下方页堆仍平放。"
+     },
+     {
+      "t": 30.6,
+      "log_step": null,
+      "text_zh": "观察：视频 29.2–30.6 s，机器人左食指退出，目标页继续落向左侧页堆；视频 30.6 s，页已摊平，叠字页角 181.6 度、hand-book contacts 0、stage 3/4、hold 2/50，此时稳定计数尚未完成，不能提前记为到达。"
+     },
+     {
+      "t": 31.6,
+      "log_step": 174,
+      "text_zh": "观察：视频 31.4 s 的 hold 为 42/50；视频 31.6 s 首次显示 PASS、stage 4/4 (held)、hold 50/50，目标页角 181.7 度、其他页最大变化 0.0 度、hand-book contacts 0，两手均离书，摊开图案已从原来的第4、5页变为第6、7页。log step 174 的模拟器服务返回 episode 16、control_steps 1578、done True、reason success；run.json 的评分器字段 live_success、replay_success、live_matches_replay 均为 1。到达时刻取实际检查的视频帧，精度约 0.2 s。"
+     },
+     {
+      "t": 33.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 32.6–33.6 s，末尾冻结画面持续显示目标页平放左堆、双手离书、PASS 和 hold 50/50；节点终值为真。视频 31.8 s 起的 final state 冻结画面不计作额外稳定保持时长。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "视频 20.4–23.6 s，机器人右食指先直接抵拨第2号硬纸页的外缘，将其从右侧页堆分离抬起；随后右食指保持在页边，配合左食指承托翻页。没有合手夹持。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "托/舀",
+      "note_zh": "视频 23.2–29.0 s，机器人左食指从已抬起的第2号页下方承托，将其绕书脊抬升并带过竖直位置；右食指同时保持在书页边缘配合。随后左手撤离，页落到左堆，右手也撤离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "book_shift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "book_rotation_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：最终受评回合中，机器人右食指先拨起第2号硬纸页，左食指随后从下方承托，将该页翻过书脊并落到左侧页堆，双手撤离；视频 31.6 s 的原生叠字首次显示 PASS、stage 4/4 和 hold 50/50，节点完成 1/1。观察：log step 174 的服务结果及评分器的在线、回放成功字段与视频一致，末尾至视频 33.6 s 保持成功终态，无失败断点。证据缺口：没有状态日志，无法独立逐物理子步核验全部接触及瞬时速度；联合验收依据视频原生计数和评分器成功结果，评分器未报告 DAG 所列五项原生指标的数值，故其 value 均为 null。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功回合，翻页节点 31.6 s 到达与视频叠字（PASS、stage 4/4、hold 50/50，31.4 s 为 42/50）一致；接触标注与画面相符，无失败断点，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": "2026-10-30T19:15:39Z",
+  "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/dexhand-book-page-turn-i00-standard--uqerv3m/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--uqerv3m/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "228849beb49f75093e61f84b096ffccc3e5105a304059d984e7adf50c6c4c950",
+   "video_sha256": "39a70d6fb6ac03d66f67a154826aee0ecad8734b147b73aa9a9ac81f9afffb51",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--wnhmq2c.json

@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-standard--wnhmq2c",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 319,
+   "deterministic": 1,
+   "finalized": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "live_matches_replay": 1,
+   "live_success": 0,
+   "n_actions": 645,
+   "no_verdict": 0,
+   "replay_success": 0,
+   "reset_budget": 20,
+   "resets": 8,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 645,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.298,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.901,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-book-page-turn-i00-standard--wnhmq2c/replay.mp4",
+  "duration_s": 15.0,
+  "fps": 5.0,
+  "frames": 75,
+  "sha256": "b8cacf284ee444e46fbe378526d1c497d922bfac09ce02a81e749e59aa03d8af"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 1.8–3.4 s，机器人右手食指在页边压碰、屈曲，书页仍贴在页堆上；视频 2.6 s 原生叠字为目标页角度 -2.5°、stage 0/4、hand-book contacts 3，未出现抬页过书脊的运动。"
+     },
+     {
+      "t": 6.2,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–10.0 s，右手先抬离页边再下降，目标页没有随手升起，始终平放在右侧；stage 仍为 0/4、hold 为 0/50。"
+     },
+     {
+      "t": 14.8,
+      "log_step": null,
+      "text_zh": "观察：视频 11.6–12.0 s，右手压碰书边时整本书在桌面移动、转动，目标页仍未翻起；视频 12.8 s 及末秒视频 14.0–14.8 s，手已离书，冻结终帧仍显示目标页角度 -0.3°、stage 0/4、hold 0/50、INCOMPLETE。"
+     },
+     {
+      "t": null,
+      "log_step": 373,
+      "text_zh": "观察：log step 354 为最后一次重置，log step 355 运行卷指抬页脚本，log step 362–372 又调整指尖并抬手；log step 371 的服务状态为 episode 9、control_steps 600、done False。评分器字段 n_actions=645、live_matches_replay=1、success=0；agent 在 log step 373 自述目标页仍平放且未完成，与本次录像相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 1.8–3.4 s 及 10.2–12.0 s，右手食指指尖压碰目标页外缘／页堆表面；未见拇指与食指夹住单页，左手未参与。视频 11.6–12.0 s 压碰过程中还推移了整本书。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_angle_deg",
+   "unit": "deg",
+   "threshold": 170,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "target_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_other_leaf_change_deg",
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "book_rotation_deg",
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "target_page_turned",
+   "t": 2.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.8–3.4 s 机器人右食指开始接触页边，但目标页只微小下偏，未从右侧页堆分离；之后视频 6.2 s 抬手时纸页未跟随，至视频 14.8 s 仍为 stage 0/4。指定页翻转这一步始终未修复。"
+  },
+  "unmet": {
+   "target_page_turned": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 2.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1.8–3.4 s，右食指压在页边，原生 hand-book contacts 从 1 增至多处接触；视频 2.6 s 目标页角度为 -2.5°，页片向页堆方向微偏而未抬起。视频 5.8–6.6 s 手向上离开，纸页仍贴着下页，压碰没有产生所需的分离翻转。"
+   },
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 11.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 11.4���12.0 s，右食指继续抵着书边时，整本书连同书脊在桌面发生平移和转动；原生叠字从视频 11.4 s 的 book shift 3.5 mm、rotation 0.29°，变为视频 12.0 s 的 26.7 mm、9.79°，目标页却仍约 -0.3°、stage 0/4。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "evidence_zh": "推断：log step 345 的脚本从页面上方落指，再卷食指并抬高；log step 355 修改后执行，log step 365–366 又伸直食指并保持压页，log step 369 再压低、抬手。本次视频 1.8–3.4 s 手指从上方压碰页边，目标页只向页堆方向微偏；视频 5.8–6.6 s 手抬离后目标页仍平放，视频 11.4–12.0 s 后续压碰转而带动书体，说明所采用的接触落点和方向未形成分离、托起单页所需的几何关系，优先归于抓取和接触设计。缺少关节跟踪误差，不能进一步断言跟踪控制故障或精确的指尖插入深度。可行替代已验证有：inputs/oracle/replay.mp4 视频 2.0–5.0 s 显示同任务右手拨起单页并翻到左侧，视频 6.0 s 已为 PASS、stage 4/4、hold 50/50；该参考只用于验证存在成功接触方案，不用于本次进度。",
+    "source_zh": "日志 / 视频（本次及同任务成功参考）",
+    "alt_feasible": "已验证有"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志；本次录像只有总览，指尖与单页间的细部接触部分被手遮挡，没有逐关节跟踪误差或接触力记录。根因由脚本的接触方式和页片、书体的响应推断为抓取和接触设计，不能核实指尖是否曾短暂进入页间。I1 分类分歧：评审认为翻页所需接触未建立；本文件依据 docs/03_trajectory.md:270–272 对受压而几乎不动部件的规定，保留接触力异常，但现有证据不能彻底排除没建立有效接触的解释，因此 conf 从 7 降至 6。评分器 reward 未报告 DAG 的五项原生指标，native_metrics 均记 null；录像叠字只作为视频证据，不替代评分器数值。视频末尾约 2 s 为冻结画面，未作新增稳定时长；未据近阈值的书体运动推断发生约束违规。"
+ },
+ "summary_zh": "右手多次压碰页边、卷指和抬手，但目标页始终未从右侧页堆翻起，最终完成 0/1 节点，录像叠字保持 stage 0/4、hold 0/50。翻页操作中先出现压碰不能分离纸页，后在视频 11.6–12.0 s 带动整本书移位和转动；结合执行脚本，推断根因为抓取和接触设计。缺少状态日志、力读数及细部接触，无法彻底排除评审对首个现象“没建立接触”的解释，保留受压不动对应的“接触力异常”，置信度由 7 降为 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（未达成）、断点、时钟与「带动本体」均成立；但第一个现象「接触力异常」没有力的证据，应为没建立接触，根因归控制也未按「抓取和接触设计」优先的判别顺序处理。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "目标页 -0.3° 到终帧、stage 0/4、hold 0/50，节点未达成、断点与接触标签与视频一致；带动本体的叠字数值（3.8→24.7→26.7 mm）与帧相符，上一轮分类分歧已有证据作答，本轮无新证据，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": "2026-10-30T19:39:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--wnhmq2c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--wnhmq2c/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--wnhmq2c/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--wnhmq2c/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "06816b1b03e1423bf3e36172e459135ccd54bc7698ef288512572602a0f3a11d",
+   "video_sha256": "b8cacf284ee444e46fbe378526d1c497d922bfac09ce02a81e749e59aa03d8af",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--h8qxsas.json

@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-boot-sole-brush-i00-privileged--h8qxsas",
+ "taskKey": "dexhand/boot_sole_brush",
+ "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 286,
+   "sim_steps": 286,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.549,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.243,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-boot-sole-brush-i00-privileged--h8qxsas/replay.mp4",
+  "duration_s": 6.9,
+  "fps": 10.0,
+  "frames": 69,
+  "sha256": "6356cfd21e50934484e0d85b5e547c5fb19d9daee7b46c609c5648ed21afb5aa"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "brush_in_hand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 鞋刷刷毛朝下放在台面；视频 3.0–5.2 s 右手从侧面靠近、指端抵在木背上，刷子在台面上移位，未见右手对向夹住并带离台面。"
+     },
+     {
+      "t": 5.6,
+      "log_step": 50,
+      "text_zh": "观察：视频 5.3–5.7 s 右手抬腕转动时，刷子在手指下方倾转下坠，未随手被拿起搬离原台面位置；视频 5.8–6.8 s 顶栏固定为 FAIL: brush_dropped、control 286。log step 49 保存286行交付动作，log step 50 新进程复现同一动作并报告 released_in_air，log step 53 确认后续182步试验未覆盖交付。"
+     },
+     {
+      "t": 5.7,
+      "log_step": 54,
+      "text_zh": "推断：log step 54 中 agent 自述已夹持并抬到约1.30 m，但视频 5.2–5.8 s 中刷子仍在台面高度附近、继而倾落，未出现此抬高；按画面判定拿起未完成。评分器的空中掉落标志不能单独证明此前已建立抓握。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右手指端（可见拇指侧）抵住鞋刷木背，在接近、闭手及抬腕时推移、拨倾刷子；未见对向夹紧并持刷离开台面的抓握。"
+     }
+    ]
+   },
+   "clods_in_tray_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、视频 0.5–5.5 s 的连续概览及视频 5.8–6.8 s 终态中，六块棕色泥仍留在朝上的绿色靴底，收集盘内未见落入泥块；机器人右手一直在台面鞋刷处，刷子从未到达鞋底。画面顶栏全程 in tray 0/6、clods brushed 0/6，因此“至少1块泥入盘”未成立，此节点也未开始操作。"
+     }
+    ]
+   },
+   "clods_in_tray_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、视频 0.5–5.5 s 的连续概览及视频 5.8–6.8 s 终态中，六块棕色泥仍留在朝上的绿色靴底，收集盘内未见落入泥块；机器人右手一直在台面鞋刷处，刷子从未到达鞋底。画面顶栏全程 in tray 0/6、clods brushed 0/6，因此“至少2块泥入盘”未成立，此节点也未开始操作。"
+     }
+    ]
+   },
+   "clods_in_tray_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、视频 0.5–5.5 s 的连续概览及视频 5.8–6.8 s 终态中，六块棕色泥仍留在朝上的绿色靴底，收集盘内未见落入泥块；机器人右手一直在台面鞋刷处，刷子从未到达鞋底。画面顶栏全程 in tray 0/6、clods brushed 0/6，因此“至少3块泥入盘”未成立，此节点也未开始操作。"
+     }
+    ]
+   },
+   "clods_in_tray_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、视频 0.5–5.5 s 的连续概览及视频 5.8–6.8 s 终态中，六块棕色泥仍留在朝上的绿色靴底，收集盘内未见落入泥块；机器人右手一直在台面鞋刷处，刷子从未到达鞋底。画面顶栏全程 in tray 0/6、clods brushed 0/6，因此“至少4块泥入盘”未成立，此节点也未开始操作。"
+     }
+    ]
+   },
+   "clods_in_tray_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、视频 0.5–5.5 s 的连续概览及视频 5.8–6.8 s 终态中，六块棕色泥仍留在朝上的绿色靴底，收集盘内未见落入泥块；机器人右手一直在台面鞋刷处，刷子从未到达鞋底。画面顶栏全程 in tray 0/6、clods brushed 0/6，因此“至少5块泥入盘”未成立，此节点也未开始操作。"
+     }
+    ]
+   },
+   "clods_in_tray_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、视频 0.5–5.5 s 的连续概览及视频 5.8–6.8 s 终态中，六块棕色泥仍留在朝上的绿色靴底，收集盘内未见落入泥块；机器人右手一直在台面鞋刷处，刷子从未到达鞋底。画面顶栏全程 in tray 0/6、clods brushed 0/6，因此“至少6块泥入盘”未成立，此节点也未开始操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "clods_in_tray",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "clods_brushed",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "brush_contact_controls",
+   "unit": "control",
+   "threshold": 10,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "hold",
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_clod_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "boot_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "boot_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brush_in_hand",
+   "t": 5.6,
+   "log_step": 50,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.3–5.7 s，机器人右手在鞋刷处抬腕、转动，刷子未被夹住带离台面，而在指端下方倾转下坠；视频 5.8 s 顶栏变为 FAIL: brush_dropped，随后冻结至视频 6.8 s。log step 49 保存的286行动作在 log step 50 新进程复现，评分器返回 brush_dropped / released_in_air；失败发生在拿刷阶段，尚未进入刷泥操作。"
+  },
+  "unmet": {
+   "clods_in_tray_1": false,
+   "clods_in_tray_2": false,
+   "clods_in_tray_3": false,
+   "clods_in_tray_4": false,
+   "clods_in_tray_5": false,
+   "clods_in_tray_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 5.6,
+    "log_step": 50,
+    "evidence_zh": "观察：视频 3.0–5.2 s，机器人指端接触刷背并推动鞋刷，但未形成可将其夹起的对向抓握；视频 5.3–5.7 s 抬腕时刷子倾转下坠，未见先被夹持搬离台面的阶段。这里缺失的是拿刷所需的抓握接触，实际手指碰刷确实发生；视频 5.8 s 的 brush_dropped 终止画面与 log step 50 的 released_in_air 一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "evidence_zh": "推断：右手的端面夹取布局未对实际刷子位置形成有效对向承载。视频 3.0–5.7 s 可见指端跨在刷背上、刷子被推移后倾落；与交付一致的 log step 48、50 均记录闭手后刷子中心为(0.652,-0.255,0.919) m，食指/中指末节位置为(0.754,-0.284,0.920)/(0.773,-0.299,0.921) m，拇指末节为(0.648,-0.258,0.942) m，手指仍偏在刷子一侧，未落实脚本所设的两端相向夹取。成功参考 inputs/oracle/replay.mp4 的参考视频 8.0 s 显示同一右手夹持鞋刷离台，故存在已验证的替代抓法；参考画面仅用于说明可行替代。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志，单一总览中右手后侧局部遮挡，无法核实逐子步接触对、法向力和具体哪根手指最后脱离。log step 54 的 agent 自述将掉落归于夹持力不足，但没有力测量验证，故不据此增加力控或参数归因；拿起判定依据视频中未出现夹持带离台面的动作。run.json 的 reward 未报告 DAG 所列七项原生量，native_metrics 按要求保留 null，视频顶栏的计数另作为节点证据。"
+ },
+ "summary_zh": "评分轨迹仅在台面尝试拿起鞋刷：右手指端推移刷背，未形成夹持并将刷子带离台面，七个节点均未达到，六块泥始终留在靴底。视频约5.6 s 刷子在抬腕时倾落，视频5.8 s 显示 brush_dropped；失败断点为拿起鞋刷，证据支持抓取接触布局不适配。没有状态日志或接触力测量，无法验证 agent 自述的夹持力不足。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "未发现需要修改的错误：视频 0–6.8 s 逐帧所见，七个节点均未达成，顶栏全程 in tray 0/6；断点为拿起鞋刷（操作中），视频 5.0–5.7 s 右手指端推刷、刷子倾转而未被带离台面；控制步计数（视频 4.5 s=225，5.3 s=265，5.6 s=280）与 50 Hz 一致，标签未把 agent 时间换算成视频时间。唯一不确定处是评分器 released_in_air 暗示刷子曾短暂离台，但帧中不能证实，保留现有标签。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T19:28:29Z",
+  "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/dexhand-boot-sole-brush-i00-privileged--h8qxsas/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-boot-sole-brush-i00-privileged--h8qxsas/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d0d72752f5d0ee992376b3dbc87c62e08ffef2630998c66a0e7b465edca3c695",
+   "video_sha256": "6356cfd21e50934484e0d85b5e547c5fb19d9daee7b46c609c5648ed21afb5aa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--rv8lo8c.json

@@ -0,0 +1,322 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-boot-sole-brush-i00-privileged--rv8lo8c",
+ "taskKey": "dexhand/boot_sole_brush",
+ "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 653,
+   "sim_steps": 653,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.781,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.239,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-boot-sole-brush-i00-privileged--rv8lo8c/replay.mp4",
+  "duration_s": 14.1,
+  "fps": 10.0,
+  "frames": 141,
+  "sha256": "594263dd06e695822940995cdbfd02f4823f15070f52c28066ab06431155d840"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "brush_in_hand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧查看视频 0.0–6.5 s，右手在鞋刷上方接近、弯指及试提；视频 4.4–5.0 s 手上移时黄褐色刷背仍在台面原处，未见右手夹住鞋刷并带离台面。"
+     },
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.0、9.0、11.0 s，右手空手移到收集盘上方再撤回，鞋刷没有随手移动；视频 13.0–14.0 s 的全部末尾帧仍显示刷子留在台面。"
+     },
+     {
+      "t": 14.0,
+      "log_step": 69,
+      "text_zh": "观察：log step 69 重新生成并回放最终交付文件，记录 653 行、回放 653 控制步且 success=False；视频末尾显示 control 653、stage 0/3，与该交付相符。此前其他会话试验的掉刷或碰撞不属于本次轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 0.3–0.8 s 右手指端在木刷背端部短暂抵压，随后弯指试提；未见拇指与其余手指对向夹住刷背，鞋刷未随手拿走。"
+     }
+    ]
+   },
+   "clods_in_tray_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 六块棕色泥仍在朝上的绿色靴底，收集盘内没有泥块，尚不满足至少1块入盘。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：全片粗看并检查视频 4.4、4.6、5.0、7.0、9.0、11.0 s 及视频 13.0–14.0 s 逐帧，右手未持刷到达靴底，泥块未从靴底掉入盘中；顶部评分器叠字 in tray 始终为 0/6，故至少1块入盘从未成立。"
+     }
+    ]
+   },
+   "clods_in_tray_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 六块棕色泥仍在朝上的绿色靴底，收集盘内没有泥块，尚不满足至少2块入盘。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：全片粗看并检查视频 4.4、4.6、5.0、7.0、9.0、11.0 s 及视频 13.0–14.0 s 逐帧，右手未持刷到达靴底，泥块未从靴底掉入盘中；顶部评分器叠字 in tray 始终为 0/6，故至少2块入盘从未成立。"
+     }
+    ]
+   },
+   "clods_in_tray_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 六块棕色泥仍在朝上的绿色靴底，收集盘内没有泥块，尚不满足至少3块入盘。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：全片粗看并检查视频 4.4、4.6、5.0、7.0、9.0、11.0 s 及视频 13.0–14.0 s 逐帧，右手未持刷到达靴底，泥块未从靴底掉入盘中；顶部评分器叠字 in tray 始终为 0/6，故至少3块入盘从未成立。"
+     }
+    ]
+   },
+   "clods_in_tray_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 六块棕色泥仍在朝上的绿色靴底，收集盘内没有泥块，尚不满足至少4块入盘。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：全片粗看并检查视频 4.4、4.6、5.0、7.0、9.0、11.0 s 及视频 13.0–14.0 s 逐帧，右手未持刷到达靴底，泥块未��靴底掉入盘中；顶部评分器叠字 in tray 始终为 0/6，故至少4块入盘从未成立。"
+     }
+    ]
+   },
+   "clods_in_tray_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 六块棕色泥仍在朝上的绿色靴底，收集盘内没有泥块，尚不满足至少5块入盘。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：全片粗看并检查视频 4.4、4.6、5.0、7.0、9.0、11.0 s 及视频 13.0–14.0 s 逐帧，右手未持刷到达靴底，泥块未从靴底掉入盘中；顶部评分器叠字 in tray 始终为 0/6，故至少5块入盘从未成立。"
+     }
+    ]
+   },
+   "clods_in_tray_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 六块棕色泥仍在朝上的绿色靴底，收集盘内没有泥块，尚不满足至少6块入盘。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：全片粗看并检查视频 4.4、4.6、5.0、7.0、9.0、11.0 s 及视频 13.0–14.0 s 逐帧，右手未持刷到达靴底，泥块未从靴底掉入盘中；顶部评分器叠字 in tray 始终为 0/6，故至少6块入盘从未成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "clods_in_tray",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "clods_brushed",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "brush_contact_controls",
+   "unit": "control",
+   "threshold": 10,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "hold",
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_clod_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "boot_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "boot_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brush_in_hand",
+   "t": 4.6,
+   "log_step": 69,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.4–5.0 s 右手试提后离开鞋刷，鞋刷仍留在台面；视频 7.0–11.0 s 后续移动为空手，直到视频 14.0 s 也未补做拿刷。log step 69 确认最终交付为这一未完成的 653 控制步轨迹。"
+  },
+  "unmet": {
+   "clods_in_tray_1": false,
+   "clods_in_tray_2": false,
+   "clods_in_tray_3": false,
+   "clods_in_tray_4": false,
+   "clods_in_tray_5": false,
+   "clods_in_tray_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 4.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 0.0–6.5 s 右手接近刷背并弯指试提，但没有建立拿起节点所需的夹持承载接触；视频 4.4–5.0 s 手与刷子分离，刷子没有跟手离台。这里指未建立有效握持，并非手指从未碰到刷子。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 0.3–0.8 s 及视频 4.4–5.0 s 右手只有指端抵压、试托，未形成对向包夹，手抬起而刷子留台，说明该接触布局未形成可靠承载。log step 67 的生成试验记录弯指后刷子中心 z=0.9200 m、试提后回到 z=0.9175 m；log step 69 撤销后续试验改动并重新生成同一 653 控制步版本，与视频空手运动一致。参考成功视频 8.0 s 同款 Sharpa 右手已夹持鞋刷离台，证明本任务存在可行替代握法；不据 agent 在 log step 70 自述的腕部误差推定具体跟踪根因。"
+   }
+  ],
+  "gap_zh": "本次无状态日志；视频分辨率不足以核实日志中约 2.5 mm 的刷背微抬是否仅为倾斜、刷毛压缩恢复，或曾瞬时完全离台，也不足以给出各指碰撞对。能确认的是未形成夹持并随手拿走的节点结果，因此不把 agent 自述的“grasp engages”视为已握持后滑脱。原生指标在 reward 中均未单独报告，按要求记 null；入盘数量另由本次视频顶部评分器叠字判断。"
+ },
+ "summary_zh": "观察：本次右手接近鞋刷并弯指试提，但鞋刷没有随手拿离台面；之后右手空手移动，六块泥仍留在靴底，最终节点为 0/7。推断：断点是“拿起鞋刷”的操作中，所用指端抵压、试托未建立可承载握持，归控制中的抓取和接触设计。观察：无状态日志，毫米级微抬及具体接触对无法核实，未据 agent 自述认定曾完成���取。",
+ "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（拿起鞋刷，操作中）、现象与根因均与视频及 log 相符：鞋刷全程留在台面，in tray 始终 0/6，control 653 与交付一致；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": "2026-10-30T19:27:23Z",
+  "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/dexhand-boot-sole-brush-i00-privileged--rv8lo8c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-boot-sole-brush-i00-privileged--rv8lo8c/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f92208478bb3f94e20931914f4cf12e0a53e78bc13061301e04114640d5f7fd9",
+   "video_sha256": "594263dd06e695822940995cdbfd02f4823f15070f52c28066ab06431155d840",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--sjhh5zb.json

@@ -0,0 +1,369 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-boot-sole-brush-i00-privileged--sjhh5zb",
+ "taskKey": "dexhand/boot_sole_brush",
+ "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 2903,
+   "sim_steps": 2903,
+   "stages_completed": 3,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 6.54,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.838,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-boot-sole-brush-i00-privileged--sjhh5zb/replay.mp4",
+  "duration_s": 30.2,
+  "fps": 10.0,
+  "frames": 302,
+  "sha256": "2a5f1188c155b072ecb3c5a68885f45835bc8c8d1d665675573f9cee04b1d098"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 7,
+  "final": 7,
+  "nodes": {
+   "brush_in_hand": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.9–5.4 s 右手手指已合拢在黄褐色鞋刷木背周围；视频 5.5–6.0 s 右手带着刷子向上移动，刷毛下方与台面出现间隙，视频 7.5–8.4 s 刷子继续随手抬高，原来放刷的台面位置空出。首次拿离台面约在视频 5.5 s，时间误差约 0.2 s。"
+     },
+     {
+      "t": 28.8,
+      "log_step": null,
+      "text_zh": "观察：视频 26.2–26.8 s 右手张开并抬离暂放在已清空鞋底上的刷子，视频 27.0–28.8 s 右手再次合指握刷并抬高撤离；拿起鞋刷为 event 节点，后续暂放换握不撤销此前已完成的事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右灵巧手拇指与其余手指从相对两侧夹握鞋刷木背，将鞋刷拿离台面；清空鞋底后又在鞋底支承下松手换握，并重新握刷抬起。左手未参与。"
+     }
+    ]
+   },
+   "clods_in_tray_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.4,
+      "log_step": null,
+      "text_zh": "观察：视频 14.8–15.3 s 右手持刷扫过鞋尖区域，泥块离开鞋底向盘内下落；视频 15.3 s 顶部 in tray 仍为 0/6，视频 15.4 s 变为 1/6，盘内出现落下的棕色泥块。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "观察：视频 25.8–30.1 s 顶部 in tray 保持 6/6，盘中泥块未再离盘；视频 29.1–30.1 s 显示 SUCCESS、stage 3/3、clods brushed 6/6、hold 50/50，因此至少1块泥在盘内的结果一直保持到视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持鞋刷，以刷毛沿鞋尖区域扫推泥块，泥块从鞋底边缘落入下方收集盘。"
+     }
+    ]
+   },
+   "clods_in_tray_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.5,
+      "log_step": null,
+      "text_zh": "观察：视频 15.4 s 顶部 in tray 为 1/6，视频 15.5 s 变为 2/6；右手仍握着刷子沿鞋底扫过，盘内可见两个棕色泥块，视频 15.6–18.8 s 计数保持 2/6。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "观察：视频 25.8–30.1 s 顶部 in tray 保持 6/6，盘中泥块未再离盘；视频 29.1–30.1 s 显示 SUCCESS、stage 3/3、clods brushed 6/6、hold 50/50，因此至少2块泥在盘内的结果一直保持到视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持续持刷横扫鞋尖区域，刷毛推移泥块，使第二块泥也落入收集盘。"
+     }
+    ]
+   },
+   "clods_in_tray_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.1,
+      "log_step": null,
+      "text_zh": "观察：视频 18.6–19.0 s 右手持刷再次扫过鞋尖区域，第三块泥从鞋底向盘内下落；视频 19.0 s 顶部 in tray 为 2/6，视频 19.1 s 变为 3/6，视频 19.2–19.7 s 可见盘中三个棕色泥块。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "观察：视频 25.8–30.1 s 顶部 in tray 保持 6/6，盘中泥块未再离盘；���频 29.1–30.1 s 显示 SUCCESS、stage 3/3、clods brushed 6/6、hold 50/50，因此至少3块泥在盘内的结果一直保持到视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持刷调整位置后再扫鞋尖剩余泥块，刷毛推扫泥块离开鞋底并落盘。"
+     }
+    ]
+   },
+   "clods_in_tray_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.4,
+      "log_step": null,
+      "text_zh": "观察：视频 22.9–23.3 s 右手持刷在鞋跟区域扫动，两块泥先后离开鞋底；视频 23.3 s 顶部 in tray 仍为 3/6，视频 23.4 s 变为 4/6，新增泥块落在靴子后侧的盘内区域。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "观察：视频 25.8–30.1 s 顶部 in tray 保持 6/6，盘中泥块未再离盘；视频 29.1–30.1 s 显示 SUCCESS、stage 3/3、clods brushed 6/6、hold 50/50，因此至少4块泥在盘内的结果一直保持到视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持刷扫推鞋跟一排泥块，刷毛将泥块推过鞋底边缘，使第四块泥落入收集盘。"
+     }
+    ]
+   },
+   "clods_in_tray_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "观察：视频 23.4 s 顶部 in tray 为 4/6，视频 23.5 s 变为 5/6；右手继续握刷扫过鞋跟区域，另一块下落的泥块进入盘内，视频 23.6–25.4 s 计数保持 5/6。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "观察：视频 25.8–30.1 s 顶部 in tray 保持 6/6，盘中泥块未再离盘；视频 29.1–30.1 s 显示 SUCCESS、stage 3/3、clods brushed 6/6、hold 50/50，因此至少5块泥在盘内的结果一直保持到视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持刷完成鞋跟同一排的扫推，另一块泥也离开鞋底落盘；仅记录刷毛对泥块的工具接触链，不重复标握刷接触。"
+     }
+    ]
+   },
+   "clods_in_tray_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.8,
+      "log_step": null,
+      "text_zh": "观察：视频 25.2–25.7 s 右手持刷扫推鞋跟剩余泥块，视频 25.7 s 泥块仍在下落且顶部 in tray 为 5/6；视频 25.8 s 计数变为 6/6、stage 变为 2/3，最后一块泥已到盘内。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "观察：视频 25.8–30.1 s 顶部 in tray 保持 6/6，盘中泥块未再离盘；视频 29.1–30.1 s 显示 SUCCESS、stage 3/3、clods brushed 6/6、hold 50/50，因此至少6块泥在盘内的结果一直保持到视频结束。"
+     },
+     {
+      "t": 29.1,
+      "log_step": 111,
+      "text_zh": "观察：log step 105、107 分别启动交付 trajectory.npz 的两个新进程回放；log step 106、111 的基准回放结果均为 success=true、stage=3、clods_in_tray=6、clods_brushed=6、steps=2903，终态 state_sha 相同；视频 29.1 s 同样显示 SUCCESS 和全部六块入盘。会话中此前恢复快照的失败测试不作为本视频的失败。"
+     },
+     {
+      "t": 29.1,
+      "log_step": 112,
+      "text_zh": "观察：log step 112 中生成器调用基准 Session.status() 打印的终态为 hold=50、brush_contact_controls=128、max_clod_speed=0.0005057732481113789 m/s、boot_shift_m=0.001098771564520835 m、boot_tilt_rad=0.001065739665590794 rad，并报告与两次交付回放相同的终态哈希；log step 113 比较生成器与交付文件的全部动作，结果完全相同。推断：该状态可补充交付终态的原生指标，节点到达时间仍只取上述视频帧，不把 agent 时间或会话测试控制步换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持刷扫推鞋跟最后一块泥，使它离开鞋底并落入收集盘；随后右手在清空的鞋底上暂放刷子换握，再持刷向上撤离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "clods_in_tray",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": 6
+  },
+  {
+   "name": "clods_brushed",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": 6
+  },
+  {
+   "name": "brush_contact_controls",
+   "unit": "control",
+   "threshold": 10,
+   "direction": "higher_better",
+   "value": 128
+  },
+  {
+   "name": "hold",
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": 50
+  },
+  {
+   "name": "max_clod_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": 0.0005057732481113789
+  },
+  {
+   "name": "boot_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": 0.001098771564520835
+  },
+  {
+   "name": "boot_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": 0.001065739665590794
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人右手约在视频 5.5 s 拿起鞋刷，随后将六块泥依次扫入盘中，最后一块于视频 25.8 s 入盘，七个节点均完成且终态保持。观察：右手在清空鞋底上暂放刷子换握后撤离，视频 29.1–30.1 s 显示 SUCCESS、入盘 6/6、刷过 6/6、hold 50/50；log step 106、111 的两次交付回放成功且终态哈希一致。推断：接触按 D16(a) 记为手持工具×推/扫，六块按入盘数量计而不固定身份；本次无状态日志或独立参考视频，毫米级位置、逐子步接触与速度不能由画面单独精确复核，终态原生数值由 log step 112–113 验证与交付一致的基准状态补充。",
+ "conf": 9,
+ "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，七个节点到达时间与视频顶部 in tray 计数（15.3→15.4 s 0→1，25.8 s 6/6）一致，拿起鞋刷约 5.5–6.0 s 在 1 s 容差内，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": "2026-10-30T19:31:13Z",
+  "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/dexhand-boot-sole-brush-i00-privileged--sjhh5zb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-boot-sole-brush-i00-privileged--sjhh5zb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ce6ed536083bd70334b1c342f5ebd31f34879def53262e4075754b3e44eb0d8",
+   "video_sha256": "2a5f1188c155b072ecb3c5a68885f45835bc8c8d1d665675573f9cee04b1d098",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--u3v6rr7.json

@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-boot-sole-brush-i00-privileged--u3v6rr7",
+ "taskKey": "dexhand/boot_sole_brush",
+ "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 1,
+   "infra_error": 0,
+   "n_actions": 778,
+   "sim_steps": 778,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.83,
+   "peak_processes": 10,
+   "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/dexhand-boot-sole-brush-i00-privileged--u3v6rr7/replay.mp4",
+  "duration_s": 16.6,
+  "fps": 10.0,
+  "frames": 166,
+  "sha256": "58c67a4aea94593c210afadabd25852c9807e2a9070ea529818d72aabdfc5a5c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "brush_in_hand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–7.8 s，机器人右侧 Wuji 手以预弯手型下降接近鞋刷，手指接触黄褐色木背；刷毛仍支在台面，未见鞋刷被夹住拿离台面。"
+     },
+     {
+      "t": 15.4,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–15.4 s 及视频 15.6–16.5 s 逐帧尾段，右手停在鞋刷旁上方，刷子始终留在台面，未出现由手带动的离台搬运。"
+     },
+     {
+      "t": null,
+      "log_step": 250,
+      "text_zh": "观察：log step 250 将备份的部分轨迹恢复为最终交付文件，并检验其为 778×54 的有限 Wuji 动作数组；log step 251 的 agent 最终报告明确承认阶段 0、零泥块刷落。该报告只辅助确认交付，节点未达由视频判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 6.0–15.4 s，右侧 Wuji 手的弯曲手指压触鞋刷木背，刷子仍受台面支承；可见接触未形成将鞋刷拿离台面的夹握。"
+     }
+    ]
+   },
+   "clods_in_tray_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–16.5 s，鞋刷一直位于台面，未到达靴底扫泥；靴底泥块未见掉入收集盘，顶部评分器叠字（本次回放的阶段与泥块计数）始终为 clods brushed 0/6、in tray 0/6，视频 16.5 s 仍如此，因此至少1块泥入盘的条件不成立。"
+     }
+    ]
+   },
+   "clods_in_tray_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–16.5 s，鞋刷一直位于台面，未到达靴底扫泥；靴底泥块未见掉入收集盘，顶部评分器叠字（本次回放的阶段与泥块计数）始终为 clods brushed 0/6、in tray 0/6，视频 16.5 s 仍如此，因此至少2块泥入盘的条件不成立。"
+     }
+    ]
+   },
+   "clods_in_tray_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–16.5 s，鞋刷一直位于台面，未到达靴底扫泥；靴底泥块未见掉入收集盘，顶部评分器叠字（本次回放的阶段与泥块计数）始终为 clods brushed 0/6、in tray 0/6，视频 16.5 s 仍如此，因此至少3块泥入盘的条件不成立。"
+     }
+    ]
+   },
+   "clods_in_tray_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–16.5 s，鞋刷一直位于台面，未到达靴底扫泥；靴底泥块未见掉入收集盘，顶部评分器叠字（本次回放的阶段与泥块计数）始终为 clods brushed 0/6、in tray 0/6，视频 16.5 s 仍如此，因此至少4块泥入盘的条件不成立。"
+     }
+    ]
+   },
+   "clods_in_tray_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–16.5 s，鞋刷一直位于台面，未到达靴底扫泥；靴底泥块未见掉入收集盘，顶部评分器叠字（本次回放的阶段与泥块计数）始终为 clods brushed 0/6、in tray 0/6，视频 16.5 s 仍如此，因此至少5块泥入盘的条件不成立。"
+     }
+    ]
+   },
+   "clods_in_tray_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–16.5 s，鞋刷一直位于台面，未到达靴底扫泥；靴底泥块未见掉入收集盘，顶部评分器叠字（本次回放的阶段与泥块计数）始终为 clods brushed 0/6、in tray 0/6，视频 16.5 s 仍如此，因此至少6块泥入盘的条件不成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "clods_in_tray",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "clods_brushed",
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "brush_contact_controls",
+   "unit": "control",
+   "threshold": 10,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "hold",
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_clod_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "boot_shift_m",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "boot_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brush_in_hand",
+   "t": 8.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 6.0–8.0 s，机器人右手下降到鞋刷木背并压触，鞋刷仍由台面支承；随后至视频 15.4 s 动作结束及视频 16.5 s 尾帧，刷子都未被拿离台面，机器人始终未进入持刷清洁。首个未修复步骤为拿起鞋刷。"
+  },
+  "unmet": {
+   "clods_in_tray_1": false,
+   "clods_in_tray_2": false,
+   "clods_in_tray_3": false,
+   "clods_in_tray_4": false,
+   "clods_in_tray_5": false,
+   "clods_in_tray_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 8.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 6.4–8.0 s 及视频 8.0–15.4 s 的放大画面可见右手触到刷背，但鞋刷刷毛仍在台面上，未见建立能夹持并承载鞋刷的接触。这里未建立的是拿起所需的有效夹握，已有压触；本次交付中未见拿起后再滑脱。"
+   }
+  ],
+  "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 231 展示的交付生成器先预弯 Wuji 手指，再用固定闭合手型靠近刷子，并仅小幅提高腕部目标来维持接触；视频 6.4–15.4 s 中手指抵着刷背而鞋刷仍留在台面。所选接触布局未形成能承载鞋刷的有效夹持，因而拿起失败。成功参考使用 Sharpa 手，不能据此确认本次 Wuji 手的可行替代握法。"
+   }
+  ],
+  "gap_zh": "无状态日志；总览和裁剪画面不能逐一核实被掌部遮挡的手指接触点及接触力，抓取布局的具体原因属结合生成器与画面的推断。inputs/run.json 的 reward 未报告 DAG 所列七项原生指标，故 native_metrics.value 均为 null；画面可读的泥块计数用于节点判断。log step 231 的生成器输出本身省略了一段源码，不据缺失部分推断额外动作。"
+ },
+ "summary_zh": "本次交付中，机器人右侧 Wuji 手下降压触鞋刷，但未将其拿离台面；七个节点均未达到，六块泥均未入盘。断点是拿起鞋刷，现象为未建立有效夹握，接触布局未形成承载夹持是有日志与画面支持的控制原因推断。没有状态日志，遮挡处的具体接触和接触力无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "七个节点均未达、断点为拿起鞋刷、叠字 stage 0/3 与 clods 0/6 全程不变，与视频一致；现象与控制类根因有证据支持。",
+    "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": "2026-10-30T19:18:26Z",
+  "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/dexhand-boot-sole-brush-i00-privileged--u3v6rr7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-boot-sole-brush-i00-privileged--u3v6rr7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d3ad512d9a36faf4894f24ffb00ad62d8bd9b6bc7ac6906f2e9cebc03549a6bf",
+   "video_sha256": "58c67a4aea94593c210afadabd25852c9807e2a9070ea529818d72aabdfc5a5c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}