diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--db7tsce.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--db7tsce.json new file mode 100644 index 0000000000000000000000000000000000000000..fb69260e530026d868d75e09efebef29f59764fb --- /dev/null +++ b/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 肉饼离开支座，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" + } + } +} diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--nmir3qa.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--nmir3qa.json new file mode 100644 index 0000000000000000000000000000000000000000..481af1f411c7cc4e79079fd2ab2e5b0d9848fdc1 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--tmdfiw4.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--tmdfiw4.json new file mode 100644 index 0000000000000000000000000000000000000000..56ff19e7534cb3fbe0a8118560e583ba9b67171d --- /dev/null +++ b/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侧上方，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" + } + } +} diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--2acoje8.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--2acoje8.json new file mode 100644 index 0000000000000000000000000000000000000000..6b1f754b130bcc2e46e49caa85855c5c099f1142 --- /dev/null +++ b/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。没有状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" + } + } +} diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--k9cvrrd.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--k9cvrrd.json new file mode 100644 index 0000000000000000000000000000000000000000..6d337fe2b08bd639640148a23b77a045e3d2df60 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--nygvud6.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--nygvud6.json new file mode 100644 index 0000000000000000000000000000000000000000..504d7a6b1f039e3c95a4a4ff6ebbbabecdb10872 --- /dev/null +++ b/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 动作执行 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" + } + } +} diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--o9jcgmy.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--o9jcgmy.json new file mode 100644 index 0000000000000000000000000000000000000000..bbd1cf96b180bd43c8c96da504cf7fe8b8466ba0 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--pwqsmcz.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--pwqsmcz.json new file mode 100644 index 0000000000000000000000000000000000000000..ef46d14e18e96ded5308a26603192baf6f8a952d --- /dev/null +++ b/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，抬离备料支座、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偏向画面右侧，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" + } + } +} diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--qtmvbag.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--qtmvbag.json new file mode 100644 index 0000000000000000000000000000000000000000..d41386a14c48c2448327f875037f5246cce021be --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--vgswabh.json b/phase2/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--vgswabh.json new file mode 100644 index 0000000000000000000000000000000000000000..8f290694b6886a1223783c27b04c2088b7240a56 --- /dev/null +++ b/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，肉饼约在视频 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" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--cgs74xc.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--cgs74xc.json new file mode 100644 index 0000000000000000000000000000000000000000..bf80345f8f59227dfebad6c00b631e14489a4b90 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--gdugvwk.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--gdugvwk.json new file mode 100644 index 0000000000000000000000000000000000000000..582c65cc39352d199efa476e3dd02a8d57224544 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--mkwhkkb.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--mkwhkkb.json new file mode 100644 index 0000000000000000000000000000000000000000..67e5a29ba38775d2ac05d6cac281a377d989f1fc --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--nrzvm2c.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--nrzvm2c.json new file mode 100644 index 0000000000000000000000000000000000000000..0a9620e373d0d18e92676695f915644d7f3b3b11 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--rhgscwn.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--rhgscwn.json new file mode 100644 index 0000000000000000000000000000000000000000..9e76cc03c75c2de4e235ce6552c6ea37fe45dcb3 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--6v6rpbg.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--6v6rpbg.json new file mode 100644 index 0000000000000000000000000000000000000000..7449040751354a95fed7ee76067be59f77a3a73d --- /dev/null +++ b/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夹住打蛋器丝头一端，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" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--dtnidjr.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--dtnidjr.json new file mode 100644 index 0000000000000000000000000000000000000000..021a762b89031c2f3c9e9900a763b9b4a00d3ca2 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--jaqg6q3.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--jaqg6q3.json new file mode 100644 index 0000000000000000000000000000000000000000..b916d8fe36e9282bf4036a3df5fe381035df1682 --- /dev/null +++ b/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动，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, + 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"inputs": { + "run_json_sha256": "52138de70184dcbbf056be50cfd778476deed9928a424941084470475c7aaf93", + "video_sha256": "be59ccc0c353b7c18abc44703a02ad4b5acb3425ceb953d071a1e24c2dc3880a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--neienqf.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--neienqf.json new file mode 100644 index 0000000000000000000000000000000000000000..b5575489944349b6f636b8612e9a59a9e7be872f --- /dev/null +++ b/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": "观察：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", + "engine": "codex", + "model": "gpt-6.1-sol", + "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": [ + { + "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": { + "run_json_sha256": "8c73b94e03159df28569626f6f78458bcd1218b4c5a449a415d6afdf9313567b", + "video_sha256": "9fdd2d53be748f888c8d4c4ea45122f24296727e146a1b14104c223340e65be7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--st2qkys.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--st2qkys.json new file mode 100644 index 0000000000000000000000000000000000000000..4f9f7fee19414a43cb32bf5a990219cf4cd7bb8c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--ukfyewv.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--ukfyewv.json new file mode 100644 index 0000000000000000000000000000000000000000..3d28eeb8207d14e342827bceb7ef196141c1c29e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--vckuekb.json b/phase2/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--vckuekb.json new file mode 100644 index 0000000000000000000000000000000000000000..f8926631c79d93657eb2915804802ccd72ec58f9 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--3npxz7p.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--3npxz7p.json new file mode 100644 index 0000000000000000000000000000000000000000..fd1386511544f8187aa754478b161ed913ef8d2e --- /dev/null +++ b/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_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" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--krmnbsh.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--krmnbsh.json new file mode 100644 index 0000000000000000000000000000000000000000..cd53b07cdcfb83cbc94590bf2b0ab4e4c57ab976 --- /dev/null +++ b/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_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": 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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" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--mmibxrh.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--mmibxrh.json new file mode 100644 index 0000000000000000000000000000000000000000..43ccf02cf8614cfa34f8327a466d99f74a0b288c --- /dev/null +++ b/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": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 4895, + "sim_steps": 4895, + "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": 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 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_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，使把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；没有合指夹握把手。" + } + ] + }, + "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" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--ovu6hqq.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--ovu6hqq.json new file mode 100644 index 0000000000000000000000000000000000000000..e25b4e7973c9d6d7502c46f6e33ef9db7227c435 --- /dev/null +++ b/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：视频 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夹握住把手。" + } + ] + }, + "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" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--u434y2h.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--u434y2h.json new file mode 100644 index 0000000000000000000000000000000000000000..9d41646b5d6b22286c40d186e6dfdee978e28590 --- /dev/null +++ b/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次有效泵压未达到，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、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" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--3aqiqb5.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--3aqiqb5.json new file mode 100644 index 0000000000000000000000000000000000000000..cddcce1449e59f1f0b2242d1620052f10d52e98c --- /dev/null +++ b/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", + 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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" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--kyo5hw8.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--kyo5hw8.json new file mode 100644 index 0000000000000000000000000000000000000000..437bb29a675db54cdca09f3fb3be005b85042b5b --- /dev/null +++ b/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 保持同一末帧，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 等目标后便进入泵压；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" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--rt2uqxj.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--rt2uqxj.json new file mode 100644 index 0000000000000000000000000000000000000000..421a7a042d3ca0fe41acd8160c69d82530d16aab --- /dev/null +++ b/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，顶栏原生计数一直为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" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--semi8z7.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--semi8z7.json new file mode 100644 index 0000000000000000000000000000000000000000..37e685299ea684821a0439f66732c4eff014f33b --- /dev/null +++ b/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。" 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"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" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--tt3rntd.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--tt3rntd.json new file mode 100644 index 0000000000000000000000000000000000000000..9a9320e4fca1659e8d90e7e0f676dfb92b93f375 --- /dev/null +++ b/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 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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" + } + } +} diff --git a/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--wpb5ckd.json b/phase2/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--wpb5ckd.json new file mode 100644 index 0000000000000000000000000000000000000000..d07fea53f662367f7f00664d7f7a7b065054693b --- /dev/null +++ b/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": [ 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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。" + } + ], + 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"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": 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"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认完成；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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--c2uk6tq.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--c2uk6tq.json new file mode 100644 index 0000000000000000000000000000000000000000..9619cd7d5b2439f5d7c07b5ebc0253d7243aa0ff --- /dev/null +++ b/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列出的五项原生指标数值，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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--fopfeun.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--fopfeun.json new file mode 100644 index 0000000000000000000000000000000000000000..21b263634a32a98caa1e0b38d7d5e4e62006d87a --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--hx4pekz.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--hx4pekz.json new file mode 100644 index 0000000000000000000000000000000000000000..6ca389c0aa0fb87ce0c8b52903e25f8188f7d392 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--sobtvnq.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--sobtvnq.json new file mode 100644 index 0000000000000000000000000000000000000000..095f0c941ccd98eaec47739cb30f9ae0f0dcc1dc --- /dev/null +++ b/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 / 视频", + "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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--tgdxrza.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--tgdxrza.json new file mode 100644 index 0000000000000000000000000000000000000000..b8ff9714e160e778a8852e64a79fac7615d3e94c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--tlu4a3t.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--tlu4a3t.json new file mode 100644 index 0000000000000000000000000000000000000000..37a13a28504190ccb950dd7ace49df9084ad5ca8 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--963dbeq.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--963dbeq.json new file mode 100644 index 0000000000000000000000000000000000000000..b60185435902e39862b5a3ef896ae649a7da89a6 --- /dev/null +++ b/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号叶片从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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--acorojn.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--acorojn.json new file mode 100644 index 0000000000000000000000000000000000000000..f0f02f78ef2248895a81573415dd1080c031a5f5 --- /dev/null +++ b/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，目标角约-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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--ireabwj.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--ireabwj.json new file mode 100644 index 0000000000000000000000000000000000000000..7c62f2d0441303655cf134a270f574c4b0a697a2 --- /dev/null +++ b/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 重置后的第二回合在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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--m3srp7s.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--m3srp7s.json new file mode 100644 index 0000000000000000000000000000000000000000..a4f75e34311ceefc690aa773fdfd8fe3db0208d6 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--uqerv3m.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--uqerv3m.json new file mode 100644 index 0000000000000000000000000000000000000000..e6106fea9998e7d386acbae9b97526f400590c93 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--wnhmq2c.json b/phase2/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--wnhmq2c.json new file mode 100644 index 0000000000000000000000000000000000000000..f8cc5a25030a2c9c9f56642ddf1d003af4d9c0a3 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--h8qxsas.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--h8qxsas.json new file mode 100644 index 0000000000000000000000000000000000000000..97ed4c2fe5b6c7bc7842bbaf712130e4a865aca5 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--rv8lo8c.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--rv8lo8c.json new file mode 100644 index 0000000000000000000000000000000000000000..ce6603dfdb391cc6673d7f7867a7b668cfa9cdbb --- /dev/null +++ b/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，泥块未从靴底掉入盘中；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 自述认定曾完成抓取。", + "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" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--sjhh5zb.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--sjhh5zb.json new file mode 100644 index 0000000000000000000000000000000000000000..5f5c5fa3f391a457d8336f78ecf8ee45051caf44 --- /dev/null +++ b/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；视频 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" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--u3v6rr7.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--u3v6rr7.json new file mode 100644 index 0000000000000000000000000000000000000000..1661d71cf9866176761384a718c12b2c435e136f --- /dev/null +++ b/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": [] + }, + 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"d3ad512d9a36faf4894f24ffb00ad62d8bd9b6bc7ac6906f2e9cebc03549a6bf", + "video_sha256": "58c67a4aea94593c210afadabd25852c9807e2a9070ea529818d72aabdfc5a5c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--wbpc9f9.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--wbpc9f9.json new file mode 100644 index 0000000000000000000000000000000000000000..78bb351a211bb9a7f404a982ec8fb83c5e6ee81a --- /dev/null +++ b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--wbpc9f9.json @@ -0,0 +1,283 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-boot-sole-brush-i00-privileged--wbpc9f9", + "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": 180, + "sim_steps": 180, + "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": 2.546, + "peak_processes": 12, + "peak_disk_gb": 0.984, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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--wbpc9f9/replay.mp4", + "duration_s": 4.7, + "fps": 10.0, + "frames": 47, + "sha256": "7e79955aae5649c6b0e64a9bdb898ed00e748079906c68b939e2fbe3f7371b49" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brush_in_hand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频0.0–2.4 s，机器人右臂转到台边鞋刷上方，右手下降并闭指接触木背；鞋刷仅在台面上小幅移动，没有随右手抬离台面。" + }, + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频3.6–4.6 s，右手保持闭指姿态，黄褐色刷背仍露在台面附近，刷子未离台；顶部运行状态停在control 180。已逐帧检查视频0.0–4.6 s，没有出现拿刷后的离台搬运动作。" + }, + { + "t": null, + "log_step": 127, + "text_zh": "观察：log step 127 的生成脚本保存R.traj，输出动作数组形状为(180,58)；同一次会话继续执行到control 254才报告抬升中brush_dropped。评分器字段n_actions=180、sim_steps=180，与视频停在control 180一致；会话的后续掉落不属于交付视频。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频2.4–3.6 s，机器人右手拇指与弯曲手指从两侧夹拢鞋刷木背；刷子仍由台面支承。此处记录夹握接触，不表示已拿起或验证了承载能力。" + } + ] + }, + "clods_in_tray_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频0.0–4.6 s，机器人右手和鞋刷始终在低处台边，未到达朝上的靴底；棕色泥块留在靴底，绿色收集盘内未见泥块下落或入盘。视频4.6 s顶部显示in tray 0/6、clods brushed 0/6，未达到至少1块入盘；本次未开始刷泥操作。" + } + ] + }, + "clods_in_tray_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频0.0–4.6 s，机器人右手和鞋刷始终在低处台边，未到达朝上的靴底；棕色泥块留在靴底，绿色收集盘内未见泥块下落或入盘。视频4.6 s顶部显示in tray 0/6、clods brushed 0/6，未达到至少2块入盘；本次未开始刷泥操作。" + } + ] + }, + "clods_in_tray_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频0.0–4.6 s，机器人右手和鞋刷始终在低处台边，未到达朝上的靴底；棕色泥块留在靴底，绿色收集盘内未见泥块下落或入盘。视频4.6 s顶部显示in tray 0/6、clods brushed 0/6，未达到至少3块入盘；本次未开始刷泥操作。" + } + ] + }, + "clods_in_tray_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频0.0–4.6 s，机器人右手和鞋刷始终在低处台边，未到达朝上的靴底；棕色泥块留在靴底，绿色收集盘内未见泥块下落或入盘。视频4.6 s顶部显示in tray 0/6、clods brushed 0/6，未达到至少4块入盘；本次未开始刷泥操作。" + } + ] + }, + "clods_in_tray_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频0.0–4.6 s，机器人右手和鞋刷始终在低处台边，未到达朝上的靴底；棕色泥块留在靴底，绿色收集盘内未见泥块下落或入盘。视频4.6 s顶部显示in tray 0/6、clods brushed 0/6，未达到至少5块入盘；本次未开始刷泥操作。" + } + ] + }, + "clods_in_tray_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频0.0–4.6 s，机器人右手和鞋刷始终在低处台边，未到达朝上的靴底；棕色泥块留在靴底，绿色收集盘内未见泥块下落或入盘。视频4.6 s顶部显示in tray 0/6、clods brushed 0/6，未达到至少6块入盘；本次未开始刷泥操作。" + } + ] + } + }, + "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": 3.6, + "log_step": 127, + "where": "操作中", + "evidence_zh": "观察：视频2.4–3.6 s，机器人右手在台边闭指夹拢鞋刷，但鞋刷没有离开台面；视频3.6 s起画面停在control 180，直至视频4.6 s仍未抬刷。log step 127保存的交付文件只有180个动作；此时拿起鞋刷仍未完成，后续刷泥步骤没有开始。" + }, + "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": [], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "evidence_zh": "推断：agent的动作录制遗漏了抬升部分。log step 92的Runner仅在self.step()中向self.traj追加动作；log step 120的pipeline前四段调用R.waypoints，时长55+65+45+15=180个控制步，随后的抬升循环直接调用js.step_track而不调用R.step。log step 127却只保存R.traj，实际输出(180,58)，虽然会话继续到control 254才报告掉刷。评分器n_actions=180、sim_steps=180、deterministic=1，视频3.6–4.6 s停在control 180且没有抬升，印证交付只含接近和闭指动作。", + "source_zh": "日志 / 视频 / 评分器字段" + } + ], + "gap_zh": "观察：inputs内没有状态日志，视频显示接触区域部分被右手遮挡。交付视频只到接近、闭指阶段，没有包含抬升动作，不能据此判断夹握是否能承载，更不能把log step 127的会话掉刷或log step 150的滑脱自述当作本次失败现象，因此phenomena留空。原生指标在run.json的reward中均未报告，native_metrics的value保留null；视频顶部计数仅用于节点判断。" + }, + "summary_zh": "评分轨迹中，机器人右手接近鞋刷并闭指夹握，但刷子未离开台面，拿刷及六个泥块入盘节点均未达到，最终0/7。断点为拿起鞋刷：日志代码与交付文件的180个动作表明，录制仅保存了接近和闭指，遗漏后续抬升。视频没有显示会话中报告的掉刷，且无状态日志，故不标滑脱等物理失败现象。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与证据一致：视频停在control 180，右手闭指夹在台面鞋刷上、刷子未离台，7个节点均未达到；log step 127保存(180,58)，抬升循环未经R.step记录，交付文件此后未改动（step 131/145/149复核仍为180行），交付·交付操作出错成立。", + "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": "2026-10-30T19:27:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-privileged--wbpc9f9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-privileged--wbpc9f9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a1e26b37b00be814a5d9fb1fb86ca2bfae0d85b72d8e98fd7ce1daf7ff064dc8", + "video_sha256": "7e79955aae5649c6b0e64a9bdb898ed00e748079906c68b939e2fbe3f7371b49", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--acfwrre.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--acfwrre.json new file mode 100644 index 0000000000000000000000000000000000000000..934b526dc04455cdcbc54840eee5db0c77854cb2 --- /dev/null +++ b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--acfwrre.json @@ -0,0 +1,404 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-boot-sole-brush-i00-standard--acfwrre", + "taskKey": "dexhand/boot_sole_brush", + "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 808, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 3000, + "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": 3000, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.505, + "peak_processes": 14, + "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-boot-sole-brush-i00-standard--acfwrre/replay.mp4", + "duration_s": 61.2, + "fps": 5.0, + "frames": 306, + "sha256": "ab7a1b31bb7e47559f7e26be06b809658d9d5948497655797f17ee6d6545820c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 6, + "final": 6, + "nodes": { + "brush_in_hand": { + "method": "visual", + "intervals": [ + [ + 8.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.6, + "log_step": null, + "text_zh": "观察：视频 0.0 s 鞋刷刷毛朝下放在台面；视频 7.4–8.4 s 右手拇指与其余手指夹住木背，视频约 8.6 s 起刷子随右手抬起并离开原台面位置，视频 10.0 s 已明显悬空。" + }, + { + "t": 61.0, + "log_step": null, + "text_zh": "观察：视频 61.0 s 右手仍夹持鞋刷，未见本次受评轨迹中刷子掉落。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右侧灵巧手的拇指与其他手指从木背两侧夹持鞋刷并提起。" + } + ] + }, + "clods_in_tray_1": { + "method": "visual", + "intervals": [ + [ + 20.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20.4, + "log_step": null, + "text_zh": "观察：视频 20.2 s 顶部 in tray 仍为 0/6，视频 20.4 s 变为 2/6；右手持刷扫过鞋尖后两块泥落入下方绿盘，视频 22.0 s 盘底可见泥块。两个入盘时刻在相邻视频帧之间，均以视频 20.4 s 记，精度约 0.2 s。" + }, + { + "t": 61.0, + "log_step": null, + "text_zh": "观察：视频 20.4 s 后至视频 61.0 s 的采样中，in tray 未降至 1 以下；最终显示 5/6，已入盘泥块保持在盘底，未见右手直接触泥。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：右手持鞋刷，以刷毛沿鞋尖推扫泥块，使泥块离开鞋底落向收集盘。" + } + ] + }, + "clods_in_tray_2": { + "method": "visual", + "intervals": [ + [ + 20.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20.4, + "log_step": null, + "text_zh": "观察：视频 20.4 s 顶部 in tray 为 2/6，鞋尖泥块已减少；视频 22.0 s 盘底可见两块泥。与第1块共用视频采样时刻，不虚构同一采样间隙内的先后。" + }, + { + "t": 61.0, + "log_step": null, + "text_zh": "观察：视频 20.4 s 后至视频 61.0 s 的采样中，in tray 未降至 2 以下；最终显示 5/6，已入盘泥块保持在盘底，未见右手直接触泥。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：右手持鞋刷继续沿鞋尖推扫，使第二块泥脱离鞋底并落入收集盘。" + } + ] + }, + "clods_in_tray_3": { + "method": "visual", + "intervals": [ + [ + 26.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.4, + "log_step": null, + "text_zh": "观察：右手持刷再次扫过鞋尖后，视频 26.2 s 顶部 in tray 为 2/6，视频 26.4 s 变为 3/6，clods brushed 仍为 2/6；盘中出现第三块泥。推断：该新增入盘结果未取得逐块刷毛直接接触历史，按 DAG 的入盘数量标准仍计为完成。" + }, + { + "t": 61.0, + "log_step": null, + "text_zh": "观察：视频 26.4 s 后至视频 61.0 s 的采样中，in tray 未降至 3 以下；最终显示 5/6，已入盘泥块保持在盘底，未见右手直接触泥。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：右手持刷在鞋尖进行第二轮扫动；推断：工具推动的泥块之间传递推力，产生第三块入盘结果；视频计数由入盘2增至3而刷毛接触历史仍为2，不把此块记成已被刷毛直接碰过。" + } + ] + }, + "clods_in_tray_4": { + "method": "visual", + "intervals": [ + [ + 31.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 31.4, + "log_step": null, + "text_zh": "观察：右手持刷在鞋跟近侧下压扫动，视频 31.2 s 顶部 in tray 为 3/6，视频 31.4 s 变为 4/6；新泥块从鞋底落入盘中，视频 32.0 s 可见盘底泥块增多。" + }, + { + "t": 61.0, + "log_step": null, + "text_zh": "观察：视频 31.4 s 后至视频 61.0 s 的采样中，in tray 未降至 4 以下；最终显示 5/6，已入盘泥块保持在盘底，未见右手直接触泥。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：右手持鞋刷扫推鞋跟近侧泥块，泥块脱离靴底并落入盘中。" + } + ] + }, + "clods_in_tray_5": { + "method": "visual", + "intervals": [ + [ + 48.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 48.8, + "log_step": null, + "text_zh": "观察：右手持刷在鞋跟远侧前推并抬刷，视频 48.6 s 顶部 in tray 为 4/6，视频 48.8 s 变为 5/6；视频 49.0 s 新落下泥块留在盘内，clods brushed 仍为 4/6。" + }, + { + "t": 61.0, + "log_step": null, + "text_zh": "观察：视频 48.8 s 后至视频 61.0 s 的采样中，in tray 未降至 5 以下；最终显示 5/6，已入盘泥块保持在盘底，未见右手直接触泥。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：右手持鞋刷沿鞋跟远侧前推；随后泥块落入盘中。部分作用点被右手遮挡，不指定是哪一簇刷毛直接接触。" + } + ] + }, + "clods_in_tray_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 48.8, + "log_step": 88, + "text_zh": "观察：视频 48.8 s 入盘计数升至 5/6 后，鞋跟处仍可见棕色泥块；机器人抬刷撤离，视频 50.0–57.4 s 计数保持 5/6。" + }, + { + "t": 58.2, + "log_step": 90, + "text_zh": "观察：视频 57.6–58.6 s 右手持刷再次向鞋跟处快速前推并抬起，但泥块没有离开鞋底，in tray 保持 5/6，clods brushed 保持 4/6。log step 90 的补刷脚本对应最后一次动作；其控制步 2905/50=视频 58.1 s，与视频 58.2 s 画面顶部 control 2910 及补刷动作核对一致，未使用 agent 工作时间换算。" + }, + { + "t": 61.0, + "log_step": null, + "text_zh": "观察：视频 60.0–61.0 s 顶部显示 FAIL: episode_budget、control 3000、in tray 5/6、clods brushed 4/6、hold 0/50，鞋跟处仍有泥块；第6块入盘始终未达到。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：右手持鞋刷在鞋跟处前推补刷，刷子保持握持；推断：刷扫未覆盖剩余泥块所需的有效接触位置，未见该泥块被扫落，不将尝试写成刷毛已碰到该块。" + } + ] + } + }, + "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": "clods_in_tray_6", + "t": 58.2, + "log_step": 90, + "where": "操作中", + "evidence_zh": "观察：视频 57.6–58.6 s 机器人右手持刷对鞋跟剩余泥块补刷，随后抬刷，泥块仍在鞋底，入盘计数保持 5/6；视频 60.0–61.0 s 以 episode_budget 判负。log step 88 重置后运行最终控制器，log step 89 服务状态为 episode 21、control_steps 2870、resets_left 0，log step 90 在同一 episode 补刷后达3000控制步；reward 的 live_matches_replay=1。此前会话中清空鞋底或掉刷的其他 episode 不计入本轨迹。" + }, + "unmet": { + "clods_in_tray_1": true, + "clods_in_tray_2": true, + "clods_in_tray_3": true, + "clods_in_tray_4": true, + "clods_in_tray_5": true, + "clods_in_tray_6": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 58.2, + "log_step": 90, + "evidence_zh": "推断：针对鞋跟残留的第6块泥，机器人未建立使其脱离鞋底的刷毛接触；视频 46.8–48.8 s 的推扫及视频 57.6–58.6 s 的补刷后，该块仍留原处，且后一次动作前后刷毛接触历史计数一直为4/6。视频 61.0 s 仍只入盘5块；这项现象仅指未清除的实体泥块，不指已经间接扫入盘的泥块被评分器拒认。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：剩余泥块的工具落点与姿态控制未形成有效刷扫。log step 88 中 agent 的脚本把第二轮前推由 x=0.59 改为 x=0.575，末端模型点在最后一个目标(0.575,0.15,1.297)处实际估计为(0.572,0.139,1.284)；log step 90 又用固定的腕到刷缘偏置进行快速补刷，视频 57.6–58.6 s 机器人确实执行前推和抬刷却未带动残留泥块。现有证据不足以在握刷几何、刷子在手内偏转与末端跟踪误差之间确定子类，不据 agent 在 log step 91 的猜测标够不着或手指触泥。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "观察：本目录没有状态日志，视频中右手与手臂遮挡部分刷毛作用点，不能核实逐个物理子步的接触对、刷子在手内的相对位姿或具体控制子因；reward 未报告 DAG 所列七个原生指标数值，因此 native_metrics 的 value 保留 null，画面计数另作节点证据。任务设计问题：视频 26.4 s 已入盘3块却只有2块获刷毛接触历史，说明至少一块入盘结果未获直接接触认可；按 CASES.md FAIL-6 / D9，不为此评分限制添加机器人现象或根因。但本次受评视频最终仅入盘5块且仍有泥块在鞋底，不能把同名案例的设计问题解释成六块已全部清净；本文件的接触现象与控制根因仅针对这一实际残留。" + }, + "summary_zh": "观察：最终受评的 episode 21 中，机器人右手拿起鞋刷，并在视频约 20.4、26.4、31.4、48.8 s 累计使五块泥入盘，终态完成拿刷及五个清洁节点，共6/7。推断：视频 57.6–58.6 s 的最后补刷未对鞋跟剩余泥块建立有效刷毛接触，断在第6块泥入盘，控制子因因遮挡及无状态日志不能细分。任务设计问题：视频终态为入盘5/6而刷毛接触历史4/6，逐块直接刷毛接触要求还会拒认间接扫落的清洁结果（D9）；此设计限制不另加机器人失败标签，但也不能替代本次确实残留一块泥的物理失败。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点时间（8.6/20.4/26.4/31.4/48.8 s）、终态5/6、断点在第6块泥入盘与视频顶部计数及 log step 90 的控制步一致；现象与根因有证据且已标明推断，未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:21:32Z", + "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-boot-sole-brush-i00-standard--acfwrre/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-standard--acfwrre/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "af6de36db463d727cb2edffa80d1ae4d5f8ab9e45b1fa6ad4295f000fb183a35", + "video_sha256": "ab7a1b31bb7e47559f7e26be06b809658d9d5948497655797f17ee6d6545820c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--bt6mlw4.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--bt6mlw4.json new file mode 100644 index 0000000000000000000000000000000000000000..9594069d1ce434c848b4f3dbd2f8c4ae9e2aa2ee --- /dev/null +++ b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--bt6mlw4.json @@ -0,0 +1,386 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-boot-sole-brush-i00-standard--bt6mlw4", + "taskKey": "dexhand/boot_sole_brush", + "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 571, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 1252, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 11, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1252, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.303, + "peak_processes": 11, + "peak_disk_gb": 0.863, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-standard--bt6mlw4/replay.mp4", + "duration_s": 26.4, + "fps": 5.0, + "frames": 132, + "sha256": "4fd431448e3695cb55cf419536b0d50e549c4bdae9a8fcbba73b4227dad459c3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_in_hand": { + "method": "visual", + "intervals": [ + [ + 5.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，鞋刷刷毛朝下放在台面，右手张开在旁，尚未拿起。" + }, + { + "t": 5.2, + "log_step": 367, + "text_zh": "观察：视频 4.8–6.2 s，右手合指夹住鞋刷木背后抬升，刷子随手离开原台面位置，视频 6.2 s 已明显悬在手中；首达约视频 5.2 s，精度约 ±0.4 s。log step 367 的最后一次 episode 输出依次报告 grip 240、lift 310，与这段动作顺序一致。" + }, + { + "t": 25.2, + "log_step": 412, + "text_zh": "观察：视频 25.2 s 转腕后出现 FAIL: brush_dropped；本节点是拿起事件，先前确已拿离台面，因此仍按 event 规则锁存为 true，不表示末尾仍稳定握持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右侧灵巧手以拇指与其余弯曲手指夹握鞋刷木背并抬离台面；视频 4.8–6.2 s 可见刷子随手上升。左手未参与。" + } + ] + }, + "clods_in_tray_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.4, + "log_step": 379, + "text_zh": "观察：视频 0.0 s 六块泥均在朝上的靴底，收集盘为空；视频 18.0–24.8 s 右手持刷在靴子近侧来回移动，刷毛位于泥块下方，泥块未被扫离鞋底。画面顶部的基准状态显示 clods brushed 0/6、in tray 0/6，因此第1块泥入盘条件从未成立。" + }, + { + "t": 26.2, + "log_step": null, + "text_zh": "观察：视频 25.2–26.2 s 终止画面显示 FAIL: brush_dropped、stage 0/3、clods brushed 0/6、in tray 0/6、hold 0/50，靴底泥块仍在原处；最终入盘数量为零，未达到至少1块。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 18.0–24.8 s，右手持鞋刷作横向往返刷扫尝试；刷毛低于靴底泥块，未实际扫到泥块，顶部 clods brushed 始终为 0/6。六个计数节点对应同一批清扫尝试，此项记录实际采用的工具刷扫方式，不表示已建立刷毛—泥块接触。" + } + ] + }, + "clods_in_tray_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.4, + "log_step": 379, + "text_zh": "观察：视频 0.0 s 六块泥均在朝上的靴底，收集盘为空；视频 18.0–24.8 s 右手持刷在靴子近侧来回移动，刷毛位于泥块下方，泥块未被扫离鞋底。画面顶部的基准状态显示 clods brushed 0/6、in tray 0/6，因此第2块泥入盘条件从未成立。" + }, + { + "t": 26.2, + "log_step": null, + "text_zh": "观察：视频 25.2–26.2 s 终止画面显示 FAIL: brush_dropped、stage 0/3、clods brushed 0/6、in tray 0/6、hold 0/50，靴底泥块仍在原处；最终入盘数量为零，未达到至少2块。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 18.0–24.8 s，右手持鞋刷作横向往返刷扫尝试；刷毛低于靴底泥块，未实际扫到泥块，顶部 clods brushed 始终为 0/6。六个计数节点对应同一批清扫尝试，此项记录实际采用的工具刷扫方式，不表示已建立刷毛—泥块接触。" + } + ] + }, + "clods_in_tray_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.4, + "log_step": 379, + "text_zh": "观察：视频 0.0 s 六块泥均在朝上的靴底，收集盘为空；视频 18.0–24.8 s 右手持刷在靴子近侧来回移动，刷毛位于泥块下方，泥块未被扫离鞋底。画面顶部的基准状态显示 clods brushed 0/6、in tray 0/6，因此第3块泥入盘条件从未成立。" + }, + { + "t": 26.2, + "log_step": null, + "text_zh": "观察：视频 25.2–26.2 s 终止画面显示 FAIL: brush_dropped、stage 0/3、clods brushed 0/6、in tray 0/6、hold 0/50，靴底泥块仍在原处；最终入盘数量为零，未达到至少3块。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 18.0–24.8 s，右手持鞋刷作横向往返刷扫尝试；刷毛低于靴底泥块，未实际扫到泥块，顶部 clods brushed 始终为 0/6。六个计数节点对应同一批清扫尝试，此项记录实际采用的工具刷扫方式，不表示已建立刷毛—泥块接触。" + } + ] + }, + "clods_in_tray_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.4, + "log_step": 379, + "text_zh": "观察：视频 0.0 s 六块泥均在朝上的靴底，收集盘为空；视频 18.0–24.8 s 右手持刷在靴子近侧来回移动，刷毛位于泥块下方，泥块未被扫离鞋底。画面顶部的基准状态显示 clods brushed 0/6、in tray 0/6，因此第4块泥入盘条件从未成立。" + }, + { + "t": 26.2, + "log_step": null, + "text_zh": "观察：视频 25.2–26.2 s 终止画面显示 FAIL: brush_dropped、stage 0/3、clods brushed 0/6、in tray 0/6、hold 0/50，靴底泥块仍在原处；最终入盘数量为零，未达到至少4块。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 18.0–24.8 s，右手持鞋刷作横向往返刷扫尝试；刷毛低于靴底泥块，未实际扫到泥块，顶部 clods brushed 始终为 0/6。六个计数节点对应同一批清扫尝试，此项记录实际采用的工具刷扫方式，不表示已建立刷毛—泥块接触。" + } + ] + }, + "clods_in_tray_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.4, + "log_step": 379, + "text_zh": "观察：视频 0.0 s 六块泥均在朝上的靴底，收集盘为空；视频 18.0–24.8 s 右手持刷在靴子近侧来回移动，刷毛位于泥块下方，泥块未被扫离鞋底。画面顶部的基准状态显示 clods brushed 0/6、in tray 0/6，因此第5块泥入盘条件从未成立。" + }, + { + "t": 26.2, + "log_step": null, + "text_zh": "观察：视频 25.2–26.2 s 终止画面显示 FAIL: brush_dropped、stage 0/3、clods brushed 0/6、in tray 0/6、hold 0/50，靴底泥块仍在原处；最终入盘数量为零，未达到至少5块。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 18.0–24.8 s，右手持鞋刷作横向往返刷扫尝试；刷毛低于靴底泥块，未实际扫到泥块，顶部 clods brushed 始终为 0/6。六个计数节点对应同一批清扫尝试，此项记录实际采用的工具刷扫方式，不表示已建立刷毛—泥块接触。" + } + ] + }, + "clods_in_tray_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.4, + "log_step": 379, + "text_zh": "观察：视频 0.0 s 六块泥均在朝上的靴底，收集盘为空；视频 18.0–24.8 s 右手持刷在靴子近侧来回移动，刷毛位于泥块下方，泥块未被扫离鞋底。画面顶部的基准状态显示 clods brushed 0/6、in tray 0/6，因此第6块泥入盘条件从未成立。" + }, + { + "t": 26.2, + "log_step": null, + "text_zh": "观察：视频 25.2–26.2 s 终止画面显示 FAIL: brush_dropped、stage 0/3、clods brushed 0/6、in tray 0/6、hold 0/50，靴底泥块仍在原处；最终入盘数量为零，未达到至少6块。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "视频 18.0–24.8 s，右手持鞋刷作横向往返刷扫尝试；刷毛低于靴底泥块，未实际扫到泥块，顶部 clods brushed 始终为 0/6。六个计数节点对应同一批清扫尝试，此项记录实际采用的工具刷扫方式，不表示已建立刷毛—泥块接触。" + } + ] + } + }, + "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": "clods_in_tray_1", + "t": 17.6, + "log_step": 373, + "where": "操作中", + "evidence_zh": "观察：视频约 17.6 s，右手把鞋刷降到靴子近侧后，刷毛工作面仍低于朝上的泥块，随后视频 18.0–24.8 s 的往返刷扫没有移走任何泥块，首次清除入盘始终未完成。视频 25.0–25.2 s 最后转腕时刷子向下偏转，画面报 FAIL: brush_dropped 并停止。log step 364 重置到最后一次 episode，log step 373、379、390、400 是该次接近与刷扫，log step 412 是末次转腕；早先 episode 的失败不用于本断点。" + }, + "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": 18.4, + "log_step": 379, + "evidence_zh": "观察：视频 17.6–24.8 s，机器人右手持鞋刷在靴子近侧往返，刷毛在鞋底泥块下方，没有把任何泥块推离原位；顶部 clods brushed 与 in tray 一直为 0/6。成功参考视频中刷毛落在朝上的鞋底表面并随后使计数增加，本次未出现所需刷毛—泥块接触。" + }, + { + "cat": "接触", + "item": "没保持住", + "t": 25.2, + "log_step": 412, + "evidence_zh": "观察：视频 24.8 s 鞋刷仍随右手横向保持，视频 25.0–25.2 s 转腕时木背向下偏转，画面随即显示 FAIL: brush_dropped（control 1252），并在视频 26.2 s 保持该终止画面。推断：先前已经拿起的鞋刷在这次转腕中丢失稳定握持；失败在刷子继续下落前就被评分器锁定。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 379、390、400 的脚本通过机器人 wrist_stage 正运动学与关节误差补偿来往返移动腕部，固定腕部目标高度为 1.19 m，并保持同一组右手手指目标；视频 18.0–24.8 s 腕部确有往返运动，但刷毛工作面没有到达靴底泥块。log step 412 在同一握持目标下开始转腕，视频 25.2 s 即出现 brush_dropped。推断：本次控制没有把鞋刷的实际工作面与握持稳定性一起控制到清扫所需状态；证据支持控制层失败，但不足以进一步区分接触布局、轨迹与力反馈的责任。" + } + ], + "gap_zh": "没有状态日志；视频与服务终止叠字可确定入盘数为零和掉刷失败，但无法还原 2 ms 子步的接触对、夹持力及刷子相对手指的精确运动，故控制根因不细分。拿起时刻仅能定位至视频约 5.2 s（约 ±0.4 s）；掉刷触发后画面冻结，不能声称看到了刷子落地。run.json 的 reward 未报告 DAG 所列七项原生指标，native_metrics.value 均保留 null；视频计数仅用作节点证据。" + }, + "summary_zh": "最后一次评分 episode 中，机器人在视频约 5.2 s 拿起鞋刷，拿起事件锁存达成；六个泥块入盘节点均未达成，最终进度为 1/7。机器人在视频约 17.6 s 后持刷往返时刷毛低于泥块，未建立有效清扫接触，视频 25.2 s 最后转腕又触发 brush_dropped；断点为第1块泥入盘，根因归控制。无状态日志，无法进一步确定握持力、子步接触和具体控制子型。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间、断点（第1块泥入盘，操作中）与终态叠字（0/6、FAIL: brush_dropped、control 1252）均与视频一致；两个现象有帧支持，未发现必须修改的错误。根因仅标泛化的“控制”，证据只够到这一层，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": "2026-10-30T19:28:18Z", + "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-boot-sole-brush-i00-standard--bt6mlw4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-standard--bt6mlw4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "26305163bf159d148ce1185679981580d7b168f46b930d2ad13792b018b33d36", + "video_sha256": "4fd431448e3695cb55cf419536b0d50e549c4bdae9a8fcbba73b4227dad459c3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--ezhjveh.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--ezhjveh.json new file mode 100644 index 0000000000000000000000000000000000000000..0ee4fad0b9e5c8c83b75636fb0661bd623c6ea5e --- /dev/null +++ b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--ezhjveh.json @@ -0,0 +1,358 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-boot-sole-brush-i00-standard--ezhjveh", + "taskKey": "dexhand/boot_sole_brush", + "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 1355, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 2549, + "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": 2549, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.305, + "peak_processes": 11, + "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-boot-sole-brush-i00-standard--ezhjveh/replay.mp4", + "duration_s": 52.2, + "fps": 5.0, + "frames": 261, + "sha256": "b9586a92aca467a4d09ef45cf1244fbe6130e620a6cc49795bfb29d439931da0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "brush_in_hand": { + "method": "visual", + "intervals": [ + [ + 6.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：视频 3.2–5.0 s，机器人右手拇指与其余手指从两侧闭合夹住鞋刷木背；视频 6.2–7.4 s，刷子随右手上升、离开原来的台面位置，约视频 6.4 s 已可确认拿起（时间精度约0.4秒）。" + }, + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频 8.0–16.0 s，鞋刷持续由右手带动，随后被送到靴底上方；视频 50.0–51.0 s 的滑脱不撤销已经完成的 event 节点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.2–7.4 s，机器人右侧灵巧手以拇指和其他手指对向夹住黄褐色刷背并抬离台面；后续右手带刷移动。" + } + ] + }, + "clods_in_tray_1": { + "method": "visual", + "intervals": [ + [ + 24.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24.8, + "log_step": null, + "text_zh": "观察：视频 23.8–24.6 s，机器人右手持刷扫过鞋底，棕色泥块离开鞋底向绿色盘内下落；视频顶部 in tray（评分器的盘内泥块计数）在视频 24.6 s 为0/6、视频 24.8 s 首次为1/6；视频 25.0–52.0 s 计数始终不少于1，盘内泥块未被取出。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 23.8–24.8 s，机器人右手持鞋刷，以刷毛沿鞋底扫推泥块使其下落入盘；同一工具作用链只记录刷毛对泥块的推扫。" + } + ] + }, + "clods_in_tray_2": { + "method": "visual", + "intervals": [ + [ + 25.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：同一轮右手持刷扫动后，视频 24.8 s 顶部 in tray 为1/6，视频 25.0 s 增为2/6；随后画面可见绿色盘底两块棕色泥，视频 25.2–52.0 s 计数始终不少于2。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 23.8–25.0 s，机器人右手持刷扫推鞋底同一区域的泥块，两块先后落入盘；右手未直接夹取泥块。" + } + ] + }, + "clods_in_tray_3": { + "method": "visual", + "intervals": [ + [ + 32.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 32.0, + "log_step": null, + "text_zh": "观察：机器人右手持刷移到鞋底另一侧扫动；视频 31.2 s 顶部 clods brushed（评分器记录的曾被刷毛触过的泥块数）增为3/6，此时 in tray 仍为2/6；视频 31.8 s 可见新泥块沿靴子右侧下落，视频 32.0 s in tray 增为3/6，盘底出现第三块。" + }, + { + "t": 52.0, + "log_step": null, + "text_zh": "观察：视频 34.0–50.8 s 以及视频 51.0–52.0 s 的结束静帧，盘内三块泥保留，顶部 in tray 均为3/6。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 30.8–32.0 s，机器人右手持刷在靴底另一侧扫推泥块，泥块从靴侧下落到绿色盘内。" + } + ] + }, + "clods_in_tray_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.4, + "log_step": null, + "text_zh": "观察：视频 44.0–49.4 s，机器人将右手中的鞋刷转为竖向，在剩余泥块所在鞋底处扫动；视频 49.2 s 顶部 clods brushed 为3/6，视频 49.4 s 增为4/6，但 in tray 仍为3/6。" + }, + { + "t": 51.0, + "log_step": 187, + "text_zh": "观察：视频 49.6–50.8 s 鞋刷相对右手明显滑转，视频 51.0 s 顶部显示 FAIL: brush_dropped；视频 51.0–52.0 s 仍是 clods brushed 4/6、in tray 3/6，第四块泥未入盘。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 44.0–49.4 s，机器人右手持竖向鞋刷推扫剩余泥块，顶部刷毛接触累计数由3增至4；该次扫刷未使盘内泥块数增加，随后刷子在右手中滑转。" + } + ] + }, + "clods_in_tray_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 52.0, + "log_step": null, + "text_zh": "观察：视频 0.0–52.0 s 的粗查及视频 23.8–26.0 s、30.8–32.4 s、46.0–52.0 s 的逐帧检查中，盘内计数依次为0、1、2、3，结束时仍为3/6，未达到至少5块；视频 51.0 s 已因鞋刷掉落终止，未继续对余下泥块执行下一轮扫刷。" + } + ] + }, + "clods_in_tray_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 52.0, + "log_step": null, + "text_zh": "观察：视频 0.0–52.0 s 的粗查及视频 23.8–26.0 s、30.8–32.4 s、46.0–52.0 s 的逐帧检查中，盘内计数依次为0、1、2、3，结束时仍为3/6，未达到至少6块；视频 51.0 s 已因鞋刷掉落终止，未继续对余下泥块执行下一轮扫刷。" + } + ] + } + }, + "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": "clods_in_tray_4", + "t": 50.0, + "log_step": 187, + "where": "操作中", + "evidence_zh": "观察：视频 32.0 s 后已有3块泥在盘内；机器人在视频 44.0–49.4 s 继续持刷处理剩余泥块，刷毛接触计数增至4/6而盘内仍为3/6。视频 49.6–50.8 s，鞋刷在右手中滑转并向鞋底倾落，视频 51.0 s 顶部显示 FAIL: brush_dropped，之后无修复；log step 187 的最后一轮 episode 11 状态为 control_steps=2549、done=True、reason=task_failure。" + }, + "unmet": { + "clods_in_tray_1": true, + "clods_in_tray_2": true, + "clods_in_tray_3": true, + "clods_in_tray_4": false, + "clods_in_tray_5": false, + "clods_in_tray_6": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 50.0, + "log_step": 187, + "evidence_zh": "观察：视频 48.4–49.4 s 鞋刷仍横跨右手指端，由右手带动；视频 49.6–50.8 s 右手继续移动时，刷背相对指端向下滑转，刷毛露出并朝鞋底倾落。视频 51.0 s 出现评分器 FAIL: brush_dropped，盘内仍为3/6；机器人此前已拿起并搬运鞋刷，此处是持刷丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 50.0, + "log_step": 179, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 179 的最终控制脚本先用对向手指夹刷，再增加拇指及其余手指闭合目标，随后竖直扫刷和撤回均沿用该握持；其 track 实现（log step 67、104）只在显式指定 hand 时改变手指目标。视频 49.6–50.8 s 中刷子相对手指滑转，表明该夹持接触在本次竖刷及撤离过程中未能约束刷子的转动和下滑，因此归为抓取和接触设计；没有接触力记录，不能进一步确定摩擦、夹持力或接触位置各自的贡献。" + } + ], + "gap_zh": "没有状态日志；视频能确认三块入盘和评分器 brush_dropped，但指腹与刷背接触部分被手掌遮挡，无法核实精确接触对、夹持力或滑脱的物理子步，也未验证本次握法的可行替代。原生指标在 run.json 的 reward 中均未报告，故 native_metrics 的 value 均为 null；视频顶部的3/6入盘、4/6刷毛接触和0/50静置仅作为视觉证据。节点拿起时间按可见抬升近似标注。" + }, + "summary_zh": "机器人拿起鞋刷并先后将3块泥扫入收集盘，最终完成4/7个节点。尝试第4块泥入盘时，视频 49.6–50.8 s 鞋刷在右手中滑转，视频 51.0 s 显示 brush_dropped 并结束；当前夹持未能维持竖刷及撤离中的工具稳定。无状态或接触力日志，夹持失稳的具体受力机制和原生指标数值不能核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点进度（拿起鞋刷、盘内1–3块、第4块未达）与断点 clods_in_tray_4（视频约50 s 鞋刷滑脱，51.0 s 显示 FAIL: brush_dropped，3/6入盘）和视频及log一致；没有可成立的改动。未发现需要修改的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:22:34Z", + "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-boot-sole-brush-i00-standard--ezhjveh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-standard--ezhjveh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e44445fd67b05d702b6a5f3fd2fd0c68c108cd7465ee5e44e1493ed6caef6660", + "video_sha256": "b9586a92aca467a4d09ef45cf1244fbe6130e620a6cc49795bfb29d439931da0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--izselvt.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--izselvt.json new file mode 100644 index 0000000000000000000000000000000000000000..203b906c4b1d09c4a92e2a0ca0f2f00dca3e9231 --- /dev/null +++ b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--izselvt.json @@ -0,0 +1,310 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-boot-sole-brush-i00-standard--izselvt", + "taskKey": "dexhand/boot_sole_brush", + "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 22, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 214, + "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": 214, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 38.697, + "peak_processes": 9, + "peak_disk_gb": 0.246, + "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-boot-sole-brush-i00-standard--izselvt/replay.mp4", + "duration_s": 5.6, + "fps": 5.0, + "frames": 28, + "sha256": "4bc5b9d53d9b9d08a13fe00cf2e6e25e97a03c07106aa0aa932e2d3e0e1a4339" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brush_in_hand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 76, + "text_zh": "观察：log step 76 先重置，再执行接近及下探鞋刷；这是最后一次现场 episode。评分视频从右手张开、刷子刷毛朝下放在台面的初态开始，末尾 control 214 与 reward.n_actions=214 一致；log step 59、75 的动作属于重置前会话，不计入本段进度。" + }, + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 1.6–2.4 s，右手弯曲手指压在木背上，刷子在台面滑动并转向；视频 2.6–3.0 s，手向上离开，刷子仍在原工作台区域，没有随手离台。视频 3.2–4.2 s 右手空手运动；全段未见右手包夹鞋刷并带离台面的结果。" + }, + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：视频 4.4–5.4 s 保持失败终帧，右臂折回，刷子所在区域被前景手臂部分遮住，顶部仍为 stage 0/3。成功参考视频 8.0 s 则能看到鞋刷随右手离台；此对照仅用于辨认拿刷完成的可见线索。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1.6–2.4 s，右手弯曲的手指向下压碰鞋刷木背，并使刷子在台面滑动、转向；视频 2.6–3.0 s 手离开而刷子留在台面，未形成可见的对向包夹抓握。" + } + ] + }, + "clods_in_tray_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：检查视频 0.0–5.4 s 的全部28帧，六块棕色泥一直留在朝上的绿色靴底，未见刷子接近靴底或泥块落入盘中，顶部 in tray 始终为 0/6、clods brushed 为 0/6；视频 5.4 s 终帧仍如此，因此未达到至少1块入盘。该计数节点未开始操作。" + } + ] + }, + "clods_in_tray_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：检查视频 0.0–5.4 s 的全部28帧，六块棕色泥一直留在朝上的绿色靴底，未见刷子接近靴底或泥块落入盘中，顶部 in tray 始终为 0/6、clods brushed 为 0/6；视频 5.4 s 终帧仍如此，因此未达到至少2块入盘。该计数节点未开始操作。" + } + ] + }, + "clods_in_tray_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：检查视频 0.0–5.4 s 的全部28帧，六块棕色泥一直留在朝上的绿色靴底，未见刷子接近靴底或泥块落入盘中，顶部 in tray 始终为 0/6、clods brushed 为 0/6；视频 5.4 s 终帧仍如此，因此未达到至少3块入盘。该计数节点未开始操作。" + } + ] + }, + "clods_in_tray_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：检查视频 0.0–5.4 s 的全部28帧，六块棕色泥一直留在朝上的绿色靴底，未见刷子接近靴底或泥块落入盘中，顶部 in tray 始终为 0/6、clods brushed 为 0/6；视频 5.4 s 终帧仍如此，因此未达到至少4块入盘。该计数节点未开始操作。" + } + ] + }, + "clods_in_tray_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：检查视频 0.0–5.4 s 的全部28帧，六块棕色泥一直留在朝上的绿色靴底，未见刷子接近靴底或泥块落入盘中，顶部 in tray 始终为 0/6、clods brushed 为 0/6；视频 5.4 s 终帧仍如此，因此未达到至少5块入盘。该计数节点未开始操作。" + } + ] + }, + "clods_in_tray_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：检查视频 0.0–5.4 s 的全部28帧，六块棕色泥一直留在朝上的绿色靴底，未见刷子接近靴底或泥块落入盘中，顶部 in tray 始终为 0/6、clods brushed 为 0/6；视频 5.4 s 终帧仍如此，因此未达到至少6块入盘。该计数节点未开始操作。" + } + ] + } + }, + "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": 2.6, + "log_step": 76, + "where": "操作中", + "evidence_zh": "观察：视频 1.6–2.4 s 右手压碰并推转鞋刷，视频 2.6–3.0 s 手离开而刷子没有随手拿起，拿刷失败此后未修复；视频 4.4 s 顶部首次显示 FAIL: robot_collision，control 214，评分片段就此停止。log step 76 的最后一次重置后抓刷脚本随后收到 EpisodeOver: task_failure，尚未执行其后计划的 lift 和刷泥动作。" + }, + "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": 2.6, + "log_step": 76, + "evidence_zh": "观察：视频 1.6–2.4 s 右手虽碰到鞋刷木背，但没有可见的对向包夹；视频 2.6–3.0 s 右手空手离开，刷子留在台面。拿起鞋刷所需的抓持接触没有建立，不是已经拿起后滑落。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 4.4, + "log_step": null, + "evidence_zh": "观察：视频 3.6–4.2 s 右臂折回到台边，视频 4.4 s 基准服务在画面顶部报 FAIL: robot_collision，control 214，此后到视频 5.4 s 都保持该终帧。该原生判负确认机器人发生禁碰，但画面不能分辨具体接触对。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 76 的最后一次重置后脚本以固定手指弯曲量执行接近及下探，调用的是 log step 54、65 所写控制器；该控制器在逆解失败时仅输出警告，仍将所选关节解及累计偏置经关节插值提交，未检查整条运动的碰撞。视频 1.6–3.0 s 实际表现为压转刷子后空手离开，视频 4.4 s 又由服务报告 robot_collision；接触和运动控制均未实现拿刷。证据不足以进一步区分接触设计、逆解和跟踪误差各自的贡献，保留在控制层。" + } + ], + "gap_zh": "观察：inputs/ 没有本次状态日志；视频虽明确报告 robot_collision，但不能识别碰撞的连杆与对象，也不能核验物理子步接触力。log step 78 中 agent 自述“most likely into the tray”是对碰盘的猜测，与本次视频 4.4 s 的原生 robot_collision 不同，不作为事实；重置前 log step 75 的 89.8 mm 误差也不移作本次测量。reward 未报告 DAG 的七项原生指标数值，故 native_metrics.value 均为 null，画面上的计数另用于节点证据。" + }, + "summary_zh": "本次评分片段只尝试拿起鞋刷：视频 1.6–2.4 s 右手压碰并推转刷子，视频 2.6–3.0 s 空手离开，七个节点均未达到，六块泥始终留在靴底。视频 4.4 s 原生画面报告 robot_collision 并停止，断点为拿起鞋刷，接触和运动控制未成功。无状态日志，具体碰撞对及各控制误差的贡献不能确定；agent 在 log step 78 的碰盘解释未获视频支持。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频 1.6–3.0 s 右手压碰推转刷子后空手离开、刷子留台面；视频 4.4 s 起画面报 FAIL: robot_collision（control 214），七节点均未达成，断点与现象与画面一致，未发现需要改动的错误。根因“控制”为推断且已标注，证据不足以细分。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:26:29Z", + "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-standard--izselvt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-standard--izselvt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "00f5ca83f45f24211538716a58ec12b6889eda78c09b3bb45a2407b7380640e8", + "video_sha256": "4bc5b9d53d9b9d08a13fe00cf2e6e25e97a03c07106aa0aa932e2d3e0e1a4339", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--jpu5nan.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--jpu5nan.json new file mode 100644 index 0000000000000000000000000000000000000000..21e4628af35446dacfab7f6ec0fd6510fc714e35 --- /dev/null +++ b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--jpu5nan.json @@ -0,0 +1,311 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-boot-sole-brush-i00-standard--jpu5nan", + "taskKey": "dexhand/boot_sole_brush", + "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 248, + "control_steps_total": 5594, + "elapsed_s": 3633.426, + "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": 489, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 9, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 489, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.411, + "peak_processes": 8, + "peak_disk_gb": 0.28, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-standard--jpu5nan/replay.mp4", + "duration_s": 11.0, + "fps": 5.0, + "frames": 55, + "sha256": "ce6eb379910abc08ab5aad52a974417411f142ce5bdbde4423580580c7538f53" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brush_in_hand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": 75, + "text_zh": "观察：视频 0.0–2.2 s 右手握拳下探台面鞋刷附近，视频 2.4–4.2 s 右手抬起但鞋刷仍以刷毛朝下留在台面；视频 4.4–7.0 s 再次下探并空手抬起。log step 75 对同一末次现场局的抓刷检查输出“held pts 0 / NOT HELD”。" + }, + { + "t": 9.8, + "log_step": 76, + "text_zh": "观察：视频 8.0–9.8 s 右手手指压在鞋刷木背附近，刷子未离开台面；视频 9.8–10.8 s 顶部显示“FAIL: robot_collision | control 489”，鞋刷仍在原台面区域。全片未见右手夹住并带离鞋刷。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 8.6–9.8 s 右侧灵巧手的弯曲手指向下压靠鞋刷木背及边缘；前两次下探后均空手抬起，没有形成可见的对向夹持并拿离台面的抓握。" + } + ] + }, + "clods_in_tray_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.8, + "log_step": null, + "text_zh": "观察：视频 0.0–10.8 s 鞋底上的泥块未被刷动，收集盘内未见泥块落入；顶部原生“in tray”计数始终为 0/6，末帧仍为 0/6。右手全程在台面鞋刷附近尝试拿刷，未持刷到达靴底，因此未达到至少1块泥入盘。" + } + ] + }, + "clods_in_tray_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.8, + "log_step": null, + "text_zh": "观察：视频 0.0–10.8 s 鞋底上的泥块未被刷动，收集盘内未见泥块落入；顶部原生“in tray”计数始终为 0/6，末帧仍为 0/6。右手全程在台面鞋刷附近尝试拿刷，未持刷到达靴底，因此未达到至少2块泥入盘。" + } + ] + }, + "clods_in_tray_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.8, + "log_step": null, + "text_zh": "观察：视频 0.0–10.8 s 鞋底上的泥块未被刷动，收集盘内未见泥块落入；顶部原生“in tray”计数始终为 0/6，末帧仍为 0/6。右手全程在台面鞋刷附近尝试拿刷，未持刷到达靴底，因此未达到至少3块泥入盘。" + } + ] + }, + "clods_in_tray_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.8, + "log_step": null, + "text_zh": "观察：视频 0.0–10.8 s 鞋底上的泥块未被刷动，收集盘内未见泥块落入；顶部原生“in tray”计数始终为 0/6，末帧仍为 0/6。右手全程在台面鞋刷附近尝试拿刷，未持刷到达靴底，因此未达到至少4块泥入盘。" + } + ] + }, + "clods_in_tray_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.8, + "log_step": null, + "text_zh": "观察：视频 0.0–10.8 s 鞋底上的泥块未被刷动，收集盘内未见泥块落入；顶部原生“in tray”计数始终为 0/6，末帧仍为 0/6。右手全程在台面鞋刷附近尝试拿刷，未持刷到达靴底，因此未达到至少5块泥入盘。" + } + ] + }, + "clods_in_tray_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.8, + "log_step": null, + "text_zh": "观察：视频 0.0–10.8 s 鞋底上的泥块未被刷动，收集盘内未见泥块落入；顶部原生“in tray”计数始终为 0/6，末帧仍为 0/6。右手全程在台面鞋刷附近尝试拿刷，未持刷到达靴底，因此未达到至少6块泥入盘。" + } + ] + } + }, + "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": 2.6, + "log_step": 75, + "where": "操作中", + "evidence_zh": "观察：视频约 2.6 s 右手首次从鞋刷附近抬起时没有带起鞋刷；视频约 6.6–7.0 s 第二次抬手仍空手，后续未修复拿刷失败。视频 9.8 s 在继续下探拿刷时出现“FAIL: robot_collision”，随后保持至视频 10.8 s；机器人始终没有进入刷靴底步骤。log step 73 是最后一次 reset（episode 10），log steps 75–76 在该局继续抓刷，log step 77 仅写入综合脚本，没有执行记录。" + }, + "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": 2.6, + "log_step": 75, + "evidence_zh": "观察：视频 2.6–4.2 s、6.6–7.0 s 右手从台面上方抬起，黄褐色鞋刷仍留在台面，未随手移动；log step 75 也输出“NOT HELD”。所需的承载夹持没有建立，后续手指压靠木背也未拿起鞋刷。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 9.8, + "log_step": 76, + "evidence_zh": "观察：视频 8.6–9.6 s 右手压靠台面上的鞋刷，手腕和前臂继续降低；视频 9.8 s 原生状态条明确显示“FAIL: robot_collision | control 489”，此后动作停止，log step 76 的服务调用返回 EpisodeOver: task_failure。该碰撞发生于继续拿刷期间；画面不能辨认具体碰撞几何对。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 76, + "source_zh": "日志", + "evidence_zh": "推断：抓刷动作未建立承载接触，后续纠偏也未避开碰撞。log step 75 使用闭拳下压、抬手，输出未抓住；log step 76 的脚本以指尖平均位置误差直接累加腕部目标，目标指尖高度为 0.897 m，而反馈高度从 0.942 m 到 0.935 m、0.934 m 后仍反复追加向下修正，随后服务报失败。视频 8.6–9.8 s 同样显示手压靠刷子、手腕继续下降并触发 robot_collision。证据支持抓取及近台面运动控制失败，尚不足以区分接触几何与反馈控制子因。" + } + ], + "gap_zh": "本任务没有状态日志；现有总览视频和原生 robot_collision 提示可确认失败，但不能确定碰撞的机器人连杆及对侧几何体，也不能精确分离抓取几何、轨迹跟踪与反馈修正各自的作用，根因保留在控制大类。run.json 的 reward 未报告 DAG 所列七项原生指标，故 native_metrics 的 value 均为 null；不以视频叠字替代评分器字段。此前重置局不用于本局节点进度，log step 77 的综合脚本只有写入记录，不据此补计刷扫。" + }, + "summary_zh": "观察：评分视频中右手反复下探拿刷后空手抬起，鞋刷始终留在台面，六个泥块入盘节点均未达到，节点终值为 0/7。推断：断点为拿起鞋刷，抓刷及近台面纠偏控制未形成承载接触；观察：继续尝试时视频约 9.8 s 出现原生 robot_collision 失败提示。无状态日志，具体碰撞几何对及更细控制子因不能确认；最后写入的综合刷扫脚本没有执行证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频（控制步0–489）显示右手两次下探空手抬起、第三次压靠鞋刷后在约9.8 s 出现 FAIL: robot_collision；鞋刷始终在台面，in tray 始终 0/6。节点、断点、现象与根因均有证据支持，未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:24:20Z", + "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-boot-sole-brush-i00-standard--jpu5nan/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-standard--jpu5nan/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "98f0a2e2774a51ac47893c40caa1cd188a534b5af4a15b558b3dd1e4aee2031d", + "video_sha256": "ce6eb379910abc08ab5aad52a974417411f142ce5bdbde4423580580c7538f53", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--nt2svdy.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--nt2svdy.json new file mode 100644 index 0000000000000000000000000000000000000000..a7943c06ab6aac813477cfa73750896acb370d35 --- /dev/null +++ b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--nt2svdy.json @@ -0,0 +1,310 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-boot-sole-brush-i00-standard--nt2svdy", + "taskKey": "dexhand/boot_sole_brush", + "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 131, + "control_steps_total": 4214, + "elapsed_s": 3588.298, + "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": 159, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 19, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 159, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.578, + "peak_processes": 9, + "peak_disk_gb": 0.291, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-standard--nt2svdy/replay.mp4", + "duration_s": 4.4, + "fps": 5.0, + "frames": 22, + "sha256": "c96d8cf9d0c59399019f4824b0b25dac4cb22c687e6ab347ab1c067dbc0abb6a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_in_hand": { + "method": "visual", + "intervals": [ + [ + 2.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 0.0 s 鞋刷平放台面；视频 0.8–2.4 s 右手下降并合拢手指，视频 2.8–3.0 s 鞋刷随右手抬升，刷毛下缘已离开台面，原台面位置不再留有刷子。首次拿离约在视频 2.8 s，受5 fps采样影响约有0.2 s误差。" + }, + { + "t": 3.2, + "log_step": 516, + "text_zh": "观察：视频 3.2 s 鞋刷相对闭合右手向下翻转，顶部显示“FAIL: brush_dropped | control 159”，视频 3.4–4.2 s 保持该终态；log step 516 服务返回episode=20、control_steps=159、done=True、reason=task_failure，与本次视频相符。拿起节点是event，曾拿离台面即锁存，随后掉刷不撤销此事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 0.8–2.4 s 右侧灵巧手的拇指与其余手指向鞋刷木背两侧合拢，视频 2.8–3.0 s 短暂夹持并抬动鞋刷，视频 3.2 s 刷子相对手掌下翻，握持未保持。" + } + ] + }, + "clods_in_tray_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.2, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.0–4.2 s，右手和鞋刷始终停留在台面附近，未到达朝上的靴底；靴底六块棕色泥块未见减少，绿色收集盘未见泥块落入，顶部“clods brushed 0/6 | in tray 0/6”始终不变，故至少1块泥入盘的状态从未成立。" + } + ] + }, + "clods_in_tray_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.2, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.0–4.2 s，右手和鞋刷始终停留在台面附近，未到达朝上的靴底；靴底六块棕色泥块未见减少，绿色收集盘未见泥块落入，顶部“clods brushed 0/6 | in tray 0/6”始终不变，故至少2块泥入盘的状态从未成立。" + } + ] + }, + "clods_in_tray_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.2, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.0–4.2 s，右手和鞋刷始终停留在台面附近，未到达朝上的靴底；靴底六块棕色泥块未见减少，绿色收集盘未见泥块落入，顶部“clods brushed 0/6 | in tray 0/6”始终不变，故至少3块泥入盘的状态从未成立。" + } + ] + }, + "clods_in_tray_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.2, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.0–4.2 s，右手和鞋刷始终停留在台面附近，未到达朝上的靴底；靴底六块棕色泥块未见减少，绿色收集盘未见泥块落入，顶部“clods brushed 0/6 | in tray 0/6”始终不变，故至少4块泥入盘的状态从未成立。" + } + ] + }, + "clods_in_tray_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.2, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.0–4.2 s，右手和鞋刷始终停留在台面附近，未到达朝上的靴底；靴底六块棕色泥块未见减少，绿色收集盘未见泥块落入，顶部“clods brushed 0/6 | in tray 0/6”始终不变，故至少5块泥入盘的状态从未成立。" + } + ] + }, + "clods_in_tray_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.2, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.0–4.2 s，右手和鞋刷始终停留在台面附近，未到达朝上的靴底；靴底六块棕色泥块未见减少，绿色收集盘未见泥块落入，顶部“clods brushed 0/6 | in tray 0/6”始终不变，故至少6块泥入盘的状态从未成立。" + } + ] + } + }, + "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": 3.2, + "log_step": 516, + "where": "操作中", + "evidence_zh": "观察：视频 2.8–3.0 s 机器人右手刚将鞋刷抬离台面，尚未送到靴底；视频 3.2 s 刷子向下翻落，画面显示“FAIL: brush_dropped”，后续至视频 4.2 s 未恢复。log step 506 重置为episode 20，log step 507 提交最后一次控制轨迹，log step 516 确认该episode在159控制步以task_failure结束，因此断点是拿刷操作中的握持丢失。" + }, + "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": "没保持住", + "t": 3.2, + "log_step": 516, + "evidence_zh": "观察：视频 2.8–3.0 s 鞋刷随右手上升，随后在视频 3.2 s 相对仍合拢的手指由近水平姿态向下翻转，木背竖斜垂下；顶部由running变为“FAIL: brush_dropped | control 159”。这是短暂拿起后的握持丢失，未见刷毛接近靴底。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 507 的最后一次控制脚本在抬升段继续使用同一q_grasp_fingers目标，并未安排松手；结合视频 2.8–3.2 s 右手闭合抬升而鞋刷相对手掌翻落，说明实际抓持控制未能稳定承载鞋刷。现有证据不足以在接触几何、夹持力和运动跟踪之间细分原因，归入控制大类。", + "source_zh": "日志 / 视频", + "log_step": 507, + "t": 3.2 + } + ], + "gap_zh": "本目录无状态日志；手指内侧接触部分被掌部遮挡，缺少接触对、夹持力及刷子位姿速度记录，不能进一步区分抓取几何、接触力或跟踪误差，也不能精确确定掉刷约束由哪一个子条件触发。inputs/run.json的reward未报告DAG列出的七项原生指标，故native_metrics.value均留null；画面中的计数仅用于视觉节点证据。" + }, + "summary_zh": "评分对象是log step 506–516的最后一次现场episode 20；机器人约在视频 2.8 s 短暂拿起鞋刷，完成1/7个节点，六块泥仍在靴底，尚未开始刷扫。视频 3.2 s 抬刷时握持丢失并触发brush_dropped，断点为拿起鞋刷操作中，根因可归控制，但缺少接触力与物体状态记录，无法可靠细分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频、log一致：视频约2.6–3.0 s右手带动鞋刷离台，3.2 s掉刷触发brush_dropped（control 159，log step 516 task_failure），其余6个入盘节点未达成；断点、现象、控制大类根因均有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:31:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-standard--nt2svdy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-standard--nt2svdy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "793e55927d795255e5ddde508a43203d91b5e9df8de59ccae5e9e69567c1d7d1", + "video_sha256": "c96d8cf9d0c59399019f4824b0b25dac4cb22c687e6ab347ab1c067dbc0abb6a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--qshjd2d.json b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--qshjd2d.json new file mode 100644 index 0000000000000000000000000000000000000000..b3ee8586b2708b4686f43c2f8063805928f40d1c --- /dev/null +++ b/phase2/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--qshjd2d.json @@ -0,0 +1,321 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-boot-sole-brush-i00-standard--qshjd2d", + "taskKey": "dexhand/boot_sole_brush", + "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 35, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 679, + "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": 679, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.428, + "peak_processes": 9, + "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-boot-sole-brush-i00-standard--qshjd2d/replay.mp4", + "duration_s": 14.8, + "fps": 5.0, + "frames": 74, + "sha256": "cc64a558042cde0c6cac8f3333cabd968a2c181a54f0e21348f786d402a68c36" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_in_hand": { + "method": "visual", + "intervals": [ + [ + 8.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.4, + "log_step": 82, + "text_zh": "观察：视频 8.2–8.8 s，右手拇指与其余手指夹住鞋刷木背，刷子随右手升高，离开原台面位置；视频 9.2–10.4 s，右手继续携刷接近靴底。拿离台面的时刻约为视频 8.4 s（5 fps 下约有 0.2 s 误差）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右手拇指与其余手指相向夹握鞋刷木背并将其提离台面，左手未参与。" + } + ] + }, + "clods_in_tray_1": { + "method": "visual", + "intervals": [ + [ + 13.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.2, + "log_step": 119, + "text_zh": "观察：视频 12.8–13.0 s，右手持刷扫过鞋跟一侧，泥块向下掉落；视频 13.0 s 状态栏仍为 in tray 0/6，视频 13.2 s 变为 1/6，绿色盘内出现一块棕色泥。视频 13.6–14.6 s 该泥留在盘中且计数维持 1/6。状态栏是基准环境在回放中显示的判定及计数，不是 agent 自述。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手持鞋刷以刷毛扫推靴底泥块，一块泥离开鞋底落入绿色收集盘；按 D16(a) 记推/扫。" + } + ] + }, + "clods_in_tray_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.6, + "log_step": 119, + "text_zh": "观察：视频 13.0 s，右手仍在持刷操作，clods brushed 已为 2/6；视频 13.2–13.4 s 仅有一块泥在盘中。视频 13.6 s 状态栏变为 FAIL: hand_touched_debris，control 679，in tray 仍为 1/6，直到视频 14.6 s 没有第二块泥入盘。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手继续持鞋刷扫推鞋跟区域的泥块；视频 13.0 s 的 clods brushed 2/6 确认刷毛已触过第二块泥，入盘总数未达到2。" + }, + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "视频 13.6 s 的环境判定 hand_touched_debris 确认工作右手直接碰到泥块；腕部遮挡具体接触处，不能辨明哪根手指及其接触方式，不能据此标为抓握。" + } + ] + }, + "clods_in_tray_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.6, + "log_step": null, + "text_zh": "观察：视频 0.0 s 六块泥仍在朝上的靴底，盘内为空；视频 13.2 s 入盘计数才达到 1/6，此后至视频 14.6 s 的失败静止画面均为 1/6，靴底仍有多块泥，未达到至少3块入盘。" + } + ] + }, + "clods_in_tray_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.6, + "log_step": null, + "text_zh": "观察：视频 0.0 s 六块泥仍在朝上的靴底，盘内为空；视频 13.2 s 入盘计数才达到 1/6，此后至视频 14.6 s 的失败静止画面均为 1/6，靴底仍有多块泥，未达到至少4块入盘。" + } + ] + }, + "clods_in_tray_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.6, + "log_step": null, + "text_zh": "观察：视频 0.0 s 六块泥仍在朝上的靴底，盘内为空；视频 13.2 s 入盘计数才达到 1/6，此后至视频 14.6 s 的失败静止画面均为 1/6，靴底仍有多块泥，未达到至少5块入盘。" + } + ] + }, + "clods_in_tray_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.6, + "log_step": null, + "text_zh": "观察：视频 0.0 s 六块泥仍在朝上的靴底，盘内为空；视频 13.2 s 入盘计数才达到 1/6，此后至视频 14.6 s 的失败静止画面均为 1/6，靴底仍有多块泥，未达到至少6块入盘。" + } + ] + } + }, + "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": "clods_in_tray_2", + "t": 13.6, + "log_step": 119, + "where": "操作中", + "evidence_zh": "观察：视频 13.2 s 第一块泥已入盘，右手仍持刷在靴底鞋跟区域继续清除其余泥；视频 13.6 s 环境显示 FAIL: hand_touched_debris，control 679，clods brushed 2/6、in tray 1/6，随后直至视频 14.6 s 均冻结。第1块入盘已完成，第2块入盘的操作被右手直接触泥的判负中止，之后未修复。" + }, + "unmet": { + "clods_in_tray_1": true, + "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": "约束", + "item": "违反约束", + "t": 13.6, + "log_step": 119, + "evidence_zh": "观察：视频 13.4 s 右手及刷子贴近靴底泥块，视频 13.6 s 环境明确显示 FAIL: hand_touched_debris，违反不得由右手直接碰泥的限制；回放随即停止于 control 679。接触位置被腕部遮挡，没有足够画面证据另判阻挡或抓持滑脱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 119 的 agent 控制脚本以固定手指闭合姿态、固定刷毛到掌部偏移 dp_b=[0.039,0.093,-0.141] 生成整段刷扫关节轨迹，并一次提交六轮动作；视频 12.4–13.6 s 右手持刷下降、扫过泥块时发生 hand_touched_debris，说明实际执行未保持手与泥块的间隙。log step 123 的脚本注释又提出改变握持位置及刷子俯仰以抬高小指侧，但该解释和改法未被执行验证；现有证据只支持控制层归因，不能确定是握持几何还是跟踪偏差所致。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "观察：inputs/ 无状态日志，视频只有总览；腕部遮住触泥处，无法定位具体手指、对应泥块及接触力，也无法细分控制根因。评分器 reward 未报告 DAG 所列七项原生指标，故 native_metrics 均为 null；视频状态栏的入盘及刷毛接触计数仅用于节点证据。log step 124 出现模型过滤提示，但视频 13.6 s 已显示本次物理尝试被右手触泥判负，不能把之后的过滤作为这次断点的原因。" + }, + "summary_zh": "右手约在视频 8.4 s 拿起鞋刷，视频 13.2 s 将一块泥刷落入盘，最终完成2/7个节点。继续清除第2块泥时，视频 13.6 s 环境以 hand_touched_debris 判负，刷毛触过2块但仅1块入盘；证据支持控制未保持手与泥块间隙，无法进一步区分握持与跟踪问题。无状态日志且腕部遮挡具体触点；log step 124 的模型过滤发生在这次物理失败之后。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间、断点（clods_in_tray_2，视频13.6 s状态栏 FAIL: hand_touched_debris）和现象/根因与帧及状态栏一致；拿起刷子的时刻(8.4 s)在约一秒内成立，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": "2026-10-30T19:27:49Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-standard--qshjd2d/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-boot-sole-brush-i00-standard--qshjd2d/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "63f86f8a5793b260b78362493a79425fc227a7f73067627d629451753d2ba6a5", + "video_sha256": "cc64a558042cde0c6cac8f3333cabd968a2c181a54f0e21348f786d402a68c36", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--hqq5r74.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--hqq5r74.json new file mode 100644 index 0000000000000000000000000000000000000000..de834ecad3601ba28cf16273fb2e748de4273742 --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--hqq5r74.json @@ -0,0 +1,220 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-privileged--hqq5r74", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 5900, + "sim_steps": 5900, + "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": 2.061, + "peak_processes": 11, + "peak_disk_gb": 0.274, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-envelope-letter-insert-i00-privileged--hqq5r74/replay.mp4", + "duration_s": 13.84, + "fps": 25.0, + "frames": 346, + "sha256": "842a1aa4251da4bbd994f382bd77fdf6684a7f745ff336461ed30e18027416c1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "letter_in_envelope": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 1.2～3.4 s，机器人右手伸直的食指按在信纸上表面并带动其平移，其他手指蜷起；信纸与左侧信封之间仍有清楚的桌面间隙，没有夹持或入袋。" + }, + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 3.4～8.6 s，机器人反复按擦信纸，信纸停滞后向画面右下方桌边偏移，未送至信封口；视频叠字始终为阶段 0/3。" + }, + { + "t": 13.72, + "log_step": null, + "text_zh": "观察：视频 12.8～13.72 s 的终态静帧中，整张信纸仍在信封外，右手食指仍压在信纸上；原生叠字为阶段 0/3、inside 0.0%、outside 176.0 mm、hand contacts L1/E0（右手对信纸/信封的接触数）、released hold 0/50。run.json 的评分器字段 stages_completed=0、success=0 与该外观一致。" + }, + { + "t": null, + "log_step": 74, + "text_zh": "观察：log step 73 的最终生成过程在动作上限处保存 5900 行轨迹，log step 74 检查交付文件为有限值的 (5900,58) 动作数组；此前调试运行的到口、碰撞或越界记录不作为本次节点进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1.2～11.5 s，机器人右手食指指腹从上方压住信纸表面，靠摩擦拖动并反复调整接触位置；没有拇指与其他手指对向夹持，信封始终与信纸分离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "letter_in_envelope", + "t": 4.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 4.0 s，机器人仍用右手食指按擦信纸，信纸未向信封口对准，随后在视频 4.0～8.6 s 停滞并向桌边偏移；视频 13.72 s 信纸仍完全在袋外，阶段 0/3，整个插入步骤未修复。此处时间仅为持续偏移过程的粗略跳转锚点。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 4.0, + "log_step": null, + "evidence_zh": "观察：视频 3.4～8.6 s，右手在信纸上按擦，信纸没有移到信封口，而是向画面右下方桌边偏移；视频 13.72 s 信纸与信封仍相隔明显桌面，整张留在袋外，未出现成功参考视频 6～10 s 所示的沿口部送入过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "log_step": 73, + "evidence_zh": "推断：机器人对信纸的拖动控制未能实现预定平移方向。log step 73 的最终生成输出中，信纸在 dy1 阶段的 y 坐标从 -0.1844 m 继续减小到 -0.2415 m，而信封中心 y=0.16 m，随后推送阶段进一步减小到 -0.3046 m；同一过程保存了最终 5900 行文件，log step 74 复核其形状。视频 4.0～11.5 s 也显示信纸向远离信封的桌边偏移。agent 在 log step 75 自述仍有指尖跟踪偏差和偏航漂移；该自述支持控制问题，但不能单独证明机械臂不可达，故不细分逆解、反馈控制或接触设计。" + } + ], + "gap_zh": "没有状态日志，无法独立量测关节限位、指尖跟踪误差及接触力，不能核实 agent 在 log step 73、75 所称的姿态下不可达，也不能确定控制问题的子类。视频末帧能直接确认信纸未入袋；DAG 所列七个连续指标未在 run.json 的评分器结果中报告，因此 native_metrics 的 value 均留 null，未以视频叠字或调试输出代填。", + "unmet": { + "letter_in_envelope": false + } + }, + "summary_zh": "机器人右手食指按擦并拖动信纸，但信纸始终未到信封口，插入节点全程不成立，最终为 0/1，评分器记录阶段 0/3。视频约 4.0 s 起的停滞、向桌边偏移及末帧两物体分离支持操作中的位姿不准；最终生成日志支持拖动控制未实现预定方向。缺少状态日志，控制子类及 agent 自述的不可达原因无法独立核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点 letter_in_envelope 全程未成立、末帧信纸在袋外、右手食指压/擦的接触、断点和位姿不准现象均与视频及原生叠字（阶段0/3，outside 176 mm）一致；控制类根因是带推断标注的合理解释，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": "2026-10-30T19:28:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--hqq5r74/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--hqq5r74/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b69d980de7804c12405266a5017a5160b8c8442e47dfe710f0c066ca07876916", + "video_sha256": "842a1aa4251da4bbd994f382bd77fdf6684a7f745ff336461ed30e18027416c1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--niyhj98.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--niyhj98.json new file mode 100644 index 0000000000000000000000000000000000000000..0c243368a5b8a53b9d6e4d45a9f9b636775c8d19 --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--niyhj98.json @@ -0,0 +1,216 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-privileged--niyhj98", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 4146, + "sim_steps": 4146, + "stages_completed": 1, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 5.137, + "peak_processes": 12, + "peak_disk_gb": 0.875, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-envelope-letter-insert-i00-privileged--niyhj98/replay.mp4", + "duration_s": 13.92, + "fps": 25.0, + "frames": 348, + "sha256": "c4a06bac89059042f252e509293f0bcc5d3f40e1388f89badcc9838b75c1dde7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "letter_in_envelope": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 信纸与信封分开放在桌面上，插入关系尚未成立；视频 1～7 s 右手张开，以指腹按住信纸沿桌面拖移，将信纸移到信封口外。" + }, + { + "t": 11.7, + "log_step": 96, + "text_zh": "观察：视频 10.3～11.7 s 右手继续推送，信纸相对信封歪斜，信封随之滑移；叠字在视频约 11.5 s 显示阶段 1/3，尚未完整插入。log step 95～96 是对最终交付来源 sidepush_new2.npy 的独立回放，返回 stage_completed=1、inserted=false、failure=envelope_displaced；log step 119 将该文件的 4146 个动作保存交付，reward 的 n_actions=4146、deterministic=1、stages_completed=1 与之相符。" + }, + { + "t": 13.88, + "log_step": null, + "text_zh": "观察：视频 11.8～13.88 s 为失败终态，大片信纸仍露在信封外且右手仍压在信纸上；叠字为 FAIL: envelope_displaced、阶段 1/3、outside 100.2 mm、hand contacts L11/E0（L 为右手与信纸的有效接触数，E 为右手与信封的有效接触数）、released hold 0/50。全片未见完整插入并离手静置的状态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1～7 s 及 9～11.8 s，机器人右手张开，用数个指腹按压信纸并沿桌面滑拖、向信封口推送；拇指没有与其余手指相对夹住信纸。末段仍以指腹压住外露信纸，左手未参与。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "letter_in_envelope", + "t": 11.0, + "log_step": 96, + "where": "操作中", + "evidence_zh": "观察：视频约 10.3～11.8 s，机器人右手推送信纸时，信纸与信封相交处发生相对歪斜，信封也随推送移动，外露长度随后基本停在约 101 mm；视频约 11.8 s 出现 envelope_displaced 判负，之后直到视频 13.88 s 均未修复。log step 95～96 复核的正是 log step 119 保存的动作文件，其 failure_detail 为 envelope、control 4145，envelope_shift_m=0.0500113。此处视频时刻取自已检查的帧，未把日志工作时间或叠字仿真时间直接当作视频时间。" + }, + "unmet": { + "letter_in_envelope": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 11.0, + "log_step": 96, + "evidence_zh": "观察：视频 10.3～11.8 s 右手推动信纸，信封随信纸接触向前滑移并转动，信纸仍斜在口外，未继续顺畅进入袋腔；视频约 11.8 s 显示 envelope_displaced。log step 96 对交付来源动作文件的回放报告信封水平移位 0.0500113 m，超过 0.05 m；末态手与信封接触数为 0、与信纸接触数为 11。推断：推送信纸的接触碰动了作为插入目标的信封，所需的信纸相对信封的进入运动受阻；被遮挡处的具体阻挡部位不能确定。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "log_step": 92, + "evidence_zh": "观察：视频 9～11.8 s 机器人保持张开的多指接触，按住信纸继续推送；信纸相对信封逐渐歪斜，信封跟着移动。log step 87 的脚本及 log step 92 的修改显示，交付来源动作采用右手手指目标全为 0、固定手部朝向和固定横向坐标/高度的逐段直推，读取信纸位置、阶段和信封位移仅用于打印及停止条件，没有在这段推送中按信纸相对信封的朝向调整接触点。推断：该多指按推的接触布局未能约束信纸朝向并维持口部对准，推力传到信封上，使信封移位先于完整插入；在本次轨迹中未验证可行的替代接触布局。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无状态日志；信纸与信封接触区部分被右手遮挡，不能辨别最先阻挡的是口唇、侧封还是其他壁面，也不能从总览精确重建子步接触力。连续原生指标未在 reward 字段报告，因此 native_metrics 均填 null；log step 96 的同文件回放读数只作为与视频一致的辅助证据。" + }, + "summary_zh": "右手以张开的指腹按拖信纸到信封口，达到原生阶段 1/3，但完整插入并离手静置的语义节点始终未达成，终态为 0/1。视频约 10.3～11.8 s 的推送使信纸歪斜并碰动信封，最终因信封移位过大判负；日志与视频支持多指按推接触布局未能维持对准。无状态日志，具体阻挡壁面和瞬时接触力无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点、被挡/碰撞现象与抓取和接触设计根因均与视频及叠字一致；视频约 12 s 前后由 IN PROGRESS 变为 FAIL: envelope_displaced，标注的约 11.8 s 在一秒内。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:35:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "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-envelope-letter-insert-i00-privileged--niyhj98/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--niyhj98/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cbe34eed8e084b43f455c666e4dadf64e46e79fdc5eadca19af6773105134d3e", + "video_sha256": "c4a06bac89059042f252e509293f0bcc5d3f40e1388f89badcc9838b75c1dde7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--t8x3bxk.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--t8x3bxk.json new file mode 100644 index 0000000000000000000000000000000000000000..1b51c3cd12f42d31a2c979cfc9fc4cfb9dcdcf12 --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--t8x3bxk.json @@ -0,0 +1,210 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-privileged--t8x3bxk", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 4211, + "sim_steps": 4211, + "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": 4.439, + "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-envelope-letter-insert-i00-privileged--t8x3bxk/replay.mp4", + "duration_s": 13.28, + "fps": 25.0, + "frames": 332, + "sha256": "1eb605158724c7c0f5adc261fe5479f08ec85049b90ca4eec24b0c189805692a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "letter_in_envelope": { + "method": "visual", + "intervals": [ + [ + 11.24, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 信纸与信封分别平放在桌上，信纸尚未进入信封，叠字为阶段 0/3、静置 0/50。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 1.50 s 机器人右手四指指腹压在信纸上并带动其沿桌面滑行，信纸已离开初始位置；视频 3.00～5.50 s 信纸随右手移动到信封口前。" + }, + { + "t": 6, + "log_step": null, + "text_zh": "观察：视频 5.96～6.04 s 信纸前缘逐渐进入信封前壁下，原生叠字从阶段 0/3 变为 1/3，视频 6.00 s 仍露出约 86.0 毫米；视频 7.00～8.50 s 右手抬起改换手形，随后以单根中指推送外露后缘。" + }, + { + "t": 11.08, + "log_step": null, + "text_zh": "观察：视频 10.40～11.08 s 右手中指持续推送，大片外露信纸逐渐收进袋内；视频 11.08 s 原生叠字为阶段 1/3、外露 5.4 毫米、接触 L1/E0、静置 0/50，尚未满足完整验收。L/E 分别表示右手与信纸/信封的有效接触数。" + }, + { + "t": 11.24, + "log_step": null, + "text_zh": "观察：视频 11.12～11.24 s 右手指尖抬离物体，叠字静置计数递增；视频 11.24 s 首次显示 PASS、阶段 3/3、外露 4.9 毫米、接触 L0/E0、静置 50/50。视频 11.28 s 切至最终近景，至视频 13.24 s 信纸仅露窄边、手指与物体留有间隙，成功读数保持不变。" + }, + { + "t": 11.24, + "log_step": 60, + "text_zh": "观察：log step 60 中基准运行时输出终态 inserted=True、四角均在侧封内且位于两壁之间、released_hold_steps=50，并报告外露 0.004869068 米及原生速度、信封位移和倾角读数；这些读数用于 native_metrics。log step 61 检查生成轨迹与已成功轨迹的 4211×58 个控制值完全一致；log step 62 的独立回放通过三个阶段，log step 66 的两次回放成功且终态哈希相同。" + }, + { + "t": 11.24, + "log_step": 66, + "text_zh": "推断：结合视频 11.24 s 的完整成功叠字、log step 61 的交付动作一致性检查、log step 62 与 log step 66 的独立成功复核，以及 reward.success=1、stages_completed=3、deterministic=1，判定本次交付完成插入与退手静置。节点时间直接取所检视频帧；末段叠字的仿真 84.22 s 不作为视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 1.50～6.50 s 机器人右手食指、中指、无名指和小指指腹从上方接触信纸，带动信纸沿桌面滑行并送入口部；视频 8.50～11.08 s 改由右手中指指尖推送信纸后缘，随后抬指退开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": 0.004869068073014772 + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": 5.199726705940586e-07 + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": 8.120449517246261e-09 + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": 0.0005147663157540705 + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": 1.817986375648131e-06 + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": 0.002042139206788176 + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": 2.1672303347135336e-05 + } + ], + "failure": null, + "summary_zh": "观察：机器人右手先以四指指腹带动信纸沿桌面滑行并对准信封口，再改用中指推送后缘，视频 11.24 s 完成阶段 3/3、无手部接触及静置 50/50，唯一目标节点完成并保持至视频 13.24 s。观察：评分结果 success=1、deterministic=1，log step 61 确认交付动作与成功轨迹完全一致，log step 62、log step 66 确认两次独立回放成功且终态哈希一致。本次没有状态日志，袋内毫米级几何和瞬时速度依据原生叠字及 log step 60 的基准终态读数辅助判断；末段为成功后的最终静帧，未将叠字仿真时钟换作视频时钟。", + "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，唯一目标节点 letter_in_envelope 在视频 11.24 s 出现 PASS、阶段 3/3、L0/E0、静置 50/50，与标注一致；接触标注（指腹推/扫后改指尖推）与帧相符，无失败层，叠字仿真时钟未被换算成视频时间。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:24:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--t8x3bxk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--t8x3bxk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "401e3706ac422dcda0408a6d9b1ea54bee95bcef4556bcbcc31d713bfbc22dc3", + "video_sha256": "1eb605158724c7c0f5adc261fe5479f08ec85049b90ca4eec24b0c189805692a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--xbcokgx.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--xbcokgx.json new file mode 100644 index 0000000000000000000000000000000000000000..3b2f427456299fc8bee0079c2b0a55c66bfa1d9b --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--xbcokgx.json @@ -0,0 +1,217 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-privileged--xbcokgx", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1287, + "sim_steps": 1287, + "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": 2.883, + "peak_processes": 11, + "peak_disk_gb": 1.03, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-envelope-letter-insert-i00-privileged--xbcokgx/replay.mp4", + "duration_s": 12.36, + "fps": 25.0, + "frames": 309, + "sha256": "3ed6a46a3a23d0d83a070d80b0aabe40d9b5b63c35c8e51c20f81597f6449d4d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "letter_in_envelope": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 信纸与信封分开放在桌上，插入关系初始不成立；视频 0.0～10.2 s 的逐段检查中，右手接近并在信纸上方压擦，信纸始终未移动到信封口部。" + }, + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 4.0 s 右手非拇指侧的指腹贴在信纸上表面，拇指悬在旁边，没有相向夹持；原生叠字 hand contacts L1/E0 表示右手与信纸有 1 个有效接触、与信封无接触，阶段仍为 0/3。" + }, + { + "t": 10.32, + "log_step": 166, + "text_zh": "观察：视频约 10.3 s 信纸在右手下翘起并与指腹分离，原生叠字变为 FAIL: letter_dropped、stage 0/3、hand contacts L0/E0、released hold 0/50；视频 11.36～12.32 s 仍为相同失败终态，信纸与信封分离。log step 166 对最终交付的 1287 行动作进行两次官方回放，均返回 letter_dropped、success=False，状态哈希一致；reward 也报告 deterministic=1、stages_completed=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 4.0～10.2 s，机器人右手指腹压在信纸上表面，沿表面摩擦拖动；拇指未与其他手指相向夹住信纸，未见右手接触信封。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "letter_in_envelope", + "t": 10.3, + "log_step": 166, + "where": "操作中", + "evidence_zh": "观察：视频 10.24～10.32 s，机器人右手仍在搬移信纸的途中，信纸突然翘离桌面、脱离指腹；画面立即报告 letter_dropped，信封仍在另一处，尚未建立口部插入关系。log step 164 保存的最终文件为 1287 行动作，log step 166 两次官方回放均确认同一掉落失败；不是后续 log step 176 的独立测试。" + }, + "unmet": { + "letter_in_envelope": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 10.3, + "log_step": 166, + "evidence_zh": "观察：视频 4.0～10.2 s 右手指腹与信纸已有接触；视频约 10.3 s 信纸从指腹下翘起并分离，接触叠字从 L4/E0 降为 L0/E0，同时显示 letter_dropped。信纸还在信封外，机器人未执行目标内的计划释放；此前接触没有维持到搬移完成。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 10.3, + "log_step": 142, + "source_zh": "视频、日志", + "evidence_zh": "推断：视频 4.0 s 与 9.4～10.32 s 显示右手依靠弯曲手指的指腹从信纸上方压擦，没有相向夹持，末段信纸被带得翘起后脱离。log step 140 的控制脚本固定手指姿态，log step 142 将搬移段改为根据最低指腹高度累计调整手根高度，log step 144 设置约 2 N 的初始按压力，log step 148 修正平移反馈后仍复现掉落；该脚本经 log step 162、164 生成最终交付文件。所选上表面摩擦接触及其维持方式未能让信纸保持平稳滑动，属于接触设计失稳；没有在本次交付中验证可替换的接触方案。" + } + ], + "gap_zh": "无逐帧状态日志或连续接触力记录，不能确定失稳由哪一指腹、具体压力或瞬时几何变化主导；根因的接触设计判断为视频与交付脚本结合的推断。reward 未报告 DAG 所列连续指标，native_metrics 均保留 null，未将会话诊断值冒充评分器指标。agent 在 log step 179 自述拖动约 94 毫米，但最终交付的 log step 164 终态信纸位置为 [0.4593,-0.1334,0.7210] 米，且视频始终未到信封口；该自述不用于节点进度。" + }, + "summary_zh": "右手已接触信纸并尝试用指腹压擦搬移，但信纸始终未到信封口，唯一目标节点未达到，终态为 0/1。视频约 10.3 s 信纸翘起后脱离右手，画面及最终文件的两次官方回放均报告 letter_dropped；所选摩擦拖动接触未能稳定维持。缺少连续力与状态记录，不能进一步确定指腹局部失稳机制，亦不能把会话其他测试或 agent 的拖动距离自述当成本次交付进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成（0/1）、断点 letter_in_envelope/操作中、时钟与叠字读数（视频 4 s L1、8 s L4、10.3 s 起 letter_dropped、L0）均与帧和 log 步 140-166 一致；未发现需改的错误。根因'抓取和接触设计'为标注为推断且 alt_feasible 未知，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": "2026-10-30T19:29:34Z", + "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-envelope-letter-insert-i00-privileged--xbcokgx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--xbcokgx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "120d764a5b0df2d42db15a297028c161af9cf083dff3370a37412207dd764f4b", + "video_sha256": "3ed6a46a3a23d0d83a070d80b0aabe40d9b5b63c35c8e51c20f81597f6449d4d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--yzkmxxd.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--yzkmxxd.json new file mode 100644 index 0000000000000000000000000000000000000000..e60d29d8114442b0d2f31430aee4195404b87f41 --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--yzkmxxd.json @@ -0,0 +1,210 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-privileged--yzkmxxd", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 2510, + "sim_steps": 2510, + "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": 2.392, + "peak_processes": 9, + "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-envelope-letter-insert-i00-privileged--yzkmxxd/replay.mp4", + "duration_s": 13.2, + "fps": 25.0, + "frames": 330, + "sha256": "edb157b27447ad64e926fc41e942c76d11c13ec34d9a33da8b0d9f53a68b4dca" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "letter_in_envelope": { + "method": "visual", + "intervals": [ + [ + 11.16, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 信纸与信封分开放在桌面上，信纸尚未进入信封，节点初始不成立。" + }, + { + "t": 0.4, + "log_step": null, + "text_zh": "观察：视频 0.40 s 右手四指指腹压在信纸上表面，拇指在侧上方；视频 0.40～6.40 s 信纸随右手沿桌面滑移到信封口前，原位置不再有信纸，未见拇指与其他手指对夹信纸。" + }, + { + "t": 8.4, + "log_step": null, + "text_zh": "观察：视频 7.20～8.40 s 右手继续带动信纸滑入口部，露在袋外的信纸明显缩短，视频 8.40 s 叠字已为阶段 1/3；视频 8.40～10.80 s 右手抬起改换位置后，以指尖从外露后缘推进信纸。" + }, + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 10.60 s 信纸仅剩窄边露出，叠字为阶段 2/3、outside 4.6 mm、接触 L1/E1、静置 0/50；L/E 分别表示右手与信纸/信封的有效接触数，故此时尚未完成离手静置验收。" + }, + { + "t": 11.16, + "log_step": null, + "text_zh": "观察：逐帧检查视频 10.40～11.60 s，视频 11.12 s 仍为阶段 2/3、静置 42/50，视频 11.16 s 首次显示 PASS、阶段 3/3、outside 3.8 mm、接触 L0/E0、静置 50/50，右手已抬离。视频 11.20～13.16 s 的最终近景保持相同通过读数，信纸在信封内且只露窄边；11.16 s 为视频帧锚点，不是叠字中的仿真 50.20 s。" + }, + { + "t": null, + "log_step": 30, + "text_zh": "观察：inputs/run.json 的评分器 reward 为 success=1、stages_completed=3、deterministic=1、sim_steps=2510；log step 27 记录交付文件的新场景回放成功，log step 28～29 记录重新生成并保存交付，log step 30 对该交付文件两次新进程回放均返回 success、stage=3、steps=2510 且终态哈希一致，与本次视频末段通过读数相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 0.40～8.40 s 右手四指指腹从上方压住信纸，带动其沿桌面滑移并初步送入口部；没有对向夹持。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 8.40～10.80 s 右手撤起改换位置后，指尖从信纸外露后缘向信封内推送；视频 10.60～10.80 s 接触叠字同时记录右手触及信纸与信封，随后右手抬离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "右手先用指腹压住信纸沿桌面滑移并送入信封口，再改用指尖推进外露后缘，最后抬手；视频 11.16 s 首次显示阶段 3/3、接触 L0/E0、静置 50/50，唯一目标节点完成并保持到结束。评分器 success=1、deterministic=1，交付文件在 log step 30 两次新进程回放均成功，与视频相符。没有状态日志，毫米级袋内几何及速度以视频原生验收读数和评分器成功结果确认；评分器 reward 未报告 DAG 所列连续指标的具体值，native_metrics 均保留 null，未以会话调试读数代填。", + "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 letter_in_envelope 在视频 11.16 s 首次 PASS（阶段 3/3、L0/E0、静置 50/50），11.12 s 仍为 42/50，时间与最终值正确；接触（指腹压/擦、指尖推/扫）与画面相符；成功运行无失败层，无问题。", + "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": "2026-10-30T19:30:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--yzkmxxd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--yzkmxxd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "454179c364afe9887b3d7adb206f70cca46e028f5db6d3dd43e50d488401b697", + "video_sha256": "edb157b27447ad64e926fc41e942c76d11c13ec34d9a33da8b0d9f53a68b4dca", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--ajffikn.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--ajffikn.json new file mode 100644 index 0000000000000000000000000000000000000000..e086a7d1d22cefa1a3469f773d7f3c0605cbeac9 --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--ajffikn.json @@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-standard--ajffikn", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 410, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 1060, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1060, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.404, + "peak_processes": 13, + "peak_disk_gb": 0.303, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-envelope-letter-insert-i00-standard--ajffikn/replay.mp4", + "duration_s": 23.4, + "fps": 5.0, + "frames": 117, + "sha256": "3681f94e42b386e03877ed0d6b9605005e19a09375cf320365152669e673333b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "letter_in_envelope": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，白色信纸与信封分别平放在桌面两处，信纸尚未送到口部。" + }, + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 5.0～12.8 s 已按每帧检查；右手屈曲的指尖靠近信纸右侧及上方，随后横向移开，信纸仍留在原处。视频 7.0、8.0、10.0 s 的原生叠字均为 stage 0/3、hand contacts L0/E0（右手与信纸、信封的有效接触数均为零），未见夹持或信纸随手移动。" + }, + { + "t": 23.2, + "log_step": null, + "text_zh": "观察：视频 13.0～21.2 s，右手继续移向信封一侧上方，信纸与信封仍分离；视频 21.2～23.2 s 的最终静帧已逐帧检查，信纸完整露在桌上，叠字仍为 stage 0/3、inside 0.0%、L0/E0、released hold 0/50，插入及离手静置验收均未达到。" + }, + { + "t": null, + "log_step": 122, + "text_zh": "观察：log step 121 重置后，log step 122 启动最后一局脚本并打印 contact at 1、east chunk centre 等自行计算的接触和位置判断；这些不是评分器读数，视频没有相应信纸位移。log step 125 中 agent 自述最后一局已拖动信纸、北向移动拖走信封，与评分视频不符，节点按视频判断。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "右手指尖尝试从上方按住信纸并横向拖动（视频 5.0～12.8 s）；此处按未接触尝试记录作用端和尝试方式。画面叠字 L0/E0、信纸不动，未建立有效按压接触，亦未见相向夹持，不标抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "letter_in_envelope", + "t": 7.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 7.0 s，右手指尖已靠近信纸并开始作平移尝试，但有效接触读数为 L0/E0，信纸未被带走；视频 8.0～12.8 s 该尝试仍未带动信纸，之后右手移开，至视频 23.2 s 信纸仍未进入信封。" + }, + "unmet": { + "letter_in_envelope": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 7.0, + "log_step": null, + "evidence_zh": "观察：视频 5.0～12.8 s，机器人右手指尖在信纸旁下降并掠过其上方，信纸全程未随手移动；视频 7.0、8.0、10.0 s 原生手部接触计数均为 L0/E0，后续至视频 23.2 s 未见补成有效接触或插入。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 7.0, + "log_step": 122, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：接触建立及其执行校验失效。log step 122 中 agent 的脚本打印手指偏差 d0 dev 0.109 j20、d1 dev 0.122 j20 后判定 contact at 1，随后继续执行分段拖动并报告位置变化；但评分视频 7.0～12.8 s 显示右手移动而信纸不动，原生有效接触数仍为 L0/E0。控制流程没有把实际未接触纠正为有效按拖；现有证据不足以将其进一步归到接触几何、逆解跟踪或具体反馈参数。" + } + ], + "gap_zh": "无状态日志，且 inputs/run.json 的最后一局脚本 descend 附近有明确截断，缺少真实末端位姿、接触力及完整检测逻辑，故控制根因仅标大类。log step 122～125 的脚本位置判断及 agent 自述与评分视频不一致，不能据此标注信纸已拖动、信封碰撞或移位；未把脚本运行耗时映射为视频时间。reward 未报告 DAG 所列七项连续指标，native_metrics 的 value 均为 null。" + }, + "summary_zh": "评分轨迹中，右手接近信纸并作按拖尝试，但未建立有效接触，信纸始终留在桌面原处；“信纸插入信封”节点从未成立，最终为 0/1。断点在视频约 7.0 s 的接触建立阶段，现象为没建立接触，证据支持控制流程未能正确建立并核验接触。最后一局脚本及 agent 自述声称的拖动与视频不符；无状态日志且检测代码被截断，无法进一步确定具体控制故障。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频 0～23.2 s 信纸始终留在桌面原处，叠字 stage 0/3、L0/E0、hold 0/50，节点未达成、final=false、断点与「没建立接触」均与画面相符；控制根因仅标大类且已说明证据限度，未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:35:21Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--ajffikn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--ajffikn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b50f6b0b0ce24da6f349e65e9dce01de90cd729f481579271747a545ab73398a", + "video_sha256": "3681f94e42b386e03877ed0d6b9605005e19a09375cf320365152669e673333b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--gvmcvxs.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--gvmcvxs.json new file mode 100644 index 0000000000000000000000000000000000000000..bd3a2511b9836b412336ad946630f115a8960a8e --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--gvmcvxs.json @@ -0,0 +1,233 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-standard--gvmcvxs", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 118, + "control_steps_total": 7685, + "elapsed_s": 3649.03, + "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": 2635, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 3, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 2635, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.352, + "peak_processes": 8, + "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-envelope-letter-insert-i00-standard--gvmcvxs/replay.mp4", + "duration_s": 55.0, + "fps": 5.0, + "frames": 275, + "sha256": "f0f8703313fe46c18384bd173baeb5e6d31656b912ff3ced84cb44136da33e90" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "letter_in_envelope": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，信封位于画面左上，信纸在右下，两者分开，原生叠字为阶段 0/3、静置 0/50，初始未插入。" + }, + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 0.0–30.0 s，右手接触并推移信纸，但信纸仍完整露在信封右下侧的桌面上；视频 30.0 s 原生叠字仍为阶段 0/3、袋内比例 0.0%、静置 0/50。" + }, + { + "t": 52.8, + "log_step": 73, + "text_zh": "观察：视频 32.6–52.6 s，右手转到信封处操作，信纸留在右下桌面；视频 52.8 s 已显示 FAIL: envelope_displaced。视频 54.0–54.8 s 的末段静帧仍见两物体分开，阶段 0/3、袋内比例 0.0%、静置 0/50，故插入并离手静置的节点始终未成立。log step 73 明确重置并启动 episode 4，不能将此前三次尝试的记录计入本次进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 2.0–10.0 s，机器人右手伸出的手指接触并沿桌面推移信纸；视频约 34.0–52.6 s，右手手指改在信封表面及边缘推划，末段实际推走了信封。未见对向夹住信纸或信封的抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "letter_in_envelope", + "t": 52.6, + "log_step": 73, + "where": "操作中", + "evidence_zh": "观察：视频约 32.6 s 起右手转向左上的信封，信纸仍在右下桌面；视频 52.0–52.6 s 右手指尖持续推移信封，视频 52.8 s 出现 FAIL: envelope_displaced，插入步骤未完成且此后仅有终态静帧。log step 73 是重置后最后一次 episode 4 的控制脚本启动及阶段输出。" + }, + "unmet": { + "letter_in_envelope": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 52.6, + "log_step": null, + "evidence_zh": "观察：视频 52.0–52.6 s，机器人右手指尖接触并推动信封，信封向画面左下滑动，而信纸仍停在右下桌面；视频 52.6 s 原生接触计数 L0/E6（L 为手与信纸接触数，E 为手与信封接触数），视频 52.8 s 标明 envelope_displaced 失败。这里是手碰动了应保持原位的信封。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "source_zh": "日志 / 视频", + "log_step": 73, + "t": 32.6, + "evidence_zh": "推断：agent 的视觉测量把信封附近的白色目标当作信纸，导致后续推送作用于信封。log step 73 在第一次 +y 推送后将 card 从 [0.5907,-0.1716] 报到 [0.4933,0.1627] 米，后续反复报告约 [0.4933,0.163] 米，并以该 card 估计启动插入推送；但视频 30.0–36.0 s 显示完整信纸仍在右下原处，机器人右手却转去左上的信封。log step 14 的 card_pose 按距预测 seed 最近的白色连通区域选目标，log step 65 的 sweep 在推送后用预测位置调用 meas，log step 73 延续这套测量；这些记录与视频中的目标转移共同支持物体身份/位置关联错误。" + } + ], + "gap_zh": "没有状态日志，无法独立量测袋内毫米级几何、接触力或瞬时速度；但信纸全程在袋外及末段信封被推移均可见。run.json 的 reward 未报告 DAG 所列七个连续原生指标，native_metrics 的 value 均留 null；视频叠字的 outside 仅作为观察证据，未冒充 reward 字段。log step 73 的输出停在首次插入推送前，最终判负类型取自视频叠字；感知根因由该次日志测量与视频对照推断。" + }, + "summary_zh": "本次评分对应最后一次重置后的 episode 4：右手推移过信纸，但信纸始终留在信封外，信纸插入信封节点未达到，最终进度为 0/1。后半段机器人转而推移信封，视频 52.8 s 显示 envelope_displaced 失败；结合 log step 73 将 card 位置报告在信封附近，推断视觉目标关联错误使后续动作落在信封上。没有状态日志，连续原生指标也未在 reward 中报告，无法独立核验毫米级几何及动力学量。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标签与视频、日志一致：信纸全程在信封外（叠字阶段 0/3），52.6–52.8 s 手推动信封触发 envelope_displaced；log step 73 中 card 位置由约 [0.59,-0.17] 突变到信封位置 [0.49,0.16]（env 为 [0.4753,0.1524]），而视频 30 s 信纸仍在右下，感知根因的推断有日志与视频支撑，被挡/碰撞符合定义。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": "2026-10-30T19:34:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--gvmcvxs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--gvmcvxs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "df808e1fd8229b00965be5f8cb106d2d87a6accaa19ee05643faf7bfeee1bb3a", + "video_sha256": "f0f8703313fe46c18384bd173baeb5e6d31656b912ff3ced84cb44136da33e90", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--hmcw5qw.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--hmcw5qw.json new file mode 100644 index 0000000000000000000000000000000000000000..18bc84bca7d1d15913987b4a219dd26c4913d293 --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--hmcw5qw.json @@ -0,0 +1,237 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-standard--hmcw5qw", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "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": 1265, + "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": 1265, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.29, + "peak_processes": 9, + "peak_disk_gb": 0.301, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-envelope-letter-insert-i00-standard--hmcw5qw/replay.mp4", + "duration_s": 27.4, + "fps": 5.0, + "frames": 137, + "sha256": "e1b8b632f7817681a91ed7e6c0825014a2f1f0622027beb7b9e4231ac0860cfd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "letter_in_envelope": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，信纸与信封分开放在桌面上，右手悬于信纸上方，插入条件初始不成立。" + }, + { + "t": 21.4, + "log_step": null, + "text_zh": "观察：视频 1.0–19.0 s，机器人右手以伸展的手指压住并滑动信纸，逐渐移至信封口前；视频 20.4–21.4 s，右手推动信纸靠近信封，信封也发生平移和偏转，但大片信纸仍露在口外，叠字阶段始终为 0/3、袋内比例为 0.0%。" + }, + { + "t": 27.2, + "log_step": null, + "text_zh": "观察：视频 22.0–25.2 s，右手又把信纸拉回并重新短距离推送；视频 26.4–27.2 s 的最终静帧中，信纸仍大块露在信封外。视频原生叠字是基准的阶段、外露长度、右手与信纸/信封的接触数和释放静置计数，末帧显示阶段 0/3、外露 131.9 毫米、接触 L3/E0、静置 0/50；评分器同时报告 live_success=0、replay_success=0、live_matches_replay=1。" + }, + { + "t": 27.2, + "log_step": null, + "text_zh": "推断：本次视频未出现有效口部阶段或插入后离手静置，故本节点全程不成立。成功参考视频 11.4–12.0 s 可见信纸仅余窄边、阶段 3/3、接触 L0/E0、静置 50/50；此参考仅用于辨认达成外观，不作为本次进度证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 1.0–25.2 s，机器人右手伸展的手指从信纸上表面施压，靠摩擦滑移信纸，先移至信封口前，再推送、回拉和重试；未见拇指与其他手指夹住信纸的对向抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "letter_in_envelope", + "t": 21.4, + "log_step": 101, + "where": "操作中", + "evidence_zh": "观察：视频 20.4–21.4 s，机器人右手把信纸推向信封口，信封随之移动、偏转，信纸仍大片在袋外且阶段为 0/3；随后回拉及重推直至视频 25.2 s 也未完成。log step 101 的脚本明确尝试从信纸后部按压并沿负 X 方向送纸，log step 130、138、141、147 接着回拉与重推检查；这些日志用于说明动作目的，视频锚点直接取自帧而非 agent 工作时间。" + }, + "unmet": { + "letter_in_envelope": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 21.4, + "log_step": null, + "evidence_zh": "观察：视频 20.4–21.4 s，右手虽已把信纸推至信封口附近，但信纸仍大块露在外面，未呈现沿口部滑入前壁下的结果；视频 25.2–27.2 s 终态仍有大块外露，阶段 0/3、袋内比例 0.0%、外露 131.9 毫米。" + }, + { + "cat": "接触", + "item": "带动本体", + "t": 21.4, + "log_step": 120, + "evidence_zh": "观察：视频 20.4–21.4 s，右手送纸时原先静止的信封也向推送方向移动并偏转，未形成所需的纸张相对信封入袋运动。log step 120 转录本次 Episode 3 送纸后的视觉检测：信封中心从约 (0.480, 0.160) 米变为 (0.448, 0.158) 米、偏航约 -7.85 度；这些是 agent 检测值，作为可见移位的辅助，未据此判定约束违规。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 20.4–21.4 s，机器人已接触信纸并能将其滑动到口部附近，但实际送纸把信封也推移而没有完成入袋；视频 22.0–25.2 s 的回拉和再次推送仍未修复。log step 101 使用固定指尖目标高度 0.704 米、固定朝向和关节位置序列压住信纸后部送入，log step 130、138、141、147 又改变按压高度及推拉行程排查口部交互；目标是正确的插入动作，但精细接触操作未实现所需相对运动，支持归于控制，证据不足以进一步指定接触设计、力参数或跟踪子类。" + } + ], + "gap_zh": "无状态日志；本次仅有总览视频，手指和口唇附近的毫米级接触几何被部分遮挡，无法确认信纸具体卡在翻盖、口唇还是高度/角度偏差处，也无法区分接触压力与轨迹跟踪的贡献，因此根因只标控制。评分器 reward 未报告 DAG 的连续指标数值，native_metrics 均保留 null；视频叠字给出的外露长度仅在证据中引用。日志包含两次重置，采用最后 Episode 3 与本视频一致的动作序列，不计入前两次测试的结果；视频末段叠字仿真时间与视频秒数分别记录，未用 agent 时间换算。" + }, + "summary_zh": "机器人右手以手指压住并滑移信纸，移至信封口前后多次送入、回拉重试，但未完成信纸插入信封节点，最终为 0/1。视频约 21.4 s 的送纸使信封跟随移位和偏转，信纸仍大块在袋外，终态阶段 0/3、外露 131.9 毫米、静置 0/50，支持位姿不准和带动本体，根因归于控制。缺少状态日志和口部无遮挡近景，不能确定具体接触或跟踪子类；连续指标未在 reward 中报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成、断点 letter_in_envelope（约 21.4 s，操作中）、位姿不准与带动本体、根因控制均与视频叠字（阶段 0/3、外露 94–150 mm、静置 0/50）及帧相符；未发现需改的错误。根因证据较弱但已如实写明不能细分。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:32:07Z", + "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-envelope-letter-insert-i00-standard--hmcw5qw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--hmcw5qw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7bae06051fb21b40f02850c3b1839a836f136fd6ded25e60115e5efb488b4a08", + "video_sha256": "e1b8b632f7817681a91ed7e6c0825014a2f1f0622027beb7b9e4231ac0860cfd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--jmtr2xp.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--jmtr2xp.json new file mode 100644 index 0000000000000000000000000000000000000000..e62ba463d01c9b9afc2bd982df4803c9b09f6e63 --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--jmtr2xp.json @@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-standard--jmtr2xp", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 119, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 1203, + "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": 1203, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.46, + "peak_processes": 14, + "peak_disk_gb": 0.988, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-envelope-letter-insert-i00-standard--jmtr2xp/replay.mp4", + "duration_s": 26.2, + "fps": 5.0, + "frames": 131, + "sha256": "56111df3f9bb50d4a698e2a4657ef73ffb159427afbbcf07eae15336188752eb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "letter_in_envelope": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，信封在桌面左后方，信纸在右前方，两者分离；原生叠字 stage 0/3，节点初始不成立。" + }, + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 4.0–17.2 s，机器人右手伸直的手指压在信纸上表面并沿桌面拖动，信纸离开原位置但仍在信封外；视频 5.0 s 叠字 hand contacts L5/E0，其中 L、E 分别表示右手与信纸、信封的接触计数，stage 仍为 0/3。" + }, + { + "t": 21.4, + "log_step": 132, + "text_zh": "观察：视频 20.8–21.4 s，机器人右手抬起并撤回，信纸发生平面偏转，仍整张露在信封右前方。log step 132 的最后一次重置试验记录纸中心由 (0.4795,-0.1395) 变为 (0.5624,-0.1444) 米、yaw 由 -1.5706 变为 -1.7973 弧度，并打印“letter yawed, stopping drag”；这些是脚本测量读数，不作为视频时钟。" + }, + { + "t": 26.0, + "log_step": null, + "text_zh": "观察：视频 24.2–26.0 s 的终态及末秒各帧，右手已离开，信纸和信封仍完全分离；终态叠字 IN PROGRESS、stage 0/3、inside 0.0%、outside 99.8 mm、hand contacts L0/E0、released hold 0/50。对照成功参考视频约 10–12 s 的信纸基本藏入封内并显示 stage 3/3、released hold 50/50，本次没有出现入袋结果，故全程无成立区间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 4.0–17.2 s，机器人右手伸直的手指指腹按压信纸上表面并摩擦拖动，随后抬手撤回；没有拇指与其他手指相向夹住信纸的抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "letter_in_envelope", + "t": 21.0, + "log_step": 132, + "where": "操作中", + "evidence_zh": "观察：视频 20.8–21.4 s，机器人完成表面拖动并撤手时，信纸已有明显平面偏转且整张仍在信封外；视频 26.0 s 仍未摆正或送入口部，stage 0/3。log step 132 的最后一次重置试验也记录拖动后 yaw 改变并打印“letter yawed, stopping drag”。断点位于插入步骤的准备搬移过程中，偏转和未送入口部均未得到修复。" + }, + "unmet": { + "letter_in_envelope": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 21.0, + "log_step": 132, + "evidence_zh": "观察：视频 17.6–21.4 s，机器人右手拖动及撤离信纸后，纸张相对初始朝向发生平面转动，仍与信封分离；视频 24.2–26.0 s 未恢复对准或进入袋腔。log step 132 脚本测得 yaw 从 -1.5706 变为 -1.7973 弧度，与可见偏转一致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "log_step": 132, + "evidence_zh": "推断：log step 109 的控制代码以右食指末节为定位点，在纸中心 y 方向侧偏 45 毫米处按压拖动；log step 117、126、131 的修改仍保留该接触布局，仅限制拖动长度、改变手姿和速度。视频 4.0–17.2 s 可见同侧指腹压拖，视频 20.8–21.4 s 撤手后信纸明显偏转；log step 132 记录本次拖动位置残差 0.0006 米而纸张 yaw 改变约 0.227 弧度。结合这些证据，接触布局未能在搬移时稳定信纸朝向，阻碍了后续窄口对准；具体替代布局未在本次试验中验证。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志或逐步接触力记录，不能精确重建指腹受力、摩擦力矩及毫米级袋内几何；接触设计归因是视频与控制代码的联合推断。log step 133 自述“Latest episode: task_failure”，但评分视频终态显示 IN PROGRESS、stage 0/3，且 log step 132 未报告具体违规；以视频的未完成状态和评分器 success=0 为准，不把早期重置试验的 task_failure、翻纸或碰撞归到本次评分尝试。原生连续指标未出现在 run.json 的评分字段中，native_metrics 的值均留 null，视频叠字只作对应帧的辅助证据。" + }, + "summary_zh": "评分尝试中，机器人右手按压拖动信纸并撤开，信纸始终未进入信封，唯一节点终态为 0/1。视频约 21.0 s 可见拖动后的平面偏转，至视频 26.0 s 仍未修复；结合控制代码与 log step 132 的测量，推断按压拖动的接触布局未能稳定信纸朝向。缺少状态与接触力日志，无法精确核实受力机制；日志末述 task_failure 与视频终态 IN PROGRESS 不一致，未据此添加违规现象。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "唯一节点全程未成立、终态 stage 0/3 与帧一致；断点、位姿不准现象（20.6→21.4 s 信纸平面转动并远离信封）与抓取和接触设计根因有帧和日志支撑，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": "2026-10-30T19:19:20Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--jmtr2xp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--jmtr2xp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "994a3d6eaccfe1d97726f142ade23c6fd357dbc280a781e13bbe592d37790408", + "video_sha256": "56111df3f9bb50d4a698e2a4657ef73ffb159427afbbcf07eae15336188752eb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--vmtzrpg.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--vmtzrpg.json new file mode 100644 index 0000000000000000000000000000000000000000..80dff1ceaef0fbb6166484b28dac24320183719b --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--vmtzrpg.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-standard--vmtzrpg", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 498, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 313, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 11, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 313, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.302, + "peak_processes": 11, + "peak_disk_gb": 0.855, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-envelope-letter-insert-i00-standard--vmtzrpg/replay.mp4", + "duration_s": 8.6, + "fps": 5.0, + "frames": 43, + "sha256": "01d2174c8c7a491e3c99fbab53ebbf69495a219c64ad6263aab663558b09e875" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "letter_in_envelope": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 信纸与信封分开放在桌面，右手悬在上方，初始插入关系不成立。" + }, + { + "t": 2.2, + "log_step": 249, + "text_zh": "观察：视频 2.2～5.4 s 右手伸展的四指抵住信纸上表面并向信封方向推动，信纸离开原位、与信封的间距缩小；没有拇指与其他手指对夹。视频原生叠字 hand contacts L/E 分别指右手与信纸 letter、信封 envelope 的接触计数，视频 2.2 s 为 L4/E0。log step 249 记录最后一次重置到 episode 12，以及展开四指后沿世界 +y 方向逐段推送的控制脚本。" + }, + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：视频 6.2 s 右手仍抵着大片露在袋外的信纸，阶段为 0/3；视频 6.4 s 首次出现 FAIL: letter_envelope_penetration（信纸穿透信封），画面叠字的仿真时钟停止在仿真 6.26 s，阶段 0/3、接触 L2/E0、released hold 0/50。视频 7.4～8.4 s 均保持该失败终态，未达到入袋、离手及静置验收。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：成功参考 inputs/oracle/replay.mp4 的视频 12.0 s 近景显示信纸仅余窄边，原生叠字为 PASS、stage 3/3、outside 4.9 mm、L0/E0、released hold 50/50；本次视频没有出现这些完成特征。参考仅用于辨认完成外观，不计入本次进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 2.2～6.4 s 右手伸展手指抵住信纸上表面，沿桌面向信封滑推；未见对向夹持，左手停放、不参与操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "letter_in_envelope", + "t": 6.4, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 5.4～6.2 s 机器人右手继续抵住信纸向信封送进，信纸尚有大片露出；视频 6.4 s 评分器原生叠字报告 FAIL: letter_envelope_penetration，阶段仍为 0/3，此后至视频 8.4 s 不再推进。失败发生在信纸插入操作中，未完成释放静置。" + }, + "unmet": { + "letter_in_envelope": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 6.4, + "log_step": null, + "evidence_zh": "观察：视频 6.2 s 机器人右手仍在抵推信纸，视频 6.4 s 原生失败读数为 letter_envelope_penetration，信纸仍大块留在袋外，阶段未越过 0/3。推断：推进过程中形成了不允许的信纸与信封壁体穿透接触，未能沿袋腔送入；该读数支持接触异常，但不能量化接触力。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：本次控制未能维持信纸进入窄口所需的精细接触关系。log step 249 的最后一次重置后脚本展开四指，以手部目标 z=0.85 m 沿世界 +y 方向分段推送；log step 259、261 继续采用同一高度向前送入，视频 2.2～6.4 s 与这种抵住信纸推送的动作一致，并最终由评分器报告信纸穿透信封。缺少物体姿态、接触深度和受力记录，不能进一步区分接触布局、轨迹跟踪或力控问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "无状态日志，视频视角及手部遮挡不能定位穿透的是口唇、侧封还是其他壁体，也不能测量毫米级袋内高度、接触深度或接触力；因此根因只到“控制”。log step 260 的较远目标逆解不收敛发生在提交该段运动之前，log step 261 又继续尝试，不能把这次逆解报错直接当作最终穿透的原因。reward 未报告 DAG 所列连续指标的数值，native_metrics 均保留 null；视频 outside 0.0 mm 在阶段 0/3 时不能解释为已插入。视频 6.4 s 起为失败终态、叠字仿真时钟为仿真 6.26 s，视频末尾静帧不代表继续执行。" + }, + "summary_zh": "受评轨迹中，右手用展开的手指推动信纸靠近信封，未完成“信纸插入信封”，节点最终为 0/1。视频约 6.4 s 在送入操作中出现信纸穿透信封的原生失败提示，阶段仍为 0/3，归为接触力异常，根因保留在控制层。没有状态日志及接触力、穿透位置数据，无法细分控制问题；成功参考仅用于核对完成外观。", + "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 letter_in_envelope 未达成（0/3、inside 0%）、contact_actual（四指推/扫）、断点 6.4 s 的 FAIL 叠字及 log step 249/259-261 均与视频和日志一致；时间均标明视频时钟，无换算问题。接触力异常/控制的归因偏弱但有叠字与日志支撑，未发现须改动的错误。", + "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": "2026-10-30T19:18:46Z", + "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-envelope-letter-insert-i00-standard--vmtzrpg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--vmtzrpg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "53d2752223d3fd9de92d7b780015d4b391bc30f4bff3a405ceeaf99c8f7add0a", + "video_sha256": "01d2174c8c7a491e3c99fbab53ebbf69495a219c64ad6263aab663558b09e875", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--yvqpprw.json b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--yvqpprw.json new file mode 100644 index 0000000000000000000000000000000000000000..4dd80b6777d1b94116ef0319d7d6848b7cbe8a56 --- /dev/null +++ b/phase2/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--yvqpprw.json @@ -0,0 +1,233 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-envelope-letter-insert-i00-standard--yvqpprw", + "taskKey": "dexhand/envelope_letter_insert", + "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 226, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 4425, + "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": 4425, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.384, + "peak_processes": 10, + "peak_disk_gb": 0.269, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-envelope-letter-insert-i00-standard--yvqpprw/replay.mp4", + "duration_s": 61.2, + "fps": 5.0, + "frames": 306, + "sha256": "01f99d1db65f4544e8f62c8fc162d20da5f6c07765853c1703c6dc9e82702cd7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "letter_in_envelope": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 信纸与信封分开放在桌面上，右手尚未接触信纸，插入关系初始不成立。" + }, + { + "t": 40.0, + "log_step": null, + "text_zh": "观察：视频 2.0～40.0 s，机器人右手多次以指尖压住信纸上表面并沿桌面拖动，逐渐把信纸移到信封口旁；视频 40.0～56.0 s 继续以伸直手指压拖，信纸与信封局部重叠，但仍有大片信纸露在袋外，画面原生叠字一直为阶段 0/3、静置 0/50。" + }, + { + "t": 59.0, + "log_step": 90, + "text_zh": "观察：视频 58.6～59.0 s 机器人右手再次下压并拖动信纸，叠字的手与信纸有效接触数从 L0 变为 L8、L9（E0 表示手与信封无有效接触）；视频 59.0 s 显示 FAIL: letter_envelope_penetration、阶段 0/3、outside 108.9 mm、静置 0/50。视频 60.2～61.0 s 的末尾静帧维持这一失败结果，未见插入并离手静置的状态。" + }, + { + "t": 59.0, + "log_step": 90, + "text_zh": "观察：log step 88 启动 episode 9，log step 89 将交付入口改为该局的 last2 脚本，log step 90 返回 task_failure、控制步 4425；评分器 n_actions=4425、live_matches_replay=1，与本视频终态一致。log step 91 的 agent 自述“已进入约 40 毫米”不是评分器确认的口部阶段，视频末段仍显示阶段 0/3，因此不据此记为达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 2.0～55.0 s 机器人右手用弯曲或伸直的指尖压在信纸上表面，借摩擦反复拖动并调整方向；视频 58.6～59.0 s 再次压拖信纸外露部分。拇指在侧方张开，没有与其他手指形成夹持；未观察到抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outside_m", + "unit": "m", + "threshold": 0.00495, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "letter_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_shift_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "envelope_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "letter_in_envelope", + "t": 59.0, + "log_step": 90, + "where": "操作中", + "evidence_zh": "观察：视频 58.6～59.0 s，机器人右手在信封口旁压拖仍大幅外露的信纸，随即视频 59.0 s 原生叠字报告 FAIL: letter_envelope_penetration，阶段停在 0/3；此前及之后均未达到插入并释放静置的判据。log step 90 的 episode 9 返回 task_failure，评分器确认该局回放与实时结果一致。" + }, + "unmet": { + "letter_in_envelope": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 59.0, + "log_step": 90, + "evidence_zh": "观察：视频 58.6～59.0 s，机器人右手指尖压住信纸外露部分并向信封方向拖动，信纸只发生小幅位移，随即画面原生判负字段为 letter_envelope_penetration；手与信纸仍有 L9 个有效接触，阶段仍为 0/3。推断：这次受压推送使信纸与信封壁体发生过度穿入，未形成正常沿袋腔滑入的接触运动；没有力传感数值，不能量化作用力。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 59.0, + "log_step": 88, + "evidence_zh": "推断：本次口部推送使用的上表面下压摩擦接触未能维持信纸在狭窄袋腔中的合适接触几何。依据是 log step 88 的最终脚本把手指改为弯曲配置 CURL=[0.5,0.8]，继续执行高度 zp=0.700 的压拖行程；视频 58.6～59.0 s 可见右手按在信纸上方并开始拖动，而原生叠字立即报告信纸与信封穿透。该证据支持接触设计问题，但不能确定具体是哪片壁体或口唇，也没有本局可行替代接触的验证。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或接触力记录。视频原生叠字明确给出信纸与信封穿透，但总览视角和手指遮挡无法分辨穿透发生于前壁、侧封还是口唇，也不能验证 agent 在 log step 91 所猜测的“信纸翘起”机制；因此根因仅推断到接触设计，不指定更细的力或参数错误。DAG 所列七项原生指标均未在评分器 reward 字段中报告，native_metrics 的 value 保留 null；视频叠字 outside 仅作为可见证据，不替代评分器字段。" + }, + "summary_zh": "机器人右手通过反复压拖把信纸移到信封口附近并形成局部重叠，但始终没有达到插入并释放静置的完整节点，最终完成 0/1。视频 59.0 s 的末次下压推送触发 letter_envelope_penetration，阶段仍为 0/3；现象为接触力异常，结合最终控制脚本推断接触设计未能适应窄口插入。缺少状态与力记录，无法确定穿透的具体壁体；agent 关于已部分入袋及翘起机制的自述未作达成或确证机制使用。", + "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、断点在 letter_in_envelope、接触标签（指尖压/擦、无抓握）与视频一致；视频 59.0 s 叠字 FAIL: letter_envelope_penetration、阶段 0/3，与 log step 90 的 task_failure 一致。现象与根因均为标注为推断，措辞克制，未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:34:06Z", + "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-envelope-letter-insert-i00-standard--yvqpprw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--yvqpprw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f85157b1c065cfb22d756e5565ac7b12d16ccd4cf12efec83ca25437c01613c7", + "video_sha256": "01f99d1db65f4544e8f62c8fc162d20da5f6c07765853c1703c6dc9e82702cd7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--2vdvcfq.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--2vdvcfq.json new file mode 100644 index 0000000000000000000000000000000000000000..1f413e52cc8ff2c16524ee60ef766cf77a6f9c4f --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--2vdvcfq.json @@ -0,0 +1,242 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-privileged--2vdvcfq", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 820, + "sim_steps": 820, + "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": 2.398, + "peak_processes": 11, + "peak_disk_gb": 0.985, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-jar-lid-open-i00-privileged--2vdvcfq/replay.mp4", + "duration_s": 18.5, + "fps": 10.0, + "frames": 185, + "sha256": "85af78b1eb1fb942b238f1bc5c37ac4dbabf75aeb7dd78637af6b6b1ff23f76b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "lid_unscrewed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.1, + "log_step": null, + "text_zh": "观察：视频 4.1 s，机器人右手四指指腹接触红盖上表面，未见拇指与其余手指对向夹住盖缘；顶栏显示 Stage 0/3、lid turn 0.01 rad（release 1.05）。" + }, + { + "t": 12.2, + "log_step": null, + "text_zh": "观察：视频 11.4–12.2 s，机器人右手横向擦过红盖后与盖分离，盖仍在罐口；视频 18.4 s 的最后一帧仍显示 Stage 0/3、lid turn 0.01 rad、hold 0/50。全段未见解锁阶段。" + }, + { + "t": null, + "log_step": 129, + "text_zh": "观察：log step 129 对已保存 trajectory.npz 的重放输出 n_actions=820、stage=0、success=false、failure=null；与视频中的盖仍闭合一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 2–11.8 s，右手四指指腹从上方压在红盖上，随后沿盖面横向擦动并滑离；没有形成包围盖缘的对向夹持。" + } + ] + }, + "lid_on_worktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.4, + "log_step": null, + "text_zh": "观察：视频 0–18.4 s，红盖始终留在罐口；视频 12.2 s 后右手空手离开，视频 17.4–18.4 s 逐帧可见盖仍闭合、旁侧桌面没有被放下的盖，顶栏一直 Stage 0/3、hold 0/50。没有抬盖搬放动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "lid_unscrewed", + "t": 11.8, + "log_step": 79, + "where": "操作中", + "evidence_zh": "观察：视频约 11.4–12.2 s，机器人右手执行切向擦动，指腹从红盖上滑离而盖没有随手转动，之后一直未重新接触并拧开。log step 78–79 将这段擦动脚本保存为 820 步交付轨迹；log step 129 重放该文件仍为 stage=0、failure=null，故断在拧盖而非后续放置，也不是调试回合中的罐身倾倒。" + }, + "unmet": { + "lid_unscrewed": false, + "lid_on_worktop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 11.8, + "log_step": null, + "evidence_zh": "观察：视频 4.1 s 右手指腹已压在盖上；视频约 11.4–12.2 s 手沿盖面擦过，指腹与盖出现间隙，红盖留在原罐口，顶栏转角仍约 0.01 rad。右手失去已建立的盖面接触后继续空手移动至视频约 16.4 s，没有恢复传力接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志", + "evidence_zh": "推断：log step 73 的脚本以四指平均指腹位置对准盖顶，log step 75–76 将拧转改成保持手部朝向的直线切向擦动；log step 78–79 明确把此脚本生成的 820 步动作保存为交付文件。视频 11.4–12.2 s 对应可见指腹擦离、盖不随动，说明这次盖面摩擦接触与擦动布局未能持续向盖传递拧转作用；并非已夹紧罐盖后解锁角不足。此次会话内未验证成功替代接触，故替代可行性记未知。" + } + ], + "gap_zh": "没有状态日志，不能精确核验各指接触对、法向力或摩擦力矩，接触设计归因为视频与交付脚本结合的推断。log step 81–127 的倾倒等结果属于交付保存后的其他调试，不能充当本次受评轨迹的现象；原生指标未在 reward 中报告，均保留 null。" + }, + "summary_zh": "本次受评轨迹仅由右手指腹压擦罐盖，未拧开，也未抬盖放置，最终完成 0/2 个节点。视频约 11.8 s 开始擦离盖面，随后空手撤离；接触布局未能保持传力，视频 18.4 s 仍为 Stage 0/3，与已保存文件的重放结果一致。缺少状态日志，无法量化接触力；会话内其他调试的罐身倾倒不计入本次轨迹。", + "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（两节点均未达成、final=0）、断点（lid_unscrewed，视频约11.8 s 指腹离盖）、接触与因果归因均与视频和 log 一致；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:20:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--2vdvcfq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--2vdvcfq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6d67193dcc649845d6e6189a9ebe085c4d9bcf3132ec3e32f9887f9e13f923f8", + "video_sha256": "85af78b1eb1fb942b238f1bc5c37ac4dbabf75aeb7dd78637af6b6b1ff23f76b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--dzcjkg2.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--dzcjkg2.json new file mode 100644 index 0000000000000000000000000000000000000000..c840ca88c1e98a41af7ef47cbadc2cebc575a94b --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--dzcjkg2.json @@ -0,0 +1,243 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-privileged--dzcjkg2", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1825, + "sim_steps": 1825, + "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": 4.002, + "peak_processes": 11, + "peak_disk_gb": 0.834, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-jar-lid-open-i00-privileged--dzcjkg2/replay.mp4", + "duration_s": 28.2, + "fps": 10.0, + "frames": 282, + "sha256": "a238ca2acd61e950e6e6d06b044e5c5f62e71a5998842747e5e57758bc10adfa" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "lid_unscrewed": { + "method": "visual", + "intervals": [ + [ + 12.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红盖闭合在玻璃罐口，顶栏为 Stage 0/3；视频 5.0 s、8.0 s 右手弯曲手指从盖缘两侧夹住红盖，随后右腕带动红盖顶面白色标记转动，罐身留在桌面原处。" + }, + { + "t": 12.6, + "log_step": null, + "text_zh": "观察：视频 12.5 s 顶栏仍为 Stage 0/3、lid turn 1.04 rad；视频 12.6 s 变为 Stage 1/3、lid turn 1.06 rad，红盖仍套在罐口。以首次看到 Stage 1/3 的视频 12.6 s 记为拧开时刻，精度约 0.1 s。" + }, + { + "t": 28.1, + "log_step": 67, + "text_zh": "观察：视频 28.1 s 仍显示 Stage 3/3、PASS，罐口已露出，盖位于罐旁桌面；log step 67 中对交付动作文件的两次独立重放均返回 success=True、stage=3、steps=1825，且终态哈希相同。拧开事件完成记录保留到结尾。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 5.0–12.6 s 右手拇指与对侧弯曲手指夹住红盖外缘，右腕转动带动红盖相对罐身逆时针拧转。" + } + ] + }, + "lid_on_worktop": { + "method": "visual", + "intervals": [ + [ + 26.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 15.4, + "log_step": null, + "text_zh": "观察：视频 14.2–15.4 s 右手夹持红盖向上抬起，盖与罐口之间出现明显间隙；视频 15.4 s 顶栏为 Stage 2/3、clearance 36 mm。视频 17.0–20.0 s 右手将盖移到罐旁，原罐口保持露出，罐身留在桌上。" + }, + { + "t": 25.4, + "log_step": null, + "text_zh": "观察：视频 21.0–24.8 s 右手逐渐降低红盖至罐旁台面；视频 25.2 s hold 为 0/50，视频 25.4 s 为 3/50，视频 25.6 s 为 17/50，视频 26.0 s 为 45/50。红盖正面朝上位于桌面，手指张开但仍靠近盖缘，尚未满连续保持窗口前不计完成。" + }, + { + "t": 26.1, + "log_step": null, + "text_zh": "观察：视频 26.1 s 首次显示 PASS、Stage 3/3、hold 50/50，红盖与玻璃罐分开置于桌面。视频 26.2–28.0 s 的每 0.2 s 抽帧及视频 28.1 s 末帧均保持同一终态；以视频 26.1 s 记为放置验收完成，精度约 0.1 s。" + }, + { + "t": 26.1, + "log_step": 67, + "text_zh": "推断：视频 26.1 s 的 PASS 与 hold 50/50 表明评分器已接受盖、罐离手且稳定的完整保持窗口；这与 log step 67 对交付动作文件两次重放均成功及 run.json 的 success=1、stages_completed=3 一致。末段手指遮住部分盖缘，微小接触和速度阈值由该验收结果支持，不能仅凭邻近外观判断仍在抓持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 14.2–24.8 s 右手以盖缘两侧的夹持抬盖、移至罐旁并降低到台面；视频 25.2–26.1 s 手指张开，盖留在台面，最终评分器接受离手保持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：评分回放中右手夹住红盖外缘拧转，视频 12.6 s 达到 Stage 1/3，随后抬离罐口并搬到罐旁桌面，视频 26.1 s 达到 PASS、Stage 3/3 和 hold 50/50，两个节点最终均完成。观察：终态保持到视频 28.1 s，log step 67 对交付动作文件的两次独立重放均成功且终态哈希一致，run.json 评分成功，无失败断点。证据缺口：没有状态日志，细微接触及瞬时物理量无法独立逐步核验；阶段和保持窗口据视频顶栏验收，run.json 的评分器字段未报告 DAG 列出的九项原生指标，故其 value 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": "成功运行，两节点时间（视频 12.6 s Stage 1/3，26.1 s PASS 50/50）与帧一致，无失败断点，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:35:34Z", + "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-jar-lid-open-i00-privileged--dzcjkg2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--dzcjkg2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5154b3aa2bbefddf63dc3bc141e4e0f079a231e10bf8b337fb5f0bbcbeed69fe", + "video_sha256": "a238ca2acd61e950e6e6d06b044e5c5f62e71a5998842747e5e57758bc10adfa", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--pyt97ez.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--pyt97ez.json new file mode 100644 index 0000000000000000000000000000000000000000..6b444e10590f6d3ea8f451a8c386307baa3008c9 --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--pyt97ez.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-privileged--pyt97ez", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 3000, + "sim_steps": 3000, + "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": 2.09, + "peak_processes": 14, + "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-jar-lid-open-i00-privileged--pyt97ez/replay.mp4", + "duration_s": 32.1, + "fps": 10.0, + "frames": 321, + "sha256": "dfdcc272411c9570d70316b7763fedea6e6ec0b0ee0c401c4e92059a860f9d38" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "lid_unscrewed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.5, + "log_step": null, + "text_zh": "观察：视频 9.5–14.1 s，机器人右手从罐旁移到盖后上方并改变腕部朝向，未见拇指与其他手指夹住红盖；红盖白色标记不随手转动，随后右手空手抬离。画面顶栏为 Stage 0/3、lid turn 约 0.00 rad、clearance -11 mm。" + }, + { + "t": 31.9, + "log_step": null, + "text_zh": "观察：视频 28.5–30.0 s 右手再次移到罐旁，至视频 31.9 s 盖仍盖在原罐口，顶栏为 FAIL: episode_budget、Stage 0/3、lid turn -0.00 rad、hold 0/50；inputs/run.json 的评分器字段 stages_completed=0、sim_steps=3000、deterministic=1。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 9.5–14.1 s、28.5–31.9 s 的操作端是机器人右侧 Sharpa Wave 灵巧手，对象为红色罐盖；未见围合夹紧或带动盖转动。罐盖后侧被手与罐遮挡，单一视角不能确认是否发生短暂指腹擦碰，也不能确认接触方式；未将接近动作记为已发生的抓握。" + } + ] + }, + "lid_on_worktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.1, + "log_step": null, + "text_zh": "观察：视频 14.1 s 右手抬走时没有带走红盖；视频 16–28 s，红盖仍在罐口，罐旁台面没有分离的盖。" + }, + { + "t": 31.9, + "log_step": null, + "text_zh": "观察：视频 31.0–32.0 s 的结束画面仍显示盖在罐口，顶栏 Stage 0/3、clearance -11 mm、hold 0/50，未出现成功参考视频中的露出罐口和红盖独立落桌。未见本次机器人实际持盖搬运或放置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "lid_unscrewed", + "t": 10.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 9.5–14.1 s，机器人右手靠近罐盖并转腕，但红盖没有随手旋转，随后右手空手上移；视频 28.5–31.9 s 再次接近仍未拧开。顶栏全程未进入 Stage 1/3，结束显示 FAIL: episode_budget。推断：最先未修复的失败是拧盖时未建立有效手盖接触，断点属于拧开罐盖；episode_budget 仅说明回合如何结束。" + }, + "unmet": { + "lid_unscrewed": false, + "lid_on_worktop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 10.5, + "log_step": null, + "evidence_zh": "观察：视频 9.5–14.1 s 右手在盖旁及后上方改变位姿，未见对向夹住盖，盖面白色标记未随手转动，右手随后空手离开；视频 28.5–31.9 s 也未形成可见夹持，lid turn 仍约为零。推断：拧盖所需、能传递扭矩的有效接触没有建立；不能据此排除瞬间轻擦。" + } + ], + "root_causes": [], + "gap_zh": "无本次仿真状态日志或接触对记录，罐盖背侧在手靠近时被遮挡，无法确认短暂擦碰，故尝试过的拧盖节点 contact_actual 标为未知。会话 log step 42 的测试报告转动及抬手时 Flid=0、stage=0，log step 47 修改抓握偏移方向；但后续 log step 107–114 又保存了较短的 jar_tipped 测试，log step 116 的后台试验没有返回完整结果，log step 117 输出为空，无法确定哪套控制参数对应本次 3000 动作的交付轨迹。不能把这些会话中的倾倒或逆解诊断当成本次现象，也不足以在抓取设计、逆解或反馈控制之间确定根因，根因层留空。DAG 的九项原生指标均未由本次评分器结果报告，value 保留 null。" + }, + "summary_zh": "本次轨迹两个节点均未达成：红盖始终留在罐口，未完成拧开，也未抬离并放到桌面。机器人右手在视频 9.5–14.1 s 靠近并转腕后空手抬走，末段再次接近仍停在 Stage 0/3，断点为拧开罐盖时未建立有效接触。单一视角不能确认短暂擦碰，且会话调试无法与交付控制版本明确对应，具体根因留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个节点均未达成、断点 lid_unscrewed、没建立接触现象与视频一致：盖转角全程 -0.00 rad、Stage 0/3，右手 9.5–14 s 接近后空手离开，28.5–31.9 s 再次接近，盖始终在罐口。根因层留空并写明 gap 可接受（交付版本与会话调试无法对应）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:36:46Z", + "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-jar-lid-open-i00-privileged--pyt97ez/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--pyt97ez/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4156e5033c29f09b81ff59453804c90eb56261513e7510e023e0d6b52ee4b737", + "video_sha256": "dfdcc272411c9570d70316b7763fedea6e6ec0b0ee0c401c4e92059a860f9d38", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--riwhiuw.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--riwhiuw.json new file mode 100644 index 0000000000000000000000000000000000000000..fc680c3e7650c55ce1c130d76b98896583043ead --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--riwhiuw.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-privileged--riwhiuw", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 460, + "sim_steps": 460, + "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": 2.39, + "peak_processes": 10, + "peak_disk_gb": 0.836, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-jar-lid-open-i00-privileged--riwhiuw/replay.mp4", + "duration_s": 11.3, + "fps": 10.0, + "frames": 113, + "sha256": "87e6041b08e04afffaddcd8e962067e354ca11858f83488716b16eb2bd76bd3c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "lid_unscrewed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红盖闭合在罐口，顶栏为 Stage 0/3、lid turn 0.00 rad。" + }, + { + "t": 8.8, + "log_step": null, + "text_zh": "观察：视频 7.6 s 右手覆在盖面，随后手指弯曲并带动红盖小幅转动；视频 8.8 s 与 11.2 s 顶栏均为 Stage 0/3、lid turn 0.24 rad（release 1.05），盖仍套在罐口。评分器 reward.stages_completed=0 与画面一致，未达到解锁条件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 7.6–9.2 s 机器人右手从上方覆住红盖，指腹压在盖面及近侧边缘，弯曲手指时盖发生小幅转动；可见接触为压擦，未见手指围绕红盖形成对向夹持。" + } + ] + }, + "lid_on_worktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.2, + "log_step": null, + "text_zh": "观察：视频 0.0–11.2 s 红盖一直留在玻璃罐口，未被抬离或移至旁边台面；视频 11.2 s 右手仍覆在盖上，顶栏为 Stage 0/3、clearance -11 mm、hold 0/50。成功参考视频约 17–26 s 可见盖离罐并移至桌面，本次没有该变化。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "lid_unscrewed", + "t": 9.2, + "log_step": 135, + "where": "操作中", + "evidence_zh": "观察：视频 8.8–9.2 s 右手弯指后红盖只转到顶栏显示的 0.24 rad，仍在罐口且 Stage 0/3，视频 11.2 s 仍保持该状态。log step 135 的交付脚本只生成接近、停留和弯指三个阶段，共 460 行，随后保存，没有包含会话测试中的持续腕部转盖动作。" + }, + "unmet": { + "lid_unscrewed": false, + "lid_on_worktop": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "观察：视频 7.6–9.2 s 机器人右手从上方压擦红盖盖面并弯曲手指，盖仅小幅转动；视频 8.4 s 顶栏 lid turn 为 0.10 rad，视频 8.8 s、9.2 s 与 11.2 s 均为 0.24 rad，低于显示的解锁角 1.05 rad，Stage 始终为 0/3，红盖仍在罐口。推断：本次交付的控制动作未能产生达到解锁角的转盖运动；现有画面不足以区分接触设计、轨迹或反馈控制子类，故仅归为控制大类，不用会话测试的偏心或停滞解释本次回放。" + } + ], + "gap_zh": "观察：inputs/ 有本次视频和完整运行记录，没有状态日志。交付文件在接近并弯指使盖小幅转动后结束，视频 8.8–11.2 s 未显示明确的滑脱、阻挡或异常受力；不能把会话测试中的偏心或 agent 自述失去握持当成本次失败现象，故现象层留空。单一视角遮住拇指及部分接触，无法确认隐蔽接触或扭矩，根因仅保留控制大类；原生连续指标未在评分器 reward 字段中报告，均填 null。" + }, + "summary_zh": "本次机器人右手接近红盖并从上方压擦、弯指，视频 8.8–11.2 s 盖转角约 0.24 rad，始终 Stage 0/3，两个节点均未达到。断点为拧开罐盖：本次视频显示控制动作仅产生小幅转盖，未达到解锁角，根因保守归为控制。缺少状态日志且隐蔽接触不可见，交付片段未显示可确定的滑脱或碰撞，现象层留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点、断点、时钟与接触标注与视频一致（盖转角 0.24 rad、Stage 0/3、盖始终在罐口）；唯一需要改的是根因证据：主要依据 agent 会话测试读数（log step 65–66、108），这类读数不算本次回放的证据。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点（两个均未达到）、断点（拧开罐盖，视频约 9.2 s）、接触（压/擦）与视频一致：顶栏全程 Stage 0/3，盖转角最大 0.24 rad，盖留在罐口。根因已改为以视频为准的控制大类，现象层留空并写明缺口，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": "2026-10-30T19:38:43Z", + "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-jar-lid-open-i00-privileged--riwhiuw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--riwhiuw/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--riwhiuw/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--riwhiuw/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1efe712be20c81de9ec9acfef9b6429221a7970c3c25956ba9d42e53322b252d", + "video_sha256": "87e6041b08e04afffaddcd8e962067e354ca11858f83488716b16eb2bd76bd3c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--uyemhbt.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--uyemhbt.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9dd6f91249133376491ce1887a998649f7b8a9 --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--uyemhbt.json @@ -0,0 +1,261 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-privileged--uyemhbt", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1570, + "sim_steps": 1570, + "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": 7.197, + "peak_processes": 11, + "peak_disk_gb": 0.242, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-jar-lid-open-i00-privileged--uyemhbt/replay.mp4", + "duration_s": 28.2, + "fps": 10.0, + "frames": 282, + "sha256": "0db354b876a05ce22fa5de9eea6880a5f39d97eb947dda0668a4781ce2ec1cea" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "lid_unscrewed": { + "method": "visual", + "intervals": [ + [ + 6.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.1, + "log_step": null, + "text_zh": "观察：视频 6.0 s 顶栏仍为 Stage 0/3、lid turn 1.04 rad；视频 6.1 s 变为 Stage 1/3、lid turn 1.08 rad。右手拇指与对侧手指夹住红盖外缘转动，盖仍坐在罐口；视频 6.2–7.0 s 保持 Stage 1/3。" + }, + { + "t": 28.1, + "log_step": null, + "text_zh": "观察：视频 28.1 s 顶栏为 Stage 2/3，拧开阶段的完成记录保留；inputs/run.json 的评分器字段 stages_completed=2。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.0–6.8 s，机器人右手拇指与对侧手指合拢夹住红色罐盖外缘，并绕罐轴拧转；左手没有参与。" + } + ] + }, + "lid_on_worktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 8.0–10.5 s 机器人右手松开后重新夹盖；视频 12.0 s 红盖已随右手抬离罐口，罐口露出，顶栏为 Stage 2/3、clearance 56 mm。" + }, + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频 14.6–17.0 s，红盖在右手拇指和对侧手指之间从近水平逐渐转成近竖直，仍随手搬运。视频 21.6–22.2 s 右手在盖沿触桌后张开，盖未被摆成正面朝上的水平姿态。" + }, + { + "t": 28.1, + "log_step": 58, + "text_zh": "观察：视频 22.4–28.1 s 右手已离开红盖，红盖一直以边沿立在罐旁桌面；顶栏保持 Stage 2/3、hold 0/50，未出现平放并保持的窗口。log step 58 保存的 1570 步轨迹末尾输出 stage 2、hold_steps 0、lid tilt 1.571 rad，与视频终态一致；评分器 stages_completed=2、success=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 9.0–12.0 s，机器人右手拇指与对侧弯曲手指夹住红盖外缘并抬离罐口；视频 14.6–21.6 s 继续夹持搬运和下降，视频 21.6–22.2 s 在桌面处张开手指松盖。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "lid_on_worktop", + "t": 15.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 14.6 s 红盖尚近水平，视频 15.4–17.0 s 在机器人右手指间持续转斜至近竖直；机器人随后将其以盖沿放到桌上并松手，视频 22.4–28.1 s 未再摆正，Stage 2/3、hold 0/50。" + }, + "unmet": { + "lid_unscrewed": true, + "lid_on_worktop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 15.5, + "log_step": null, + "evidence_zh": "观察：视频 14.6–17.0 s 机器人右手仍夹着红盖，但盖面相对手指持续滑转，由近水平变为近竖直，抓握未保持盖的姿态；视频 21.6–22.2 s 松手前盖已明显立起，视频 28.1 s 仍以边沿着桌。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 15.5, + "log_step": 59, + "source_zh": "视频 / agent 自述", + "evidence_zh": "推断：视频 14.6–17.0 s，机器人右手在红盖两侧夹持时，盖仍能绕夹持区域向下摆转，说明这次接触布局未能约束盖的转动，导致后续放置姿态失控。agent 在 log step 59 自述“两点夹持不能抗扭，盖像铰链一样摆动”；其保存记录（log step 58）的末尾倾角 1.571 rad 与视频 28.1 s 的立盖吻合。成功参考视频显示本任务可完成，但没有对本次具体抓握替代方案的隔离验证。" + } + ], + "gap_zh": "没有逐帧状态日志或本次交付的接触力记录，无法确认失稳时各手指的载荷、摩擦和精确接触点；抓取设计归因为视频滑转与 agent 自述相互支持的推断。原生连续指标未在评分器 reward 中报告，native_metrics 均留 null；具体替代抓握是否可行仍未知。" + }, + "summary_zh": "机器人在视频 6.1 s 拧开红盖，随后抬离罐口，完成 1/2 个语义节点。放置过程中红盖在右手指间滑转为近竖直，松手后以盖沿立在桌上，至视频 28.1 s 仍为 Stage 2/3、hold 0/50；接触布局不能稳定盖姿态是有视频与 agent 自述支持的根因推断。缺少逐帧接触力和状态日志，无法细分载荷与摩擦因素。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点值、时间、接触、断点（lid_on_worktop，右手指间盖滑转）和“没保持住”＋“抓取和接触设计”（标为推断）均与视频及 log 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": "2026-10-30T19:21:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--uyemhbt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-privileged--uyemhbt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a18abe386d670a2c3ecfb7ed9e3a9571b90c29e4a763120b6b686185896d84a2", + "video_sha256": "0db354b876a05ce22fa5de9eea6880a5f39d97eb947dda0668a4781ce2ec1cea", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--am8yt7x.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--am8yt7x.json new file mode 100644 index 0000000000000000000000000000000000000000..8f670b2691a1741127d51e423bbf06f4aa0db5e8 --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--am8yt7x.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-standard--am8yt7x", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 11, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 140, + "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": 140, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.358, + "peak_processes": 9, + "peak_disk_gb": 0.242, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-jar-lid-open-i00-standard--am8yt7x/replay.mp4", + "duration_s": 5.0, + "fps": 5.0, + "frames": 25, + "sha256": "e24c336b7d69c3967b57e655612f78dead547c0f35e40e330fbad2b98adbdf19" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "lid_unscrewed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红盖闭合在罐口，右手张开悬在上方；顶栏显示 Stage 0/3、lid turn 0.00 rad。" + }, + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.0–4.8 s 的全部 25 帧；右手随臂缓慢下降，但始终没有合手夹住罐盖或压盖拧转，红盖白色标记没有可见相对转动。视频 2.8 s 仍为 Stage 0/3、lid turn -0.00 rad，之后进入相同终态画面。" + }, + { + "t": 4.8, + "log_step": null, + "text_zh": "观察：视频 4.0、4.2、4.4、4.6、4.8 s 红盖均仍盖在罐口，右手张开停在盖旁上方；顶栏始终 Stage 0/3、hold 0/50，没有出现解锁阶段。" + } + ] + }, + "lid_on_worktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.8, + "log_step": null, + "text_zh": "观察：本次视频 0.0–4.8 s 红盖一直在罐口，罐旁桌面没有分离放置的盖，未发生抬离或搬放，末帧仍为 Stage 0/3、clearance -11 mm、hold 0/50。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：成功参考 inputs/oracle/replay.mp4 的视频 16.0 s 可见红盖在手中抬离并露出罐口、Stage 2/3；参考视频 27.0 s 可见红盖在罐旁台面且 Stage 3/3、hold 50/50。本次视频没有这些可见结果；参考仅用于辨认完成状态，不作为本次进度证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "lid_unscrewed", + "t": 0.0, + "log_step": 73, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–4.8 s 仅见右手张开悬停并缓慢下降，未启动抓盖或拧盖；log step 73 的控制脚本在 settle 后首次计算接近位姿时抛出 TypeError，log step 76 再次运行仍在同一调用退出，未发出后续接近、抓取与拧转命令。视频 0.0 s 作为首步未启动的导航锚点，不表示异常发生在该帧。" + }, + "unmet": { + "lid_unscrewed": false, + "lid_on_worktop": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 73, + "evidence_zh": "观察：逐帧检查本次视频 0.0–4.8 s，机器人右手保持张开，未对红盖建立抓握、压盖或拧转动作；盖仍闭合，顶栏始终 Stage 0/3。log step 73、76 均在控制器首次接近动作计算处报错，视频只留下持姿过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "note_zh": "候选：控制脚本异常（D38）；agent 自编控制器错误调用实例方法，导致任务动作尚未提交即退出。", + "source_zh": "日志", + "evidence_zh": "观察：log step 50 定义 class IK 及实例方法 solve(self, t_des, R_des, q_seed, ...)，log step 72 的 runner 却直接调用 IK.solve(pose_des[0], pose_des[1], qm)，未创建或使用 IK 实例；log step 73、76 的实际执行均返回 TypeError: IK.solve() missing 1 required positional argument: q_seed，异常发生在发送轨迹的 c.send 之前。推断：这一未修复的 agent 控制代码错误使接近、抓盖及拧转均未执行，与视频 0.0–4.8 s 的未启动状态一致；不是仿真服务崩溃。" + } + ], + "gap_zh": "无状态日志，run.json 的评分字段也未报告 DAG 所列九项原生指标，故其 value 均为 null；视频顶栏读数不替代未提供的评分字段。未将 agent 工作时间或控制脚本打印的耗时换算为视频时间，无法精确定位两次异常在视频中的对应帧。log step 84 自述的运动学模型偏差未经独立验证，不另列根因；两个节点未完成及未发生任务接触可从完整视频直接判定。" + }, + "summary_zh": "观察：本次视频 0.0–4.8 s 仅见右手张开悬停并缓慢下降，红盖始终闭合在罐口，Stage 保持 0/3；拧开罐盖和罐盖放到桌面均未完成，终态进度为 0/2。推断：断点在拧开罐盖的首步前，log step 73、76 直接证实 agent 自编控制器错误调用 IK.solve，导致接近与抓盖命令未发出，现象为没尝试。缺少状态日志及原生指标评分值，异常与视频的精确时间对应不能确定，但不影响两步均未达成的判断。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "两节点均未达成（视频始终 Stage 0/3、盖闭合），断点为首步前·没尝试，根因为 D38 的 agent 自编控制器 TypeError（log step 73、76）；证据与视频、日志一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:36:40Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-standard--am8yt7x/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-standard--am8yt7x/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fe8ccf460c0bf7e26ae1b90457fb0ced9766f6c231db74f16f7dd62c3c6f393c", + "video_sha256": "e24c336b7d69c3967b57e655612f78dead547c0f35e40e330fbad2b98adbdf19", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--jszfyjx.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--jszfyjx.json new file mode 100644 index 0000000000000000000000000000000000000000..d3f99530a79463b6484538116bbd7fe8e64d8901 --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--jszfyjx.json @@ -0,0 +1,240 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-standard--jszfyjx", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 142, + "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": 9, + "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": 0.454, + "peak_processes": 18, + "peak_disk_gb": 0.994, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-jar-lid-open-i00-standard--jszfyjx/replay.mp4", + "duration_s": 2.2, + "fps": 5.0, + "frames": 11, + "sha256": "3e41c4165b875c0a7edb0545f9a8db9a8e0c9273dad8b6a9a009eb669759fc6b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "lid_unscrewed": { + "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（共 11 帧，含全部末秒帧），机器人右手始终张开悬在罐盖上方，没有接近、夹盖或转盖；红盖白色标记不动，顶栏始终为 Stage 0/3、lid turn 0.00 rad。" + }, + { + "t": 2.0, + "log_step": 12, + "text_zh": "观察：log step 12 的服务规则明确只评分最后一次重置后的回合；本次评分字段为 resets=9、n_actions=0、sim_steps=0、live_matches_replay=1。此前测试中的运动不属于视频所示的最终评分回合。" + } + ] + }, + "lid_on_worktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：本次视频 0.0–2.0 s 中，红盖一直套在罐口，没有抬离、移到罐旁或放桌，顶栏 hold 始终为 0/50；视频 2.0 s 末帧罐口仍被盖住。成功参考视频可见红盖离开罐口并移到旁边台面，这些可见变化在本次视频中均未出现。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "lid_unscrewed", + "t": 0.0, + "log_step": 171, + "where": "首步前", + "evidence_zh": "观察：本次视频 0.0–2.0 s 中机器人右手一直悬空，盖与罐均未移动，Stage 0/3；评分记录 n_actions=0、sim_steps=0。log step 170 仅返回控制器语法检查通过，log step 171 调用最终控制器但输出为空；最终评分回合没有启动拧盖动作。" + }, + "unmet": { + "lid_unscrewed": false, + "lid_on_worktop": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": null, + "evidence_zh": "观察：本次视频全部 11 帧（视频 0.0–2.0 s）显示机器人右手始终与红盖分离且姿态不变；评分字段 n_actions=0、sim_steps=0，首步拧盖未启动。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：agent 的会话测试未解决从初态安全接近罐盖的控制问题：log step 115 的接近和下降测试持续有约 44–71 mm 位姿误差；log step 154 在预抓取运动即返回 task_failure；随后 log step 158 的路径计算报 IK 失败、位置误差 14.9 mm，log step 162、166 的替代路径计算仍报告负间隙。log step 170 最终控制器只有语法检查结果，log step 171 无执行反馈，最终评分 n_actions=0。上述会话证据支持控制问题导致未形成实际操作，但不足以区分最终回合的逆解、跟踪或脚本执行子因。" + } + ], + "gap_zh": "没有状态日志，且 log step 170 的最终控制器代码在输入中有截断，log step 171 没有返回执行结果，无法确定最后一次重置后为何未提交动作；根因仅据会话测试推断到控制层，不将测试回合的碰撞或接近误差当作本次现象。DAG 的九项原生指标均未在评分字段中报告，因此值均为 null。视频时长 2.2 s，末帧时间为视频 2.0 s，主要为初态和末态静帧，不能把它换算成 agent 的工作时长。" + }, + "summary_zh": "最终评分回合停留在初始状态，拧开罐盖和罐盖放到桌面均未完成，最终进度为 0/2；全部视频帧中右手悬空、红盖闭合，Stage 0/3。断点为拧开罐盖的首步前，现象为没尝试；会话中的接近误差、预抓取失败和路径求解失败支持控制层面的归因。最后一次控制器调用没有执行反馈且没有状态日志，无法确定最终回合未提交动作的具体子因。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅 11 帧，右手始终张开悬在盖上，Stage 0/3、hold 0/50，两节点 false、最终 0/2 正确；评分字段 n_actions=0 支持首步前/没尝试；根因 控制 依据会话中多次预抓取误差、IK 失败、负间隙，符合 FAIL-22 允许的“会话证据→控制”，且 gap_zh 说明了不确定性。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": "2026-10-30T19:33:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-standard--jszfyjx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-standard--jszfyjx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "865b4e70e6d39e7f6f8092b5ae7a18a4aa22ab8b9bd2bde2519bc89d6a1c243d", + "video_sha256": "3e41c4165b875c0a7edb0545f9a8db9a8e0c9273dad8b6a9a009eb669759fc6b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--uqctefc.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--uqctefc.json new file mode 100644 index 0000000000000000000000000000000000000000..7ebaed5ed7358dcd321a19a6da7c28a35533291e --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--uqctefc.json @@ -0,0 +1,259 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-standard--uqctefc", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 159, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 870, + "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": 870, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.441, + "peak_processes": 10, + "peak_disk_gb": 0.864, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-jar-lid-open-i00-standard--uqctefc/replay.mp4", + "duration_s": 19.6, + "fps": 5.0, + "frames": 98, + "sha256": "1bf4b96c2999e400e28eee60c15e6de3a1f0ef6e666e78fb066a945c7a6552d1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "lid_unscrewed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 初态红盖闭合，顶栏 Stage 0/3、lid turn 0.00 rad。视频 6.0–9.0 s 右手绕罐轴转动，盖的白色标记与罐身纸标签都改变朝向；视频 8.8 s 顶栏相对转角仅 0.16 rad。" + }, + { + "t": 19.4, + "log_step": 117, + "text_zh": "观察：视频 17.4–19.4 s 的终态仍为 Stage 0/3，lid turn 0.40 rad，低于 release 1.05 rad，红盖仍套在罐口。agent 在 log step 117 自述拇指—食指已带盖转过 1.12 rad，但该值不能替代视频中的盖相对罐身读数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 2.0–9.0 s 右侧灵巧手的绿色指腹贴在红盖顶面及上缘，随手腕转动压擦盖面；视频 15.6–17.4 s 拇指重新接近盖缘并接触。可见手指未围住盖裙形成明确的对向夹持。" + } + ] + }, + "lid_on_worktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": 117, + "text_zh": "观察：log step 117、122、126、128 的机器人控制脚本提交向上试抬动作；视频 9.0–14.0 s 右手有小幅升降，但红盖始终位于罐口，顶栏保持 Stage 0/3，未见盖裙抬离罐口。" + }, + { + "t": 19.4, + "log_step": null, + "text_zh": "观察：视频 18.4、18.6、18.8、19.0、19.2、19.4 s 红盖仍在罐上，罐旁桌面没有分离的盖，顶栏 hold 0/50、clearance -14 mm。成功参考视频 16.0 s 可见盖离罐口，参考视频约 26.0 s 可见盖移至罐旁且 Stage 3/3；本次均未出现这些完成征象。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 9.0–14.0 s 的试抬期间，右手指腹仍在红盖顶面和上缘附近压擦，随后有抬手离开盖面的间隙；未见罐盖随手离开罐口，也未见从盖裙下方承托搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "lid_unscrewed", + "t": 7.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 6.0–9.0 s 右手拧动红盖时，罐身纸标签跟随盖一起改变朝向；视频 8.8 s 相对转角只有 0.16 rad，Stage 0/3。之后机器人虽试抬、调整拇指并再转，视频 19.4 s 仍只有 0.40 rad、Stage 0/3。推断：最先未修复的是拧盖步骤，后续试抬没有补足解锁条件。" + }, + "unmet": { + "lid_unscrewed": false, + "lid_on_worktop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 7.0, + "log_step": null, + "evidence_zh": "观察：视频 6.0–9.0 s 右手绕罐轴转动，红盖侧面白色标记转动时，玻璃罐的纸标签文字也沿罐周移动；罐身跟着盖转，而顶栏 lid turn 仅由约 -0.02 rad 增至 0.16 rad。推断：拧盖的作用同时带转了应保持稳定的罐身，所需的盖相对罐身转动不足。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：视频 6.0–9.0 s 右手指腹贴盖旋转时，罐身标签随之转动；视频 19.4 s 相对转角仍仅 0.40 rad。log step 109–115 的控制脚本围绕预设罐轴增加手端目标角至 1.12 rad，log step 117 随即按已转到解锁区的判断试抬。推断：本次控制没有使转动主要发生在盖与罐之间，手端目标转角也未保证实际相对转角达到解锁值；现有证据不足以继续细分控制子类型。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志；现有视频能判断阶段及罐身被带转，但部分内侧指腹被手遮挡，缺少接触对、力/力矩和物体姿态数值。最终回合许多服务调用的 out.text 为空，无法量化盖与罐各自的绝对转角，也无法区分接触几何、扭矩参数和反馈跟踪各自的贡献。原生九项指标均未在评分器 reward 中报告，故 value 留 null；不从视频近似值冒充评分器指标。" + }, + "summary_zh": "本次右手接触并拧动红盖，但带动罐身同向转动，视频 19.4 s 仍为 Stage 0/3、相对转角 0.40 rad，两个节点最终均未完成。断点是“拧开罐盖”的操作中；后续试抬和拇指调整没有使盖脱离罐口，根因可归至控制未实现所需相对转动。无状态及力矩记录，接触细节和控制子类型不能进一步确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点均未达成、断点在拧盖、罐身被带转与视频一致；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:35:51Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-standard--uqctefc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-standard--uqctefc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "df4076e43017d154286e214bfb62707bddddef9853dbb96fe5322267774500ac", + "video_sha256": "1bf4b96c2999e400e28eee60c15e6de3a1f0ef6e666e78fb066a945c7a6552d1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--vwpfrvg.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--vwpfrvg.json new file mode 100644 index 0000000000000000000000000000000000000000..6db57671f6f2f07233a45f6bfdd3b61925c648b1 --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--vwpfrvg.json @@ -0,0 +1,254 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-standard--vwpfrvg", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 196, + "control_steps_total": 1124, + "elapsed_s": 3622.793, + "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": 89, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 11, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 89, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.373, + "peak_processes": 8, + "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-jar-lid-open-i00-standard--vwpfrvg/replay.mp4", + "duration_s": 4.0, + "fps": 5.0, + "frames": 20, + "sha256": "cb93ad1e32fb0e01d0623584a8fa0904c47e7197dabc9d6884c2c7b565eafe6f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "lid_unscrewed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红盖闭合在直立罐口，顶栏为 Stage 0/3、lid turn 0.00 rad。逐帧检查视频 0.0–3.8 s，Stage 始终为 0/3，未出现达到解锁角后的阶段变化。" + }, + { + "t": 1.8, + "log_step": 62, + "text_zh": "观察：视频 1.4–1.8 s，机器人右手以卷指姿态下降，手指根部附近压住红盖上缘，罐身随之倾斜；视频 1.8 s 顶栏变为 FAIL: jar_tipped，lid turn 为 -0.07 rad，远未达到所示 release 1.05 rad。log step 62 的最后一次重置为 episode 12，脚本在下降 p1_descend_3 时收到 task_failure；之后 log step 64–66 只有诊断、写代码和语法检查。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1.4–1.8 s，右手卷曲手指的根部附近接触并压迫红盖顶面及上缘，随后带倾罐身；未见拇指与其他手指从两侧夹牢罐盖。" + } + ] + }, + "lid_on_worktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.8, + "log_step": null, + "text_zh": "观察：视频 1.8–3.8 s 保持失败终态，红盖仍在倾斜罐身的罐口处，右手仍贴在盖上；顶栏为 Stage 0/3、hold 0/50。全片未见盖抬离罐口、搬至罐旁或离手落桌，故放置节点未达到，亦未开始搬放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "lid_unscrewed", + "t": 1.8, + "log_step": 62, + "where": "操作中", + "evidence_zh": "观察：视频 1.4–1.8 s，机器人右手为操作罐盖而下降，压到盖顶上缘后罐身倾斜，顶栏报 FAIL: jar_tipped；至视频 3.8 s 仍为 Stage 0/3。log step 62 记录最后一回合在下降 p1_descend_3 中终止，尚未进入拧转和抬盖阶段。" + }, + "unmet": { + "lid_unscrewed": false, + "lid_on_worktop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 1.8, + "log_step": 62, + "evidence_zh": "观察：视频 1.4 s 罐身尚直立，视频 1.6 s 右手下降压住罐盖，视频 1.8 s 连同盖下的玻璃罐一起带倾，顶栏随即报 FAIL: jar_tipped；盖未相对罐身完成解锁，视频 3.8 s 仍保持该终态。" + } + ], + "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：右手卷指下降的接触几何使指根附近先压上盖顶，未能先形成盖缘的对向夹持，因此压盖时带倾罐身。依据为视频 1.4–1.8 s 的接触与倾斜先后关系，以及 log step 62 中 agent 脚本用实测关节位置作正向运动学后打印的 right_index_MP 高度 0.871 m、距罐轴 0.0224–0.0324 m，邻近其视觉估计盖顶 0.863–0.868 m；这些打印值是脚本诊断而非接触状态日志。log step 64 的 agent 自述也指出原握姿的指根块碰盖顶。可行替代由参考成功视频验证：参考视频 12.0–18.0 s 右手以不同姿态夹住盖缘，达到 Stage 1/3 后抬盖，参考视频 28.1 s 为 Stage 3/3、hold 50/50；参考仅说明存在可行接触方案，不计入本次进度。" + } + ], + "gap_zh": "无仿真状态日志或接触力记录；单一视频视角能看见右手压盖及罐身倾斜，但不能精确确认首先接触的连杆、接触法向力和瞬时倾角。log step 62 的正向运动学与视觉数值来自 agent 脚本，具体指根碰撞机制为结合视频的推断。最后回合与评分视频的对应依据最后一次 reset 后的下降失败和此后没有新动作，不以 agent 工作时间换算视频时间。评分器 reward 未报告 DAG 所列九项原生指标，均留 null。" + }, + "summary_zh": "评分轨迹两节点均未完成：右手接近罐盖并下降，视频约 1.8 s 压盖带倾罐身，顶栏报 jar_tipped，至视频 3.8 s 仍为 Stage 0/3。断点为拧开罐盖，接触几何使指根附近先压到盖顶、未形成稳定对向夹持；最后写出的修订控制器只有语法检查记录，未在评分回合执行。缺少状态与接触力日志，具体碰撞连杆和受力机制仍属结合视频与脚本诊断的推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点均未达成、断点 lid_unscrewed 操作中、接触与带动本体现象均与视频一致（1.4 s 手到罐顶，1.6 s 压盖，1.8 s 顶栏 FAIL: jar_tipped，其后 Stage 0/3 不变）；根因推断已标明并有日志诊断与参考视频支撑，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:32:49Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-standard--vwpfrvg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-standard--vwpfrvg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b82a33b7d1073e3c93b7c73399c870d5b8b83d2f88f5a3f8896941c0ed927fd8", + "video_sha256": "cb93ad1e32fb0e01d0623584a8fa0904c47e7197dabc9d6884c2c7b565eafe6f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--zggqgdm.json b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--zggqgdm.json new file mode 100644 index 0000000000000000000000000000000000000000..701aef4a62aa1c5c4814d382cb1cdc78aa8c0ff4 --- /dev/null +++ b/phase2/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--zggqgdm.json @@ -0,0 +1,264 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-jar-lid-open-i00-standard--zggqgdm", + "taskKey": "dexhand/jar_lid_open", + "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 2441, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 2318, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 17, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 2318, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.347, + "peak_processes": 14, + "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-jar-lid-open-i00-standard--zggqgdm/replay.mp4", + "duration_s": 48.6, + "fps": 5.0, + "frames": 243, + "sha256": "c5bf15e5f04134e7860c43e594ba249a729477acef7e1cf141fcdf4aca0706d2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "lid_unscrewed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红盖闭合在罐口，顶栏 Stage 0/3、lid turn 约 0.00 rad。" + }, + { + "t": 42.0, + "log_step": null, + "text_zh": "观察：视频全程粗看并加密查看视频 8.0–11.8 s、36.0–48.4 s，右手反复夹盖、转腕、松手回位；视频 42.0 s 顶栏仍为 Stage 0/3、lid turn 约 0.62 rad，低于 release 1.05 rad。视频 46.4 s 终止时仍是 Stage 0/3、lid turn 约 0.59 rad，未见解锁。" + }, + { + "t": 48.4, + "log_step": 99, + "text_zh": "观察：agent 在 log step 99 自述估计盖已转约 1.17 rad；本次视频 48.4 s 冻结终态却显示 Stage 0/3、lid turn 0.59 rad。节点按评分视频判为未达成，不采纳该自述作为完成证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 8.0–9.6 s、38.0–41.0 s，机器人右手以拇指和对侧弯曲手指夹住红盖边缘转动，随后张指回位并再次夹握；左手未参与。" + } + ] + }, + "lid_on_worktop": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 46.4, + "log_step": 94, + "text_zh": "观察：视频 43.0–46.4 s 右手重新下降夹盖并尝试上提，红盖未离开罐口，反而连同玻璃罐倾斜；视频 46.4 s 出现 FAIL: jar_tipped，Stage 0/3、hold 0/50。log step 94 的最后回合脚本包含重新夹握和上抬动作，与画面顺序相符。" + }, + { + "t": 48.4, + "log_step": 98, + "text_zh": "观察：视频 47.6–48.4 s 的所有末尾帧均保持失败终态，红盖仍在倾斜罐口，没有搬至旁边台面，也未释放静置。log step 98 服务返回 episode 18、done=True、reason=task_failure；评分器 live_matches_replay=1、replay_success=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 44.0–46.4 s，机器人右手拇指与对侧手指再次夹住红盖边缘并尝试抬升；盖没有被抬离，罐身被带斜，没有发生搬运放置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_seated_turn_rad", + "unit": "rad", + "threshold": 1.049342105263158, + "direction": "higher_better", + "value": null + }, + { + "name": "max_clearance_m", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_distance_m", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "lid_tilt_rad", + "unit": "rad", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lid_spin_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "jar_slide_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "lid_unscrewed", + "t": 46.4, + "log_step": 98, + "where": "操作中", + "evidence_zh": "推断：拧开罐盖是最早尝试而始终未完成的步骤：视频 42.0 s、46.0 s 顶栏仍为 Stage 0/3、lid turn 0.62 rad，未达到 release 1.05 rad。机器人未修复解锁不足便重新夹盖上提，视频 46.4 s 连罐带斜并显示 FAIL: jar_tipped，终态仍 Stage 0/3；故断点归于未完成的拧盖步骤，锚定其最终不可逆失败时刻。" + }, + "unmet": { + "lid_unscrewed": false, + "lid_on_worktop": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 46.4, + "log_step": null, + "evidence_zh": "观察：视频 46.0–46.4 s，右手夹着红盖上提时，红盖没有与玻璃罐分离，玻璃罐整体随手倾斜；视频 46.4 s 顶栏明确显示 FAIL: jar_tipped，至视频 48.4 s 仍保持该倾斜终态。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：agent 对盖相对罐身的转角估计过大，使其在尚未解锁时进入抬盖。log step 85 以图像标记计算角度，log step 89 的链式脚本在转动后直接调用 lift，log step 94 沿用该链启动最后回合；log step 99 明确自述估计已转约 1.17 rad、处于可抬区间。但最后回合视频 42.0 s 和 46.0 s 顶栏实际仅为 lid turn 0.62 rad、Stage 0/3，视频 46.4 s 上提即带斜罐身。该误估与继续抬盖的动作相符。" + } + ], + "gap_zh": "没有状态日志、逐指接触对或接触力记录，无法确认最后罐身倾斜主要经由尚未解锁的螺纹传力，还是手指同时碰到玻璃罐身，因此不进一步指定控制子类。视频顶栏已直接给出 jar_tipped，agent 在 log step 99 提出的掉盖、抬罐、强穿螺纹三种猜测不能替代该证据；原生连续指标均未由评分字段报告。" + }, + "summary_zh": "评分回合中，右手反复夹握并分段转动红盖，但相对转角仅到约 0.62 rad，顶栏始终为 Stage 0/3，两个节点均未完成。agent 高估转角后继续夹盖上提，视频 46.4 s 连同罐身带斜并触发 jar_tipped，断点为始终未修复的拧开罐盖步骤。缺少接触对和力记录，无法进一步区分手指直接碰罐与螺纹传力的作用。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成、顶栏 lid turn 0.62→0.59 rad、46.4 s 出现 FAIL: jar_tipped 均与视频一致；断点与现象/根因有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:37:42Z", + "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-jar-lid-open-i00-standard--zggqgdm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-jar-lid-open-i00-standard--zggqgdm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a00c44ec8887e738f349618332f27dc60b87307a90f8971c7ffe3b2d789294d9", + "video_sha256": "c5bf15e5f04134e7860c43e594ba249a729477acef7e1cf141fcdf4aca0706d2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--2wkuf9h.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--2wkuf9h.json new file mode 100644 index 0000000000000000000000000000000000000000..e010898ff26f7bf3b612564f1a6e4637de664cbd --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--2wkuf9h.json @@ -0,0 +1,259 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-privileged--2wkuf9h", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 698, + "sim_steps": 698, + "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": 3.174, + "peak_processes": 9, + "peak_disk_gb": 0.834, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-pancake-serve-i00-privileged--2wkuf9h/replay.mp4", + "duration_s": 10.76, + "fps": 25.0, + "frames": 269, + "sha256": "7470dc324e6e6545a7c6895ebb9db3b86464aa080e1afb409966c6190af55f8b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [ + [ + 3.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频约2.4–3.2 s，机器人右手手指合拢包住黑色锅铲柄，锅铲离开开局台面位置；视频3.2–4.4 s可见其随右手抬高和转动，已由手承持。首次完全离台约在视频3.0 s，时间误差约0.3 s。" + }, + { + "t": 4.0, + "log_step": 144, + "text_zh": "观察：log step 144是log step 142启动的最后一次生成运行的输出，报告hand_holds_spatula=True、steps=262及锅铲高度0.934 m；与视频中的提铲相符，仅作辅助，未把日志控制步换算成视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约2.4–4.4 s，机器人右侧灵巧手手指合拢包住锅铲柄并将其提离台面；左手未参加。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频0–9.72 s的总览中，机器人提铲后持续调姿并向煎锅侧靠近，但金黄色煎饼始终留在锅底，未出现煎饼随铲片离锅的画面；on blade标记始终未勾选。" + }, + { + "t": 10.72, + "log_step": null, + "text_zh": "观察：视频9.76–10.72 s保持末态，煎饼仍在煎锅内，on blade、over plate及served均未勾选，hold为0/50。成功参考视频约6–7 s能清楚看到煎饼离锅随铲移动，本次未出现该结果。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频4.0–9.6 s，本步准备过程中实际可见的接触为右手继续握住锅铲柄并调姿；铲片尚未托起煎饼，未观察到工具与煎饼接触，不据典型方案记为托/舀。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.72, + "log_step": null, + "text_zh": "观察：视频0–10.72 s白色餐盘始终为空，煎饼始终留在黑色煎锅；末帧over plate、served均未勾选且hold为0/50，机器人未开始把煎饼送入盘内。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pancake_on_blade", + "t": 9.6, + "log_step": 150, + "where": "操作中", + "evidence_zh": "观察：视频约4.0–9.72 s机器人持锅铲调姿、向煎锅侧靠近，末次运动停在尚未铲起煎饼的状态；视频9.76–10.72 s煎饼仍在锅内且on blade未勾选。推断：拿起锅铲已完成，交付尝试停在为托饼进行持铲对位的过程中，因此断点为煎饼托上铲；视频9.6 s仅作为末次动作的导航锚点，未认定此刻已经脱手。" + }, + "unmet": { + "pancake_on_blade": false, + "pancake_on_plate": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 150, + "source_zh": "日志", + "evidence_zh": "观察：最后一次生成运行由log step 142启动，log step 144、145、149依次报告抓持提铲、转向和调平，随后log step 150返回spatula_dropped，failure_detail.control=698、substep=3、free_fall_vz=-0.3511 m/s、steps=699；log step 152自述只保存698条动作且任务未完成。推断：该次控制方案不能持续保持锅铲完成托饼，控制失败解释了交付为何停在未托饼状态；这条会话证据用于根因，不把第699步的掉铲计作交付轨迹的现象。现有证据不足以细分抓取设计、逆解或反馈控制。" + } + ], + "gap_zh": "观察：本次无状态日志；评分器只报告n_actions=698、sim_steps=698、stages_completed=0，未给具体失败原因或连续原生指标。视频末态画面内仿真时钟为13.96 s且仍显示in progress，而log step 150的脱手失败发生在返回steps=699的控制步；推断：不能确认该失败子步包含在交付的698条动作中。视频9.36–9.80 s逐帧及最后一秒未能清楚证明柄已与手完全分离，因此现象层留空，不把会话下一步失败或更早测试中的滑脱移植到评分视频；缺少末段接触与力记录，也不能细分控制根因。所有节点时间均取视频钟，未以画面仿真钟或agent工作时间替代。" + }, + "summary_zh": "机器人在视频约3.0 s抓住并提离锅铲，完成拿起锅铲事件；煎饼始终留在锅内，白盘为空，最终完成1/3节点。交付停在持铲调姿并接近煎锅的托饼步骤；最后一次生成运行的日志显示再下一控制步发生掉铲，支持控制层根因。交付仅含698条动作且末帧仍为in progress，不能把日志返回steps=699的脱手当作已在评分视频中观察到的现象，因此现象层留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点与断点与视频一致：约3 s右手握起锅铲，煎饼始终在锅内，on blade/over plate/served 均未勾选，白盘为空；log step 150 的 spatula_dropped 发生在第699控制步，晚于交付的698条动作，标注者据此留空现象层并给出有限的控制根因，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": "2026-10-30T19:30:30Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-privileged--2wkuf9h/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-privileged--2wkuf9h/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1da3fa0a4ec747d3075253d6a151a47ced6740daf1d98f2fe0f5a2203b7e0c6a", + "video_sha256": "7470dc324e6e6545a7c6895ebb9db3b86464aa080e1afb409966c6190af55f8b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--6hsscsb.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--6hsscsb.json new file mode 100644 index 0000000000000000000000000000000000000000..42545e708634efecc9d72c79cf02abed679719d8 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--6hsscsb.json @@ -0,0 +1,262 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-privileged--6hsscsb", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 683, + "sim_steps": 683, + "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": 5.492, + "peak_processes": 10, + "peak_disk_gb": 0.251, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-pancake-serve-i00-privileged--6hsscsb/replay.mp4", + "duration_s": 10.6, + "fps": 25.0, + "frames": 265, + "sha256": "c8406127c5841e6b3c8e8c279e68a104834b1af14fc84dcc4192bab660dfe01a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 黑色锅铲独立放在白盘前方台面，机器人右手张开，煎饼仍在黑色煎锅内。" + }, + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 1.80 s 机器人右手手指已合拢包住锅铲柄；视频 2.00–2.40 s 锅铲随手抬起并转向，原台面位置空出，铲片与其台面影子分离。拿起时刻约为视频 2.00 s，视觉误差约0.2秒；视频 3.36 s 随后持铲移向煎锅。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 1.80–2.40 s 右侧灵巧手手指合拢包住锅铲柄，握住并抬离台面；左手未参与。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [ + [ + 6.08, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.08, + "log_step": null, + "text_zh": "观察：视频 3.84–5.76 s 机器人右手持铲伸入煎锅，在饼下滑动并抬起；视频 6.00 s 饼开始离开锅内原位，视频 6.08 s 饼随铲片升到锅沿上方，画面原生阶段标记 on blade 已勾选，视频 6.00 s 尚未勾选。以视频 6.08 s 记录连续10控制步验收已完成，未将画面仿真时间当作视频时间。" + }, + { + "t": 7.2, + "log_step": null, + "text_zh": "观察：视频 6.48–7.20 s 机器人持铲将煎饼从锅上方向右侧白盘搬运，黑锅内原来的饼已离开，饼保持在铲片上；后续装盘时 on blade 勾选保持。该节点为通过后锁存的事件。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 5.76–6.48 s 机器人右手持锅铲，黑色铲片进入煎饼下方并从下方承托抬起煎饼，手指未直接接触煎饼。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [ + [ + 9.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 7.60 s 煎饼仍在铲片上接近白盘，over plate 尚未勾选；视频 7.80 s 机器人已持铲将饼移到盘上方，over plate 勾选；视频 8.20–8.80 s 机器人降低铲片并向后抽铲，煎饼留在白盘内。此时 hold 尚未完成，不提前记装盘达标。" + }, + { + "t": 9.6, + "log_step": null, + "text_zh": "观察：视频 9.12 s 饼平放白盘内、铲片已撤到饼左侧，画面 hold 为18/50；视频 9.52 s 为48/50，视频 9.60 s 为50/50，served + 1 s hold 勾选且显示 PASS。视频 9.60–10.56 s 逐段检查终帧静止画面，煎饼持续留盘，锅铲与饼分离；终态画面显示饼心距盘心2.6 cm。按原生50控制步验收于视频约9.60 s 记本状态达成。" + }, + { + "t": 9.6, + "log_step": 42, + "text_zh": "观察：inputs/run.json 的 reward 记录 success=1、stages_completed=3、deterministic=1、n_actions=683。log step 38 保存成功回放轨迹，log step 39–40 记录连续生成的动作与已交付动作完全相同，log step 42 对交付文件的两次独立回放均报告 success=true、steps=683，终态哈希相同；这些交付验证与视频 PASS 一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 7.20–8.60 s 机器人右手持铲，以铲片从下方承托煎饼搬到白盘并降低；视频 8.60–9.12 s 从饼下抽出铲片，让白盘承接煎饼。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：机器人右手在视频约2.00 s 握起锅铲，视频6.08 s 煎饼托上铲阶段通过，随后移到白盘并撤铲，视频9.60 s 达到hold 50/50且PASS，全部3个节点终态为真。观察：log step 42 对交付轨迹的两次独立回放均成功且终态哈希相同，评分器success=1、stages_completed=3，与视频结果一致。证据缺口：没有状态日志，细微接触及各项速度、倾角和间距阈值依赖画面原生阶段验收，reward未报告的数值指标均留空；视频9.60 s 的画面显示仿真13.66 s，节点时间均取视频时钟，未直接换算仿真秒。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "三个节点的时间、终态和接触与视频一致；成功任务无失败，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": "2026-10-30T19:23:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-privileged--6hsscsb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-privileged--6hsscsb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a613dc5cc13d95857a12f74501fc90237f4490f55d7546487413536aa817d56c", + "video_sha256": "c8406127c5841e6b3c8e8c279e68a104834b1af14fc84dcc4192bab660dfe01a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--6ljozkd.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--6ljozkd.json new file mode 100644 index 0000000000000000000000000000000000000000..f2bb1e40da93a1f2f38c2faf3b1efc3ae8915e35 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--6ljozkd.json @@ -0,0 +1,281 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-privileged--6ljozkd", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 130, + "sim_steps": 130, + "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": 3.04, + "peak_processes": 8, + "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-pancake-serve-i00-privileged--6ljozkd/replay.mp4", + "duration_s": 4.08, + "fps": 25.0, + "frames": 102, + "sha256": "a589aac815742f1cf8ed2df508b5bbf05d63881f272dd03e61b5240ec8bd4cb5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 1.0 s 右手位于煎锅左侧上方；视频约 1.48–3.0 s 右手转为手指向上的姿态并停留在该处，与台面前方的黑色锅铲柄明显分离，没有进入铲柄附近；锅铲始终躺在原处，没有随手提起。" + }, + { + "t": 4.04, + "log_step": null, + "text_zh": "观察：视频 3.0、3.2、3.4、3.6、3.8、4.0 和 4.04 s，右手均竖指悬在煎锅左侧上方，与前方台面上的锅铲保持明显间隔；锅铲位置不变，没有后续抓握或提起。" + }, + { + "t": null, + "log_step": 46, + "text_zh": "观察：log step 42 的脚本尝试以竖起手指的掌面推近铲柄，输出从推前到推后铲柄坐标始终为 [0.76, -0.3065, 0.8757] m；log step 46 将该脚本的 nudge_rows.npy 保存为受评文件，行数130，与评分器 n_actions=130 相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 1.48–4.04 s，机器人右手竖指悬在煎锅左侧上方，始终未到达前方台面上的锅铲柄，没有推动或夹住锅铲。推断：结合 log step 42 的掌推脚本及 log step 46 保存关系，按这次未接触目标的掌推尝试标为手指/夹爪×推/扫，不表示发生了实际接触。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 0.0–4.04 s，金黄色煎饼始终留在黑色煎锅内，锅铲留在锅外台面；视频 2.6 s 顶部原生阶段指示 on blade 未勾选，末帧仍未勾选。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.stages_completed=0；与视频中煎饼未离锅一致。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.04, + "log_step": null, + "text_zh": "观察：视频 0.0–4.04 s，右侧白色餐盘一直为空，煎饼仍在煎锅内；视频 4.04 s 顶部原生阶段指示 over plate、served 均未勾选，hold 为0/50。机器人没有开始运饼装盘。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "turner_in_hand", + "t": 1.5, + "log_step": 42, + "where": "操作中", + "evidence_zh": "观察：视频约 1.5 s，机器人右手已转为竖指姿态，悬在煎锅左侧上方，与台面前方的锅铲柄明显分离；直到视频 4.04 s，手都未进入铲柄附近，锅铲未移动或被拿起。log step 42 的脚本设置了先把铲柄推近的目标，log step 46 将这130行动作保存为受评文件。推断：最早未修复的失败步骤是拿起锅铲。" + }, + "unmet": { + "pancake_on_blade": false, + "pancake_on_plate": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1.5, + "log_step": 42, + "evidence_zh": "观察：视频约 1.48–3.0 s，机器人右手竖指停在煎锅左侧上方，与台面前方的锅铲柄保持明显间隔，没有进入柄附近或合拢握住它；视频 3.0–4.04 s 也未出现手与柄接触、接触带动或提起，锅铲始终静放原处。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 42, + "source_zh": "日志", + "evidence_zh": "推断：先核查目标掌位的可达性。log step 40 的会话测试输出掌位 x=0.6741 m、抬手后 x=0.6888 m，而柄 x=0.8740 m；log step 41 输出掌位 x=0.6691 m、抬手后 x=0.6850 m，而柄 x=0.8643 m，显示此前多次未到达远端目标。它们仅为会话旁证，且抓取姿态不同，不能据此确定本次掌推姿态的可达上限。log step 42 却设置接近掌位 [0.88,-0.3065,0.93] m、推铲掌位 [0.80,-0.3065,0.93] m，推前实际掌位仅 [0.5905,-0.222,0.9894] m，柄从推前至推后均为 [0.76,-0.3065,0.8757] m。log step 46 保存了该序列，视频约 1.48–4.04 s 右手始终远离铲柄，支持掌位控制未能建立接触；但不足以证实所选接触布局必然不可行，或确定为轨迹/逆解、反馈子类，故保留控制大类。" + } + ], + "gap_zh": "没有状态日志，也无本次竖指掌推姿态的工作空间、关节限位或逆解可行性验证，不能区分目标掌位不可达、接触布局不适配与控制求解/跟踪未到位。log step 40/41 是此前的会话测试，抓取阶段姿态与本次掌推不同，其掌位 x约0.67–0.69 m 不能当作本次可达上限；log step 40 的“超出可达范围”只是 agent 自述。先推近再拿起与工具准备目标一致，没有独立证据证明任务目标、步骤顺序或跨阶段策略选错；也未验证掌推接触方案可行或不可行，因此不细分为规划、抓取和接触设计、轨迹或逆解或反馈控制。评分器未报告DAG列出的九项原生连续指标，均填null。log step 47–53 是保存受评文件后的会话测试，未见再次保存交付，不能用这些测试的拖铲或抓取动作标注本视频进度；日志末尾没有最终文字报告。视频内嵌仿真时钟与视频时钟不同，所有导航时间均直接按视频帧编号/25给出。" + }, + "summary_zh": "受评视频中右手转为竖指姿态后悬在煎锅左侧上方，始终远离前方台面上的锅铲；锅铲未离台、煎饼留在锅内，三个节点均未达成，断点为拿起锅铲。交付脚本要求掌位 x=0.88/0.80 m，推前实测仅 x=0.5905 m，此前会话测试也多次未到远端目标，支持控制大类。缺少本次姿态的可达性与限位验证，无法进一步区分接触设计、逆解或跟踪问题；其他会话测试不作为本视频进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "三个节点未达成、断点拿起锅铲、没建立接触均与视频一致；但证据文字把右手说成“停在锅铲旁/伸向铲柄”，帧中右手始终悬在煎锅左上方，离锅铲很远；根因证据也漏掉了“目标掌位够不到”的关键信息，需按判别次序重写。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "三个节点未达成、断点拿起锅铲、没建立接触均与视频一致；第一轮指出的手位置描述和根因证据已修正，未发现新的实质错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:39:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "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-pancake-serve-i00-privileged--6ljozkd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-privileged--6ljozkd/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-privileged--6ljozkd/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-privileged--6ljozkd/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9b20da81e1d720a0dd53875f824e1167ade492907ecb9c7a63eea3908282b3c1", + "video_sha256": "a589aac815742f1cf8ed2df508b5bbf05d63881f272dd03e61b5240ec8bd4cb5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--gngp8vm.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--gngp8vm.json new file mode 100644 index 0000000000000000000000000000000000000000..45ad2f507b8f185b10d03f71100fe4b37bd031d6 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--gngp8vm.json @@ -0,0 +1,261 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-privileged--gngp8vm", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 201, + "sim_steps": 201, + "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": 2.877, + "peak_processes": 10, + "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-pancake-serve-i00-privileged--gngp8vm/replay.mp4", + "duration_s": 5.52, + "fps": 25.0, + "frames": 138, + "sha256": "95c878ecac9916aa7db7f05c3b2c1d1e476b5a1426504f6b303abc659b67b947" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [ + [ + 3.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.2, + "log_step": null, + "text_zh": "观察：视频 2.4–3.2 s，机器人右手手指围住黑色锅铲柄并抬升；视频 3.2–3.8 s 铲片与台面间出现间隙及分离的影子，锅铲随手上移，已由右手承持。该节点是锁存事件，后续脱手不撤销已发生的拿起。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.4–3.8 s，右侧灵巧手手指合拢夹住锅铲柄并提离台面；左手保持停放。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.4, + "log_step": 109, + "text_zh": "观察：视频 3.9–4.44 s，机器人持铲转腕并向煎锅方向移动，锅铲相对手旋转下坠；视频 4.44 s 顶部显示 FAIL: spatula_dropped。煎饼仍平躺锅内，on blade 始终未勾选；视频 5.48 s 终帧仍如此。log step 109 对最终 201 行交付轨迹两次回放均报 spatula_dropped，且哈希相同。" + }, + { + "t": 4.0, + "log_step": 79, + "text_zh": "推断：视频 3.9–4.4 s 的持铲转向发生在拿起完成后、铲片接近煎锅之前，对应尝试将煎饼托上铲。log step 76 的脚本把拿起后的动作定义为送铲入锅，log step 79 增加通往首个入锅准备点的过渡；这用于解释动作阶段，节点未完成仍由视频判断。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.9–4.4 s，右手仍夹持锅铲柄向煎锅方向转动，随后失去握持；可见的实际接触是手与铲柄，铲片尚未接触锅内煎饼，未发生托/舀接触。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.48, + "log_step": null, + "text_zh": "观察：视频 0–5.48 s，煎饼始终留在黑色煎锅内，右侧白盘始终为空；视频 4.44–5.48 s 失败画面中的 over plate、served 均未勾选，hold 为 0/50。机器人没有开始装盘。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pancake_on_blade", + "t": 4.4, + "log_step": 109, + "where": "操作中", + "evidence_zh": "观察：视频 3.2–3.8 s 机器人已拿起锅铲，视频 3.9–4.44 s 右手持铲转向煎锅时锅铲转落、与手分离，顶部显示 spatula_dropped；煎饼仍在锅内，之后没有恢复。推断：失败发生于送铲入锅、准备托饼的操作中，因此断点是煎饼托上铲；拿起锅铲的锁存事件此前已完成。log step 109、122 对最终交付轨迹的重复回放均确认锅铲脱手失败。" + }, + "unmet": { + "pancake_on_blade": false, + "pancake_on_plate": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 4.4, + "log_step": 109, + "evidence_zh": "观察：视频 3.2–3.8 s 锅铲随右手悬离台面；视频 3.9–4.44 s 转腕时铲柄相对闭合手指滑转，铲片下降，随后画面显示 FAIL: spatula_dropped。log step 109 回放最终交付文件记录无手接触时的自由下落速度 -0.36158 m/s，与可见的脱手一致；并非从未接触锅铲。" + } + ], + "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 3.2–4.44 s，右手对铲柄的夹持能短暂提起工具，却不能在转腕送铲时维持工具相对手的姿态与承载，指向握持接触布局不稳。会话诊断 log step 69、93、100 多种握持均先抬升后回落；log step 113 的另一试验读到多指实际关节角低于闭合目标，支持握持承载不足，但不是本次评分轨迹的力测量。成功参考 inputs/oracle/replay.mp4 在参考视频 3.0–9.5 s 中以同款 Sharpa 手持续持铲并完成盛饼，验证存在可行替代握持，不据此假定本次的精确接触或力矩。" + } + ], + "gap_zh": "本次没有状态日志或评分回放中的逐指接触力、关节角记录；视频能确定锅铲被拿起后脱手，但无法定量区分具体手指承载、摩擦与转腕加速度的贡献。log step 113 是独立会话试验，agent 在 log step 123 自述的力矩及力限诊断未在本次轨迹中核实。DAG 所列九项原生连续指标未在 reward 中报告，均置 null；视频帧头的仿真时间不当作视频时间。" + }, + "summary_zh": "机器人在视频约 3.2 s 抓起锅铲，完成 1/3 个节点；煎饼始终留在锅内，未托上铲或装盘。视频约 4.4 s，机器人向煎锅送铲时握持失稳、锅铲脱手，断在煎饼托上铲；最终交付轨迹的重复回放确认同一失败。缺少本次逐指力和状态日志，抓取承载不足的具体力学贡献仍待核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "抽帧复核：视频 3.0–3.8 s 铲片与台面出现间隙和分离影子，锅铲随右手提起；视频 4.0–4.44 s 转腕后锅铲落回台面，顶部 FAIL: spatula_dropped；煎饼与白盘始终未动。节点值、断点和现象与证据一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:27:44Z", + "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-pancake-serve-i00-privileged--gngp8vm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-privileged--gngp8vm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f8633bbdddd5ed1e4b7981fdc1cb64c52c85d146dbc7bcd4957d6fa13e74142f", + "video_sha256": "95c878ecac9916aa7db7f05c3b2c1d1e476b5a1426504f6b303abc659b67b947", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--lcq5wzy.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--lcq5wzy.json new file mode 100644 index 0000000000000000000000000000000000000000..18a2c92a70515894fd1c96a837a18f14831045ca --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--lcq5wzy.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-privileged--lcq5wzy", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 560, + "sim_steps": 560, + "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": 2.867, + "peak_processes": 10, + "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-pancake-serve-i00-privileged--lcq5wzy/replay.mp4", + "duration_s": 12.68, + "fps": 25.0, + "frames": 317, + "sha256": "72d44b9e595fc81ef1bdcdf997ecfcb089c279801fd1f3925f37b16b4a7dab9b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [ + [ + 2.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 2.0–2.4 s，机器人右手手指在黑色锅铲柄周围合拢；视频 2.8 s，锅铲已离开白盘前方的原台面位置，柄夹在弯曲手指与掌侧之间，铲片及其台面投影分离；视频 3.0–3.4 s，整把锅铲随右手向煎锅移动。拿起时刻约为视频 2.8 s，视觉误差约0.2秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右侧灵巧手的弯曲手指包住锅铲柄并与掌侧夹持，将锅铲提离台面；左臂未参与。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [ + [ + 6.68, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.68, + "log_step": null, + "text_zh": "观察：视频 3.4–6.4 s，机器人右手持锅铲进入黑色煎锅，将铲片伸入金黄色煎饼下方并抬起；视频 6.6–7.2 s，煎饼离开锅底，位于随右手移动的黑色铲片上。画面顶部的基准原生阶段标记 on blade 在视频 6.64 s 尚未勾选，视频 6.68 s 首次勾选，之后保持勾选至片尾；以该标记确认连续控制步的托饼验收。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机器人右手握锅铲，黑色铲片从煎饼下方承托并将煎饼抬离黑色煎锅，之后饼随铲移动；机器人手没有直接扶饼。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [ + [ + 11.64, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.4, + "log_step": null, + "text_zh": "观察：视频 7.2–8.8 s，机器人右手通过锅铲把煎饼从黑锅上方送到右侧白盘上方，黑锅内原来的饼已移走；视频 8.4 s，原生 over plate 标记已勾选。视频 9.0–10.6 s，机器人降低铲片使饼落在白盘内，向盘前方抽回并转动锅铲，饼留在盘中。此时尚未完成静置验收。" + }, + { + "t": 11.64, + "log_step": null, + "text_zh": "观察：视频 10.8、11.0、11.2、11.4、11.6 s，煎饼平放白盘内，机器人右手持铲停在饼旁，画面顶部原生 hold 依次为8/50、18/50、28/50、38/50、48/50；视频 11.64 s 首次显示 PASS、served + 1 s hold 勾选及 hold 50/50。视频 11.8–12.64 s（含最后一帧）保持相同装盘终态；inputs/run.json 的评分器 reward 同时给出 success=1、stages_completed=3、deterministic=1。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：机器人右手持锅铲，以铲片从下方承托煎饼搬到白色餐盘上方，降低后把煎饼交由白盘承托，再抽出铲片；手没有直接抓取煎饼。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "本次评分轨迹完成全部三步：视频约 2.8 s 右手握铲离台，视频 6.68 s 原生 on blade 勾选，视频 11.64 s 装盘静置达到 hold 50/50 并显示 PASS，终态保持至视频 12.64 s。机器人以铲片托饼、移至白盘并撤铲，评分器 success=1、stages_completed=3 与画面一致，无失败断点。未提供状态日志，细微接触、速度及毫米级阈值依靠原生阶段标记和终局评分确认，不能逐项独立复算；评分器未报告 DAG 所列九项原生指标数值，故均填 null，所有区间使用视频时钟而非画面中的仿真时钟。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "三个节点的时间与画面顶部原生勾选一致（on blade 视频6.68 s，PASS/hold 50/50 视频11.64 s），拿起约2.8 s合理，接触标注与实际相符，成功运行无失败断点，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": "2026-10-30T19:20:17Z", + "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-pancake-serve-i00-privileged--lcq5wzy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-privileged--lcq5wzy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "86a260c6d1f7be60eb3a5781f6c2b4d1383ac8319aed1b731e4c7efb9086676f", + "video_sha256": "72d44b9e595fc81ef1bdcdf997ecfcb089c279801fd1f3925f37b16b4a7dab9b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--mvat6uo.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--mvat6uo.json new file mode 100644 index 0000000000000000000000000000000000000000..4cba26df63559a5f8c6be330b61831fdca300822 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--mvat6uo.json @@ -0,0 +1,269 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-privileged--mvat6uo", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 304, + "sim_steps": 291, + "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": 4.877, + "peak_processes": 13, + "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-pancake-serve-i00-privileged--mvat6uo/replay.mp4", + "duration_s": 7.32, + "fps": 25.0, + "frames": 183, + "sha256": "418e3dc4f6a633f52b1cd4c19363bb9de0d7618156fb69b4a180c1a460baa74a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [ + [ + 2.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.7, + "log_step": null, + "text_zh": "观察：视频 2.24–2.48 s 右手手指围住黑色锅铲柄；视频 2.64–3.20 s 锅铲离开台面原位、随右手抬升和转动，铲片与台面阴影分离。首次完成约为视频 2.7 s，时间精度约±0.2 s。" + }, + { + "t": 4.4, + "log_step": null, + "text_zh": "观察：视频 3.20–4.80 s 右手继续承持锅铲并将其移向煎锅，证实此前是拿起工具而非只在台面拖动；本节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.24–3.20 s 右侧灵巧手的弯曲手指包住锅铲黑色柄，拇指位于柄的另一侧，合手握持并将锅铲提离台面。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.6, + "log_step": null, + "text_zh": "观察：视频 4.80–6.24 s 右手把锅铲向锅内推进，铲片接近并推拨煎饼左前边缘，随后上翘、转成近乎侧立；金黄色煎饼仍在黑色煎锅内，没有随铲片完整离锅。" + }, + { + "t": 7.28, + "log_step": null, + "text_zh": "观察：视频 6.40–7.28 s 的结束画面中煎饼仍在锅内，顶部 on blade、over plate 均未勾选，hold 为0/50，并显示 FAIL: pan_displaced；评分器 reward.stages_completed=0。成功参考视频 6.72 s 则可见煎饼被铲片托离锅且 on blade 勾选，这一完成信号在本次视频中始终未出现。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 5.36–6.08 s 右手持锅铲，以铲片前缘推拨煎饼左前侧，饼在锅内向后方偏移；铲片同时抵碰黑色锅沿并上翘，未从下方成功托起煎饼。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": null, + "text_zh": "观察：视频 0.00–7.28 s 白色餐盘始终为空，机器人只在锅铲初始位置及煎锅附近动作；视频 6.40–7.28 s 煎饼留在锅中，over plate 和 served 未勾选、hold 0/50，没有搬运到盘上、放下或撤铲静置的过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pancake_on_blade", + "t": 5.6, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 5.36–6.24 s 机器人正在将铲片推进煎锅以托起煎饼；铲片与锅边接触后上翘、偏转，煎饼没有离锅，随后煎锅被碰动。视频 6.40–7.28 s 顶部显示 FAIL: pan_displaced 且 on blade 仍未勾选，此次托饼尝试未修复；视频中的仿真时钟停止在5.82 s，该数字不作为视频定位时间。" + }, + "unmet": { + "pancake_on_blade": false, + "pancake_on_plate": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 5.6, + "log_step": null, + "evidence_zh": "观察：视频 5.44–6.24 s 右手持铲继续前推时，黑色铲片抵在煎锅近侧边缘并向上翻转，未进入煎饼底部；锅与饼向远离机器人的方向偏移。视频 6.40–7.28 s 结束画面明确显示 FAIL: pan_displaced，煎饼仍留在锅中。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 5.6, + "log_step": 57, + "evidence_zh": "推断：右手的弯指握持能提起锅铲，但与所采用的入铲接触方式组合后，不能在受锅沿反力时稳定铲片姿态。视频 5.44–6.24 s 可见铲片从平面转为上翘、近侧立，仍未托饼；log step 52 的脚本在重定向后固定腕姿、只做平移，log step 57 又令铲尖向高度0.858 m推进；同一最终脚本的输出（log step 58）显示铲尖反而升至约0.926–0.934 m、on_blade_run始终为0。log step 59 确认交付的304行动作来自该最终脚本，agent 在 log step 60 也将原因归为钩握不能抵抗推进中的剪切和偏转；这里只将其作为与画面一致的自述，具体摩擦和铰链受力未测得。", + "source_zh": "视频、日志、agent 自述", + "note_zh": "推断：当前握持及入铲接触几何不适配负载；没有在本次尝试中验证可替换的具体握法，故alt_feasible为未知。成功参考仅证明任务整体有可行路线。" + } + ], + "gap_zh": "没有状态日志；总览可确认工具拿起、铲片受阻翻转、饼留锅与pan_displaced终止，但不能逐接触点区分握柄滑转、铲片被动铰链变形及锅沿反力的贡献。抓取和接触设计归因是视频与最终脚本记录共同支持的推断，未证明具体摩擦参数错误；DAG所列9项连续原生指标未在评分器reward中报告，均填null。会话里更早的掉铲试验不作为本次交付回放的失败现象。" + }, + "summary_zh": "本次评分回放约在视频 2.7 s 拿起锅铲，最终完成1/3个节点；煎饼未托上铲，白盘始终为空。机器人在视频 5.4–6.2 s 入铲时抵碰锅沿，铲片上翘、转动且碰动煎锅，结束画面显示pan_displaced；视频与最终脚本共同支持握持及入铲接触设计不适配的推断。没有状态日志，具体滑转、铰链变形和接触力贡献不能分离。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间、接触、断点与现象均与视频一致：约 2.7 s 拿起锅铲，5.4–6.2 s 铲片抵锅沿上翘、锅被碰动并出现 FAIL: pan_displaced，饼仍在锅内。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": "2026-10-30T19:29:15Z", + "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-pancake-serve-i00-privileged--mvat6uo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-privileged--mvat6uo/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e59e1450dec842dfdb74d7dbaf6384fad46b1114dffc7cc652bdb22e3c764e85", + "video_sha256": "418e3dc4f6a633f52b1cd4c19363bb9de0d7618156fb69b4a180c1a460baa74a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--h3woesv.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--h3woesv.json new file mode 100644 index 0000000000000000000000000000000000000000..c1b7df0935e3e8b0ecec9a4e0f3276cdc7625bb2 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--h3woesv.json @@ -0,0 +1,279 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-standard--h3woesv", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 58, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 520, + "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": 520, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.456, + "peak_processes": 9, + "peak_disk_gb": 0.323, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-pancake-serve-i00-standard--h3woesv/replay.mp4", + "duration_s": 11.8, + "fps": 5.0, + "frames": 59, + "sha256": "1cf474a8eeb48187ad30f11f861c21631a1e81f87fccd9788ca8606c0dbe7c90" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [ + [ + 3.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 2.6–3.2 s，右手手指围拢黑色锅铲柄；视频 3.4–4.2 s，锅铲离开白盘前方台面并随右手上移，约视频 3.6 s 已由手承持。" + }, + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 5.0 s，右手将锅铲带到煎锅上方，原先台面上的锅铲位置已空；视频 11.6 s 末帧仍握住锅铲。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右侧灵巧手手指合拢包住黑色锅铲柄并提起、搬运锅铲，左手未参与。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": null, + "text_zh": "观察：视频 6.4–8.8 s，右手持锅铲从近侧向锅内推进，煎饼向远侧锅沿移动并翘起；没有出现煎饼完整离锅、稳定停在铲片上的状态，顶部 on blade 一直未勾选。" + }, + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 9.6–10.4 s，右手抬起铲片，铲片与煎饼上下错开，煎饼留在远侧锅沿；视频 10.6–11.6 s 末段保持此状态，on blade 仍未勾选。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 6.4–8.8 s，右手所持锅铲的铲片接触并推移煎饼，使饼向远侧锅沿移去、翘起；未见铲片独立托住整张饼离锅。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.6, + "log_step": null, + "text_zh": "观察：视频 0.0–11.6 s，右侧白盘始终为空；末帧煎饼仍留在煎锅远侧边缘，顶部 over plate 与 served 均未勾选，hold 为 0/50；机器人没有开始向白盘搬送煎饼。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pancake_on_blade", + "t": 7.4, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 7.2–8.8 s，机器人右手推进锅铲时把煎饼推向远侧锅沿并使其翘起；视频 9.6–10.4 s 抬铲后，煎饼仍留在锅沿，直到视频 11.6 s 未修复，on blade 始终未勾选。" + }, + "unmet": { + "pancake_on_blade": false, + "pancake_on_plate": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 7.4, + "log_step": null, + "evidence_zh": "观察：视频 7.4–8.8 s，锅铲推进时煎饼偏到远侧锅沿，未居于铲片上；视频 10.0–10.4 s，抬起的铲片位于仍留在锅沿的煎饼近侧上方，未形成完整托起所需的相对位置。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 7.4, + "log_step": 110, + "source_zh": "视频", + "evidence_zh": "推断：视频 6.4–8.8 s 的推进使煎饼沿锅内向远侧锅沿移去，随后视频 9.6–10.4 s 铲片独自抬起，表明本次铲入的接触几何未让铲片充分进入饼底形成承托。log step 110 的最终回合脚本采用预设 entry、wedge、slide、lift 航点，整段铲入和抬起一次提交；没有在抬起前检查饼是否已托在铲片上。该归因不把未验证的毫米级位置误差或受力大小当作事实。" + } + ], + "gap_zh": "没有状态日志；本次视频只有总览视角，铲片与饼底、锅沿的局部接触有遮挡，无法精确区分每一瞬间的接触点、受力与工具挠曲，也无法核实速度和毫米级阈值。native_metrics 所列数值均未由评分器报告，故为 null；log step 115 的数值是 agent 自行处理深度图的估计，未用作原生指标或节点判据。" + }, + "summary_zh": "评分回放中，机器人约在视频 3.6 s 拿起锅铲，最终完成 1/3 个节点。视频 7.4 s 起铲入动作将煎饼推向远侧锅沿，随后抬铲未能完整托起煎饼，断在“煎饼托上铲”，白盘始终为空；接触几何未形成有效承托是视频与最终脚本共同支持的推断。评分器报告 live_matches_replay=1、success=0；无状态日志，局部接触和受力细节无法精确核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间、断点（煎饼托上铲，操作中）、位姿不准现象与抓取和接触设计根因均与视频一致；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": "2026-10-30T19:45:30Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun1/runs/dexhand-pancake-serve-i00-standard--h3woesv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/dexhand-pancake-serve-i00-standard--h3woesv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "211e8cecc9e9c968abbd6b1828ddfbf24cb3e73c4a9c0c94517adb342199f745", + "video_sha256": "1cf474a8eeb48187ad30f11f861c21631a1e81f87fccd9788ca8606c0dbe7c90", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--sgqf7bm.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--sgqf7bm.json new file mode 100644 index 0000000000000000000000000000000000000000..74b47260943d5293cc76362a825005637b2353e2 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--sgqf7bm.json @@ -0,0 +1,289 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-standard--sgqf7bm", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 171, + "control_steps_total": 9735, + "elapsed_s": 3467.189, + "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": 930, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 13, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 930, + "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": 0.274, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-pancake-serve-i00-standard--sgqf7bm/replay.mp4", + "duration_s": 20.0, + "fps": 5.0, + "frames": 100, + "sha256": "2f42b1ad0866245605cc40a6a2949bef2ca7f5f6dfc10565273e04ce7b7c3c18" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [ + [ + 4.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.4, + "log_step": null, + "text_zh": "观察：视频 3.0–4.0 s，机器人右手手指围拢黑色锅铲柄；视频 4.4 s 锅铲随右手提起并离开初始台面位置，视频 5.4 s 已被手持移向煎锅。拿起时刻约为视频 4.4 s，误差约 0.4 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.0–4.4 s，机器人右侧灵巧手手指围住黑色锅铲柄并将其提离台面，随后保持手持。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 6.0–9.6 s，机器人右手持铲进入煎锅，黑色铲片从总览视角遮住煎饼的一部分；煎饼未显示离锅，顶部 on blade 始终未勾选。" + }, + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 9.8–10.4 s，机器人抬高手和锅铲，黑色铲片离开锅内，金黄色煎饼仍完整留在锅底；视频 10.4–19.8 s 未见重新托饼，末帧 on blade 仍未勾选。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 6.0–9.6 s，机器人右手持锅铲伸入煎锅并在饼面投影范围内移动；铲片遮挡局部饼面，唯一总览视角无法分辨铲片是否擦到饼面、饼边或仅从其上方掠过。视频 10.4 s 可确定未形成将饼托离锅底的承托，故不把计划中的托/舀记作已发生接触。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 12.0–16.0 s，机器人将空锅铲移至白盘上方、降低并撤回；金黄色煎饼仍在左侧黑锅内，没有随铲到盘。" + }, + { + "t": 19.8, + "log_step": null, + "text_zh": "观察：视频 18.8–19.8 s 的逐帧末尾画面中，煎饼留在黑锅，白盘无饼；顶部 on blade、over plate 均未勾选，served + 1 s hold 未勾选且 hold 为 0/50。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 12.0–18.0 s，机器人右手持空铲执行移至白盘、下降及撤铲动作；没有搬运煎饼。该总览视角不能确定铲片与白盘是否接触，未观察到煎饼与白盘接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pancake_on_blade", + "t": 10.2, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 6.0–9.6 s，机器人右手持铲在锅内执行铲饼动作；视频 10.2–10.4 s 提起的是空铲，煎饼仍在锅底且 on blade 未勾选。此后机器人持空铲移到白盘，直到视频 19.8 s 仍未托起煎饼，首次未修复的失败步骤为煎饼托上铲。" + }, + "unmet": { + "pancake_on_blade": false, + "pancake_on_plate": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 10.2, + "log_step": null, + "evidence_zh": "观察：视频 9.8–10.4 s，机器人手持的铲片上升、离开锅内，煎饼留在锅底，on blade 未勾选。推断：铲片未建立本步所需的饼底承托接触；这不等于断言铲片从未擦到饼面或饼边。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "观察：视频 6.0–10.4 s，机器人已握住锅铲并将铲片移入煎锅，但铲片在煎饼投影范围移动后单独抬起，煎饼没有跟随；视频 12.0–16.0 s 继续执行空铲送盘动作。推断：此次执行未实现铲片与煎饼之间所需的承托配合，归为控制；现有画面不足以进一步区分铲片接触几何、握持后工具姿态偏差或轨迹跟踪问题。" + } + ], + "gap_zh": "本次没有状态日志，只有总览视频；视频 6.0–9.6 s 铲片遮挡部分饼面，不能确定具体饼—铲接触及接触力，也不能确定送盘动作中的铲—盘接触。日志包含多次重置：log step 478 记录最后一次重置进入 episode 14；之前测试的结果不作为本次节点进度。评分器未报告 DAG 所列连续指标，均填 null；视频时刻直接取帧，不将日志的 agent 时间或画面仿真时间当作视频时间。" + }, + "summary_zh": "本次评分轨迹完成拿起锅铲，最终节点进度为 1/3；视频 10.2–10.4 s 机器人抬起空铲时煎饼仍留锅，煎饼托上铲和装盘均未达到。断点为煎饼托上铲：所需的饼底承托接触未建立，后续送盘动作搬运的是空铲，视频 19.8 s 白盘仍无饼且 hold 为 0/50。没有状态日志，具体铲饼接触及控制子类不能可靠细分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "拿起锅铲、煎饼托上铲未达、装盘未达、最终 1/3 均与视频一致；断点与现象有帧支撑，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": "2026-10-30T19:33:55Z", + "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-pancake-serve-i00-standard--sgqf7bm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-standard--sgqf7bm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fe67504c8abc003f78ed8400712587a3a0c781d521773f3ba18e1f103bd14112", + "video_sha256": "2f42b1ad0866245605cc40a6a2949bef2ca7f5f6dfc10565273e04ce7b7c3c18", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--sv8hft7.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--sv8hft7.json new file mode 100644 index 0000000000000000000000000000000000000000..379038c917084017aa626d58f42dace5e85a9d89 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--sv8hft7.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-standard--sv8hft7", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 452, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 1431, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1431, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.303, + "peak_processes": 11, + "peak_disk_gb": 0.897, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-pancake-serve-i00-standard--sv8hft7/replay.mp4", + "duration_s": 30.0, + "fps": 5.0, + "frames": 150, + "sha256": "82e36fea18ad83cfe9501f050ae7a74d4cd771117760ef82056d0c60f36d4162" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 198, + "text_zh": "观察：log step 198 将机器人服务重置到 episode 6；本次视频开局锅铲平放在白盘前方台面，右手张开，煎饼在黑锅内。该回合是最后一次重置后的评分回合，reward 的 live_matches_replay=1。" + }, + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 2.0–6.4 s 右手从上方靠近并合指压碰锅铲柄；视频 6.6–12.0 s 锅铲被拨转，右手抬动时柄端仍靠在台面，没有出现整把锅铲离台并由手承持的状态。" + }, + { + "t": 29.8, + "log_step": 317, + "text_zh": "观察：视频 12.0–29.8 s 右手继续多次调整、合指及抬手，锅铲仍留在台面附近，未随手搬离；视频 29.0–29.8 s 末秒没有补成拿起。agent 在 log step 317 也自述最终回合锅铲仍在台面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 2.0–12.0 s 右侧灵巧手手指从上方压碰、擦拨黑色锅铲柄，使锅铲在台面上移位转向；后续反复合指抬手，未见拇指与其余手指形成承持锅铲的对向夹持。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.8, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.0–29.8 s，金黄色煎饼一直留在黑锅内，锅铲未进入饼下并托饼离锅；末帧顶部 on blade 未勾选。对照成功参考视频 6.0–6.5 s 可见饼随铲离锅，本次没有该变化。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.8, + "log_step": null, + "text_zh": "观察：视频 0.0–29.8 s 白色餐盘一直为空，煎饼始终在黑锅中；末帧顶部 served 未勾选、hold 为 0/50，未出现送饼入盘或撤铲装盘的过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "turner_in_hand", + "t": 7.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 6.6–12.0 s 右手闭合后抬动，只把锅铲拨转，柄端仍由台面支承，没有抓起整把锅铲；直到视频 29.8 s 的末帧仍未修复。机器人一直在尝试拿起锅铲，尚未开始托饼。" + }, + "unmet": { + "pancake_on_blade": false, + "pancake_on_plate": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 7.0, + "log_step": null, + "evidence_zh": "观察：视频 6.6–12.0 s 右手与锅铲有压碰和拨动，但没有建立拿起所需的夹持承重接触；视频 18.0–18.8 s 右手抬离而黑色柄仍留在台面，后续调整至视频 29.8 s 仍无成功抓持。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "log_step": 286, + "source_zh": "视频 / 日志 / agent 自述", + "evidence_zh": "推断：视频 6.6–12.0 s、18.0–18.8 s 的合指与抬手只压拨锅铲而未夹住柄，指端与柄的接触布局未形成可靠的对向夹持。log step 217 的脚本使用固定 GRIP_RIGHT 合指，log step 258 又保持该指形抬腕；log step 260 输出腕高从 0.987 m 增至 1.024 m，证明抬腕本身执行了。agent 在 log step 286 自述指端只碰到柄端、没有形成稳固夹持，与视频中的空手抬起一致；无法据此量化各指接触力。" + } + ], + "gap_zh": "没有状态日志；现有评分视频仅有总览视角，手掌会遮住部分柄面，无法精确分辨各指接触对与接触力，也未在本次回合验证可行替代握法。DAG 的原生距离、倾角与速度指标未在 reward 中报告，均填 null；节点未达由可见物体位置和阶段标记判断。" + }, + "summary_zh": "评分回合中右手反复尝试拿起锅铲，只将其压碰、拨转，未形成离台承持，三个节点均未达到。煎饼始终留在黑锅内、白盘为空；断点为拿起锅铲，接触布局没有建立可靠夹持，后续托饼和装盘未启动。没有状态日志，具体指间接触及接触力无法核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达与视频一致：锅铲始终在台面，被拨转后手空抬起；煎饼在锅内、盘为空，顶部勾选框全程未勾。断点、现象、根因（标为推断）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": "2026-10-30T19:36:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-standard--sv8hft7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-standard--sv8hft7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dedaa98ecf99207858839da1f747cf8aad9fd9cc6b3b79fcc5bde172795bfc01", + "video_sha256": "82e36fea18ad83cfe9501f050ae7a74d4cd771117760ef82056d0c60f36d4162", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--ufhbnmf.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--ufhbnmf.json new file mode 100644 index 0000000000000000000000000000000000000000..d652cbfab3ae2022e8a57bb8233cdd353854bf70 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--ufhbnmf.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-standard--ufhbnmf", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "calls": 168, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 1, + "n_actions": 2710, + "no_verdict": 0, + "replay_success": 1, + "reset_budget": 20, + "resets": 2, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 2710, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.57, + "peak_processes": 13, + "peak_disk_gb": 1.132, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-pancake-serve-i00-standard--ufhbnmf/replay.mp4", + "duration_s": 55.6, + "fps": 5.0, + "frames": 278, + "sha256": "181d8bdad47f2a9a400b84063a7563bb8f675c198e7550d96e0d1a29f46f3555" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [ + [ + 7.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，黑色锅铲独立放在白盘前方台面，机器人右手张开，尚未持铲。" + }, + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 6.0–8.8 s，机器人右手手指逐渐包拢锅铲柄，随后锅铲与台面阴影分离并随手上移；视频 10.4 s 可清楚看到整把锅铲由闭合的右手承持、悬在台面上方。拿起时刻取视频约 7.0 s，离台初刻受视角与低帧率影响，约有 0.5 s 不确定性。" + }, + { + "t": 10.4, + "log_step": 112, + "text_zh": "观察：视频 10.4 s，锅铲已离开开局位置并随右手转动；log step 112 的机器人控制服务输出记录第三回合已执行 grasp、lift1。这是本次评分回合的拿铲动作，前两回合的试验不计入节点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右侧 Sharpa 灵巧手以弯曲的手指和拇指包拢黑色锅铲柄，握住并提离台面；左手没有参与。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [ + [ + 34.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.6, + "log_step": null, + "text_zh": "观察：视频 26.6–34.2 s，右手持铲在锅内逐步深入、调整铲片，煎饼已被顶起但顶部 on blade 尚未勾选，因此不以最初翘起作为托上铲通过时刻。" + }, + { + "t": 34.4, + "log_step": null, + "text_zh": "观察：视频 34.2 s 顶部 on blade 仍未勾选；视频 34.4 s 首次显示 [x] on blade，金黄色煎饼在铲片上方被承托。视频 36.8–40.0 s，煎饼继续随铲片抬高并离开锅的位置，黑锅内原来的饼位已空；按原生阶段标记，将通过时刻定为视频 34.4 s，事件此后锁存。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "机器人右手握持锅铲，铲片从饼边下逐步铲入并调整深度，最后从下方承托煎饼离锅；没有直接用手抓饼。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [ + [ + 54.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 48.8, + "log_step": 132, + "text_zh": "观察：视频 46.0–50.8 s，右手将铲上煎饼降低至白盘，首次短撤铲时煎饼跟随铲片向盘边移动，随后机器人将其送回盘内并改变倾角，顶部 hold 仍为 0/50；log step 132 中 agent 也自述首次撤铲时煎饼跟随铲片，随后调整接触。这段未完成的尝试不构成装盘节点的达成或丢失。" + }, + { + "t": 54.4, + "log_step": 139, + "text_zh": "观察：视频 52.0–54.4 s，煎饼留在白盘内，右手将黑色铲片向左撤出；视频 53.6、53.8、54.0、54.2 s 的 hold 依次为 10/50、20/50、30/50、40/50，视频 54.4 s 显示 PASS、[x] served + 1 s hold、hold 50/50，plate dist 2.4 cm。log step 139 的机器人控制服务最终状态为 episode 3、control_steps 2710、done True、reason success；评分器 replay_success=1、live_matches_replay=1，与画面一致。" + }, + { + "t": 55.4, + "log_step": null, + "text_zh": "观察：视频 54.6–55.4 s 的末尾各帧仍显示 PASS 与 hold 50/50，煎饼平放在白盘内，锅铲在饼左侧且已撤开；末帧顶部的仿真时钟停在仿真 54.20 s。节点时间采用所看帧的视频时钟，不把仿真时钟直接当视频时钟。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "右手以锅铲铲片托住煎饼运至右侧白盘，降低并调整倾角，将支承转交白盘后向左撤铲；第一次撤铲曾带动煎饼，调整后煎饼留盘。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "评分回放为第三回合：机器人右手约在视频 7.0 s 拿起锅铲，视频 34.4 s 通过煎饼托上铲阶段，视频 54.4 s 在煎饼留盘、完全撤铲并静置后显示 PASS，三个节点最终全部完成。装盘中的首次撤铲带动煎饼，机器人重新定位并增加倾角后完成；视频 55.4 s 末帧及评分器 live_success=1、replay_success=1 支持成功，无失败断点。已对照参考成功视频的阶段标记；本次没有状态日志，离台初刻约有 0.5 s 不确定性，毫米级接触与速度阈值依靠原生阶段验收，评分器未报告九项原生指标的数值，均保留 null。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功回合，三个节点的时间与画面顶部阶段标记一致（拿铲约视频 7 s、on blade 视频 34.4 s、PASS 视频 54.4 s），接触标注合理，无失败断点。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:26:31Z", + "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-pancake-serve-i00-standard--ufhbnmf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-standard--ufhbnmf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cd683b88adbff92eaacdb4f26df04f5cc2ac4db4e6627706930a9a6da5506d3a", + "video_sha256": "181d8bdad47f2a9a400b84063a7563bb8f675c198e7550d96e0d1a29f46f3555", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--uizb52s.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--uizb52s.json new file mode 100644 index 0000000000000000000000000000000000000000..72cc324a2465848220c4c34f7b43000b51ec0c93 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--uizb52s.json @@ -0,0 +1,271 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-standard--uizb52s", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 132, + "control_steps_total": 7106, + "elapsed_s": 3562.234, + "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": 390, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 18, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 390, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.481, + "peak_processes": 7, + "peak_disk_gb": 0.315, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-pancake-serve-i00-standard--uizb52s/replay.mp4", + "duration_s": 9.2, + "fps": 5.0, + "frames": 46, + "sha256": "06a32a650fb3e30884c0e36f7192e2107e47d8969a4ca4dfc9bee9e26296aaca" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [ + [ + 5.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频4.8 s右手尚张开；视频5.0–5.4 s右手手指合拢包住黑色锅铲柄，铲片抬离台面并随手移动，原先平躺的锅铲转成倾斜姿态。首次拿起时间约为视频5.0 s，精度受5 fps限制。" + }, + { + "t": 8.0, + "log_step": 56, + "text_zh": "观察：视频6.0–7.8 s右手继续抬手和调姿，锅铲相对手指转动下滑；视频8.0 s顶部显示FAIL: spatula_dropped，此后至视频9.0 s保持失败终态。拿起节点为锁存事件，后续滑落不撤销已完成的拿起。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频5.0–7.8 s右手手指合拢围住锅铲柄并短暂承持，随后锅铲在指间转动下滑；左手未参与。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.4, + "log_step": 56, + "text_zh": "观察：视频0.0–9.0 s煎饼始终留在黑色煎锅内；视频6.4–8.0 s右手仍在台面前方调整锅铲，铲片没有到达煎饼下方，顶部on blade一直未勾选。log step 56所示本回合在trim调姿命令后已task_failure，随后scoA提交被EpisodeOver拒绝。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.0, + "log_step": null, + "text_zh": "观察：视频0.0–9.0 s白色餐盘始终为空，煎饼未离开煎锅；视频8.0–9.0 s失败后的每帧仍显示over plate、served未勾选，hold为0/50，装盘未发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "turner_in_hand", + "t": 7.8, + "log_step": 56, + "where": "操作中", + "evidence_zh": "观察：视频5.0 s右手已短暂抓起锅铲，视频6.0–7.8 s仍在台面前方抬手、调整锅铲握持姿态，锅铲相对手指转动下滑；视频8.0 s出现FAIL: spatula_dropped，画面内仿真时钟停在7.80 s。log step 56本回合在trim调姿后返回task_failure，尚未执行scoA进锅命令。推断：断点是拿起锅铲后的握持保持环节；拿起事件虽已锁存，工具的失持未得到修复。" + }, + "unmet": { + "pancake_on_blade": false, + "pancake_on_plate": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 7.8, + "log_step": 56, + "evidence_zh": "观察：视频5.0–5.4 s右手已握住锅铲并使其离台；视频6.0–7.8 s手指保持弯曲时锅铲相对手下滑、转动，视频8.0 s顶部原生评分显示FAIL: spatula_dropped。锅铲曾被承持后失去保持，并非从未抓到。" + } + ], + "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 / agent 自述", + "evidence_zh": "推断：视频5.0–7.8 s右手在锅铲柄端合拢后，锅铲仍相对指缝转动下滑，现有握持接触不足以在后续调姿中锁住工具。log step 53中agent自述“handle-end grip has a long lever”，这是会话诊断；log step 56的本次回合沿用原抓取，在保持闭指的trim命令后即失败，与视频失持一致。替代方案已有成功参考：oracle视频2.0–6.5 s右手握持锅铲并完成调姿、进锅与托起；该参考仅用于确认同任务存在可行握持方案。" + } + ], + "gap_zh": "无状态日志、接触对或指端力记录，无法确定首先脱离的手指及摩擦、夹紧力和调姿载荷各自的贡献；抓取接触不足是结合视频相对滑移与日志所作推断。9项原生连续指标均未在评分器字段中报告，故值保留null。视频含开头重复帧及失败后停帧，全部导航时间直接取视频帧，不由agent工作时间换算。" + }, + "summary_zh": "评分回合在视频约5.0 s完成拿起锅铲，事件节点锁存，最终进度为1/3；煎饼始终在锅内，托上铲与装盘均未发生。右手在拿起后的握持调姿环节没保持住锅铲，视频8.0 s出现spatula_dropped，断点归拿起锅铲；现有柄端接触无法可靠承载调姿是有视频与日志支持的根因推断。无状态及接触力日志，具体失持机制不能进一步分解；log step 59确认评分的是episode 19，log step 57写出的后续控制脚本没有替代该实时回合。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "拿起节点（视频约5.0 s，HUD 4.8 s）、煎饼未托上铲、未装盘、断点为 turner_in_hand 的没保持住均与视频帧和 log step 54/56 一致（视频8.0 s出现 FAIL: spatula_dropped，HUD 7.80 s；log 中 trim 后 task_failure）。未发现需要改动的内容；根因‘抓取和接触设计’是推断，已标为推断，且 trim 调姿命令本身（轨迹）也可能是诱因，但证据无法区分，现有写法可接受。", + "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": "2026-10-30T19:39:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-standard--uizb52s/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-standard--uizb52s/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "366936441e66a1e715ccd079d5a7555cf4321ea2955f074bf398c87ad9ee0faf", + "video_sha256": "06a32a650fb3e30884c0e36f7192e2107e47d8969a4ca4dfc9bee9e26296aaca", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--yivrk9t.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--yivrk9t.json new file mode 100644 index 0000000000000000000000000000000000000000..436dd5845c4e53f60ed6de4c9ab33aed7d40cdf7 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--yivrk9t.json @@ -0,0 +1,261 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-standard--yivrk9t", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 103, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 385, + "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": 385, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.355, + "peak_processes": 10, + "peak_disk_gb": 0.246, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-pancake-serve-i00-standard--yivrk9t/replay.mp4", + "duration_s": 9.0, + "fps": 5.0, + "frames": 45, + "sha256": "ae953e3a23e765873ee4ff4d0a0e9b4316bc10937d04216e64024eb8b058a34b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [ + [ + 6.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.4, + "log_step": 48, + "text_zh": "观察：视频约6.4 s右手的弯曲手指夹持锅铲柄靠近金属颈部处，锅铲随手抬高，黑色柄端与台面阴影分离；视频6.8–8.8 s仍由右手承持。提离台面的起点约有0.4 s不确定性。log step 48运行的是复位后的episode 9，执行收指、回拉和两段上抬；这里只用视频确定达成时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约3.2–6.4 s右手弯曲手指在锅铲柄靠颈部处合拢夹持并提起，随后保持该持铲接触；左手未参与。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.6, + "log_step": 51, + "text_zh": "观察：逐帧检查视频0.0–8.8 s，煎饼一直平放在黑色煎锅内；视频6.6–8.8 s锅铲在锅前方侧立，没有插到饼下或托饼离锅，顶部on blade未勾选。log step 51中agent明确自述尚未尝试滑铲托饼，与视频一致。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.8, + "log_step": null, + "text_zh": "观察：视频0.0–8.8 s白色餐盘始终为空，煎饼未离开煎锅；逐帧检查视频7.0–8.8 s末段，仍无搬饼或装盘动作，顶部over plate、served均未勾选且hold为0/50。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pancake_on_blade", + "t": 6.6, + "log_step": 51, + "where": "首步前", + "evidence_zh": "观察：视频约6.4 s已提起锅铲，视频6.6–8.8 s右手继续承持侧立的空铲，煎饼仍在锅内，未开始滑铲或托饼。log step 48是最后的episode 9抓铲及上抬，log step 51中agent确认该回合将被评分，且托饼、搬运、装盘均未尝试；评分字段live_matches_replay=1。断点定位于拿铲完成后的首个未启动步骤，视频6.6 s仅为导航锚点。" + }, + "unmet": { + "pancake_on_blade": false, + "pancake_on_plate": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 6.6, + "log_step": 51, + "evidence_zh": "观察：视频6.6–8.8 s只见右手举着空锅铲，没有让铲片进入锅中煎饼下方；煎饼始终原位。log step 51中agent自述滑铲、托饼没有尝试，log step 50的控制脚本也只实现抓铲和上抬。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "log_step": 51, + "source_zh": "视频 / 日志 / agent 自述", + "evidence_zh": "推断：视频4.0–8.8 s显示右手在柄颈附近夹持锅铲，铲片随提起转成明显侧立，未形成可平托煎饼的姿态；log step 50的脚本说明及log step 51中agent均称该握法使铲片侧立，无法以此握法调平，因此未继续托饼。具体持铲接触几何不适配后续托饼，而非仅由停止或零分反推原因。成功参考inputs/oracle/replay.mp4的视频约2–6 s显示同为Sharpa Wave的右手能提起并调平锅铲、送入锅内，说明存在可行替代方案；参考视频不用于判定本回合进度。" + } + ], + "gap_zh": "没有状态日志或接触力记录，无法精确判定各手指接触点、夹持载荷和提离台面的瞬间；拿铲时间约有0.4 s不确定性。log step 51中agent关于手腕最大可达距离及当前握法无法调平的说法未作独立运动学验证，不能据此认定所有合法握法不可行。评分字段未报告DAG所列原生连续指标，故全部value为null。" + }, + "summary_zh": "本次评分回合中，右手约在视频6.4 s拿起锅铲，完成1/3节点；煎饼一直留在锅内，托上铲与装盘均未完成。断点是尚未启动的煎饼托上铲步骤，侧立的持铲姿态与log step 50–51对该握法的说明支持抓取和接触设计根因。没有状态日志，精确接触、提离时刻及agent所称可达性限制仍有证据缺口。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "拿起锅铲约视频6.4 s、煎饼未托上铲/未装盘、断点与没尝试+抓取和接触设计根因与帧一致；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:33:42Z", + "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-pancake-serve-i00-standard--yivrk9t/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-pancake-serve-i00-standard--yivrk9t/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2b26ffb49fe409ef37ecaf6825b91333dd2cc6f489fa098a3e4041900bb7bd72", + "video_sha256": "ae953e3a23e765873ee4ff4d0a0e9b4316bc10937d04216e64024eb8b058a34b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--ze7xado.json b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--ze7xado.json new file mode 100644 index 0000000000000000000000000000000000000000..d38b82a307d56e27312dd885c82b5448055e9414 --- /dev/null +++ b/phase2/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--ze7xado.json @@ -0,0 +1,293 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-pancake-serve-i00-standard--ze7xado", + "taskKey": "dexhand/pancake_serve", + "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 1585, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 1772, + "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": 1772, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.458, + "peak_processes": 11, + "peak_disk_gb": 0.314, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-pancake-serve-i00-standard--ze7xado/replay.mp4", + "duration_s": 36.8, + "fps": 5.0, + "frames": 184, + "sha256": "9d8dc663edc26f97f2e73bacf492ad1bc2e827e2e15b1bda7788c770b0460409" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "turner_in_hand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.4, + "log_step": 110, + "text_zh": "观察：视频 3.4–7.4 s，机器人右手在黑色锅铲柄的画面左侧下降并合拢手指，锅铲完整留在白盘前方台面；视频 7.6–9.0 s 右手抬起并移向煎锅，手内无锅铲，工具未随手移动。" + }, + { + "t": 36.6, + "log_step": 115, + "text_zh": "观察：视频 0–36.6 s 的总览抽帧及视频 3.4–8.0 s、35.2–36.6 s 的逐帧检查均未见锅铲离开原处。log step 110–111 的 held=True 是 agent 自编视觉检查结果；log step 115 自述“拾铲已解决、之后掉铲”，与画面不符，按视频判为未拿起。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 5.8–7.4 s，右侧灵巧手在锅铲柄旁合手，随后空手抬离。候选名称“空夹”：手指没有包住或夹住锅铲，未见目标接触，不满足“抓握”，其余推、压、托等接触方式也不适用。" + } + ] + }, + "pancake_on_blade": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.0, + "log_step": 112, + "text_zh": "观察：视频 8.0–28.0 s，机器人右手空手移到煎锅边并转腕、下探和抬起；锅铲仍在台面，金黄色煎饼始终留在黑锅内。顶部 on blade 未勾选，hold 始终为 0/50；没有铲片独立托起煎饼的画面。" + }, + { + "t": 36.6, + "log_step": null, + "text_zh": "观察：视频 29.0–36.6 s，机器人右手移向白盘，煎饼仍留在煎锅区域，没有从锅中随手带出；最后一秒顶部 on blade 仍未勾选。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：视频 8.0–28.0 s，机器人右手在锅旁空手执行进铲、转腕和抬起形态的动作，锅铲始终留在台面；未见工具与煎饼接触或承托，亦未见右手将煎饼拿起。" + } + ] + }, + "pancake_on_plate": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.0, + "log_step": 113, + "text_zh": "观察：视频 29.0–35.6 s，机器人右手空手由锅上方向白盘移动并降低，白盘内没有煎饼，锅铲仍在台面原处；顶部 over plate 和 served 均未勾选。" + }, + { + "t": 36.6, + "log_step": null, + "text_zh": "观察：视频 35.8–36.6 s 为相同终态，白盘为空，顶部 on blade、over plate、served 全部未勾选，hold 为 0/50，未出现 PASS。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：视频 29.0–35.6 s，机器人右手空手移向白盘并降低；没有携带锅铲或煎饼，未发生将煎饼送至白盘的工具接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pancake_lift_m", + "unit": "m", + "threshold": 0.015, + "direction": "higher_better", + "value": null + }, + { + "name": "pancake_tilt_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_plate_dist_m", + "unit": "m", + "threshold": 0.058, + "direction": "lower_better", + "value": null + }, + { + "name": "served_pancake_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "pancake_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "blade_clearance_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "pan_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "plate_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "turner_in_hand", + "t": 6.4, + "log_step": 110, + "where": "操作中", + "evidence_zh": "观察：视频约 6.4 s，机器人右手在锅铲柄旁闭合，视频 7.6–9.0 s 随后空手抬起并移向煎锅，而锅铲仍完整躺在原处；直到视频 36.6 s 也未重试取铲。log step 110 启动最后一次重置后的控制程序，评分器 live_matches_replay=1；该程序的 held=True 与视频不符，拿起锅铲是第一个未完成且从未补救的步骤。" + }, + "unmet": { + "pancake_on_blade": false, + "pancake_on_plate": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 6.4, + "log_step": 110, + "evidence_zh": "观察：视频 5.8–7.4 s，机器人右手手指在柄旁合拢，没有把黑色锅铲柄纳入手中；视频 7.6–9.0 s 手与工具分离，右手空手移动，锅铲未离台。这是所需握持从未建立，未见先拿起再滑落的过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 6.4, + "log_step": 110, + "source_zh": "视频", + "evidence_zh": "推断：视频 3.4–7.4 s，机器人右手下降及合拢的位置与锅铲柄错开，合手没有包住柄；视频 7.6–9.0 s 抬手时工具留在原处，说明该次取铲运动未形成有效抓取。画面足以支持取铲控制失败，但不足以区分抓取几何设计、逆解或跟踪误差。" + }, + { + "cat": "认知", + "item": "感知", + "t": 8.0, + "log_step": 110, + "source_zh": "日志", + "evidence_zh": "推断：log step 110 的自编视觉检查输出 s=1.00 held=True、lift held=True，log step 111 又输出 carry held=True、tilt held=True，agent 因而继续后续动作；但视频 6.0–20.0 s 清楚显示锅铲一直留在台面，机器人为空手。log step 110 的 locate 代码以黑色像素和深度构造目标点集，以上持铲判断是 agent 的估计而非服务接触状态；错误的持铲估计使失败的取铲未被纠正。" + } + ], + "gap_zh": "观察：本作业无状态日志，视频只有总览，缺少手指接触对和关节目标/实测轨迹，不能细分初次空夹的控制机制；log step 110 的 blade_held 函数中段在运行记录中被省略，不能确定误认的是哪一块黑色物体。log step 115 所称“调平时掉铲”与视频中锅铲一直留台的事实不符，不据此标记掉铲或握持丢失；节点进度和断点均以视频为准。" + }, + "summary_zh": "评分回合三个节点均未达到：机器人右手在锅铲柄旁空夹后抬起，锅铲一直留在台面，随后机器人空手在锅与盘之间执行动作，煎饼没有装盘。断点为视频约 6.4 s 的拿起锅铲：所需握持未建立，且 agent 自编检查错误地判为持铲，导致未补救便继续后续动作。无状态日志，初次空夹的具体控制机制及持铲检测误认的像素对象无法确定，日志自述的“先拿起再掉铲”不获视频支持。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频逐帧复核：右手在锅铲柄左侧下降合拢后空手抬起，锅铲始终在台面，煎饼留在锅内，三个节点均未达成，断点与现象标注得到画面支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:45:34Z", + "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_rerun1/runs/dexhand-pancake-serve-i00-standard--ze7xado/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/dexhand-pancake-serve-i00-standard--ze7xado/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9c621f23be2696a380f4928f24d8ab6b2c982c15a9e96477f850ca7d10525092", + "video_sha256": "9d8dc663edc26f97f2e73bacf492ad1bc2e827e2e15b1bda7788c770b0460409", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--3xxhejq.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--3xxhejq.json new file mode 100644 index 0000000000000000000000000000000000000000..651db56b7fc050160208639edca48d3e7fb522a5 --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--3xxhejq.json @@ -0,0 +1,240 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-privileged--3xxhejq", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 856, + "sim_steps": 856, + "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": 0.94, + "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-ram-module-install-i00-privileged--3xxhejq/replay.mp4", + "duration_s": 19.2, + "fps": 10.0, + "frames": 192, + "sha256": "1972922eca834e526d55049bc518637502a3d7047f9d11bbb2224fd9385d79d6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 绿色内存条直立于前景粉色泡沫架中，主板最外侧目标插槽为空。" + }, + { + "t": 17.1, + "log_step": null, + "text_zh": "观察：视频 5.0–8.0 s 右手靠近并夹住内存条；视频 13.0–17.1 s 内存条随手略微升起，仍在泡沫架上方，未移至后方主板。视频 17.2–19.1 s 的最终静帧仍显示空插槽，顶部读数为 Stage 1/3、end depths 11.0/12.1 mm；未出现插入状态。" + }, + { + "t": null, + "log_step": 155, + "text_zh": "观察：agent 在 log step 155 自述后续动作会掉落，决定提交只到 picked 阶段的前缀；log step 165 明确报告内存未就位、未闭扣。评分器 reward 记录 stages_completed=1、n_actions=856、success=0，与视频相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 5.0–8.0 s 右手手指从内存条两侧合拢夹持，视频 13.0–17.1 s 持条向上提离泡沫架；交付末尾仍捏持内存条，没有搬到目标插槽。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 目标插槽为空，顶部 latch 读数约0.55 rad。" + }, + { + "t": 19.1, + "log_step": null, + "text_zh": "观察：视频 0.0–19.1 s 右手仅在泡沫架附近取条，未对主板目标插槽或锁扣操作；视频 19.1 s 内存条仍在右手与泡沫架上方，目标插槽为空，latch 读数仍约0.55 rad，未出现内存就位且闭扣的状态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "module_seated", + "t": 17.1, + "log_step": 155, + "where": "操作中", + "evidence_zh": "观察：视频约17.1 s 右手仅将内存条提到泡沫架上方就结束动作，后续视频 17.2–19.1 s 为同一终态，未将内存条运到主板插槽。log step 155 中 agent 明确选择只提交拾取前缀，评分器 stages_completed=1；插入内存的工作已经从取条开始，但插入节点未完成。" + }, + "unmet": { + "module_seated": false, + "latch_closed": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "log_step": 137, + "evidence_zh": "推断：会话测试中，log step 134、151 的调姿与 log step 137、139 的搬运动作均先有拇指和食指接触，随后 fingers_on_module=[] 并触发 module_dropped；慢速搬运也未解决。log step 155 中 agent 因后续动作反复掉落而选取拾取前缀，视频 17.1–19.1 s 证实交付停在泡沫架上方。支持继续持条搬运、调姿的控制未解决，导致交付缺少插入；测试掉落只作根因依据，未当作本次受评轨迹的现象。", + "note_zh": "推断：现有记录不能分辨接触设计、跟踪或具体参数的贡献，因此保留上位“控制”。" + } + ], + "gap_zh": "观察：无状态日志；视频及评分器能确认两个节点均未达成，但交付在取条后即结束，没有朝插槽执行搬运或插入的失败动作，也未见持物掉落。按 CASES.md FAIL-23 将现象层留空，不把未交付的会话测试掉落或单纯未完成误标为受评现象；根因仅由相关会话测试推断，不能进一步确定控制子类。原生几何、速度指标未在 reward 中报告，native_metrics 均留 null。" + }, + "summary_zh": "受评轨迹中右手夹持内存条并将其略微提离泡沫架，评分器达到 picked 阶段，但未搬到主板，插入内存与合上锁扣两个节点始终未达成，最终0/2。断点为插入内存的操作中；会话多次持条调姿、搬运掉落支持控制问题，agent 最终只交付拾取前缀。交付本身未显示掉落或插入失误，故现象层留空；无状态日志，控制子类和精细几何指标无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频、日志一致：两个节点均未达成，最终0/2；断点module_seated合理；交付只含拾取前缀，现象层留空并附gap_zh符合FAIL-23；控制根因由会话测试推断并标为推断，符合FAIL-22处理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:31:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-privileged--3xxhejq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-privileged--3xxhejq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4d3aca272ca2ede3ef5d5b7be9ab78f3e2ad5400cb6e8d8dd526d567cbeef89c", + "video_sha256": "1972922eca834e526d55049bc518637502a3d7047f9d11bbb2224fd9385d79d6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--5mejn3z.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--5mejn3z.json new file mode 100644 index 0000000000000000000000000000000000000000..0ef8b80cc3930abea77980c41e6dd2e1edc26900 --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--5mejn3z.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-privileged--5mejn3z", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 2890, + "sim_steps": 2890, + "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": 0.868, + "peak_processes": 9, + "peak_disk_gb": 0.845, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-ram-module-install-i00-privileged--5mejn3z/replay.mp4", + "duration_s": 31.0, + "fps": 10.0, + "frames": 310, + "sha256": "001aae4c8e3ee65b5f8bbb57629466c2e28640081aab04b5f4bf5c69aeffcee0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [ + [ + 27.0, + 27.6 + ], + [ + 28.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 4.0–8.0 s，机器人右手以拇指和对侧手指夹持绿色内存条，将其从粉色泡沫架取出；视频 8.0 s 原架已空，内存条随手悬空，随后运至主板最外侧插槽。" + }, + { + "t": 27.0, + "log_step": null, + "text_zh": "观察：视频 26.8 s 两端距槽基面仍为1.5/2.9 mm，未完全就位；视频 27.0 s 右手夹持内存条将两端送入最外侧插槽，画面叠字为1.9/2.1 mm且阶段已达3/3，视频 27.1–27.5 s 两端约2.0/2.0 mm。首次达到时刻取视频 27.0 s，边界约有0.1 s误差。" + }, + { + "t": 27.6, + "log_step": null, + "text_zh": "观察：逐帧检查视频 27.5–28.3 s，右手松指时内存条一端被带高；视频 27.6 s 两端距槽基面为2.7/2.1 mm，视频 27.7 s 为7.6/3.1 mm，视频 27.8–28.2 s 仍明显高于就位带，虽阶段叠字仍锁存3/3，实时就位已失去。" + }, + { + "t": 28.3, + "log_step": null, + "text_zh": "观察：视频 28.3 s 内存条重新下降并直立嵌入插槽，两端读数恢复2.0/2.0 mm；视频 28.5–28.9 s 松手保持计数由10/50升至50/50并显示PASS，视频 30.0–30.9 s 末段逐帧保持该终态。" + }, + { + "t": 30.9, + "log_step": 69, + "text_zh": "观察：log step 69 是交付轨迹的独立重放验收输出，seated=true、end_depths_m=[0.002,0.002]、lateral_m=0.00012、沿槽偏差=-0.00032 m、upright_err_deg=0.091、keyed_err_deg=0.065；log step 71 确认重新生成的动作与该交付文件一致，log step 73 确认两次重放均成功且终态哈希相同，与视频末态相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.0–8.0 s 右手拇指与对侧手指夹住内存条两面，提离泡沫架；随后持续捏持搬运并向目标socket_3送入，视频 25.0–27.5 s 仍以对向夹持施加插入力。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [ + [ + 27.0, + 27.6 + ], + [ + 28.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.8, + "log_step": null, + "text_zh": "观察：视频 25.0–26.8 s 机器人右手夹持内存条继续送入，录像叠字中的活动锁扣角从0.47 rad降至0.26 rad，两端仍未同时就位，闭扣节点尚未达到。" + }, + { + "t": 27.0, + "log_step": null, + "text_zh": "观察：视频 26.9 s 活动锁扣角仍为0.20 rad；视频 27.0 s 在右手夹持下内存条下沉，两端为1.9/2.1 mm、锁扣角约0 rad，阶段变为3/3；视频 27.1–27.5 s 同时保持就位和闭扣。首次达到时刻取视频 27.0 s，边界约有0.1 s误差。" + }, + { + "t": 27.7, + "log_step": null, + "text_zh": "观察：视频 27.6–28.2 s 锁扣角仍约0 rad，但内存条被正在松开的右手带起，视频 27.7 s 两端为7.6/3.1 mm，视频 28.2 s 为14.0/4.0 mm。推断：按本节点要求“就位且锁扣角达标”，此段闭扣节点也失去，不能以锁存阶段3/3代替实时验收。" + }, + { + "t": 28.9, + "log_step": null, + "text_zh": "观察：视频 28.3 s 两端重新为2.0/2.0 mm且锁扣角约0 rad；视频 28.9 s 显示PASS与released hold 50/50，视频 30.0–30.9 s 末段保持内存就位及闭扣。" + }, + { + "t": 30.9, + "log_step": 69, + "text_zh": "观察：log step 69 的交付文件重放验收为latched=true、latch_rad=-0.0026、released=true、still=true、hand_module_contacts=0、hand_latch_contacts=0、hold_steps=50；log step 73 确认两次独立重放成功且终态哈希相同。视频末态和PASS与此一致，手指仍靠近内存条不代表仍有接触。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 25.0–27.5 s 右手拇指与对侧手指夹持内存条两面向槽内送入，锁扣角随内存条下降而减小至约0 rad。推断：夹持内存条传递插入力使被动锁扣闭合；未见手指另行拨动锁扣。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人右手夹持内存条从泡沫架提起并送入最外侧插槽，视频约27.0 s 首次达到就位和闭扣两节点。视频27.6–28.2 s 松指带起内存而暂时失去两项状态，视频28.3 s 恢复，视频28.9 s 松手保持计数达到50/50并显示PASS，最终完成2/2节点，无未修复断点。无逐帧状态日志，亚毫米验收结合视频叠字与交付文件独立重放结果确认，区间边界约有0.1–0.2 s误差；原生指标在reward字段未逐项报告，故值留null。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "两个节点的区间、最终值、接触和失败为空均与视频叠字和帧一致，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": "2026-10-30T19:31:43Z", + "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-ram-module-install-i00-privileged--5mejn3z/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-privileged--5mejn3z/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1670225084de38e21c8308efcb2600b58cd5dd05df9810303dce996699bfd2e8", + "video_sha256": "001aae4c8e3ee65b5f8bbb57629466c2e28640081aab04b5f4bf5c69aeffcee0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--7pwjg4j.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--7pwjg4j.json new file mode 100644 index 0000000000000000000000000000000000000000..93083ff6e477f39c717ce026c59bd22ce7bc3aaf --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--7pwjg4j.json @@ -0,0 +1,239 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-privileged--7pwjg4j", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 495, + "sim_steps": 495, + "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": 0.796, + "peak_processes": 8, + "peak_disk_gb": 0.241, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-ram-module-install-i00-privileged--7pwjg4j/replay.mp4", + "duration_s": 12.0, + "fps": 10.0, + "frames": 120, + "sha256": "259565a3b2180ef8d237c0176c931d552384f579fcad92c064f49de045027b94" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 1.4–2.4 s，右手弯曲手指贴压绿色内存条的上缘附近，内存仍直立在粉色泡沫架内；视频 2.8–3.5 s，右手抬起并空手向主板移动，内存没有随手离架。" + }, + { + "t": 11.9, + "log_step": 39, + "text_zh": "观察：视频 3.5–11.9 s，内存始终留在原泡沫架中，主板目标槽没有装入内存；末帧顶部显示 Stage 0/3、end depths -8.8/-8.8 mm。log step 39 记录交付生成器保存495行动行，success=False、stage=0，与录像相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1.4–2.4 s，右手弯曲手指在泡沫架处贴压、擦过内存上缘附近；视频 2.8–3.5 s 手离开而内存留架。未见拇指与其他手指在内存两侧形成对向夹持，不计抓握。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.9, + "log_step": null, + "text_zh": "观察：视频 0.5–11.9 s，内存一直留在泡沫架中，未到目标socket_3；视频 3.5–8.0 s 右手在主板上方空手下降、再张手退离，未通过内存推动锁扣。视频 11.9 s 顶部latch读数约0.55 rad，仍为外张状态，且没有内存就位，闭扣节点不成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "module_seated", + "t": 2.8, + "log_step": 39, + "where": "操作中", + "evidence_zh": "观察：视频 2.4–3.5 s，右手从泡沫架处上提并移向主板，但绿色内存始终留在架内，未随手移动；视频 11.9 s 仍未改变。log step 35 的交付脚本包含拾取、上提、搬运、插入及释放，log step 39 保存495行且stage=0。推断：插入步骤在拾取所需的夹持建立阶段失败，后续空手动作没有修复该步骤。" + }, + "unmet": { + "module_seated": false, + "latch_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.8, + "log_step": null, + "evidence_zh": "观察：视频 1.4–2.4 s，右手手指在内存上缘附近接触并弯曲；视频 2.8–3.5 s 手向上离开，内存仍由泡沫架支承，没有被提起或携带。推断：虽有触碰，但从未建立拾取所需的对向夹持；没有已握住、再从手中滑落的可见过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 2.4, + "log_step": 35, + "source_zh": "视频", + "evidence_zh": "推断：交付握法的接触布局没有形成承载内存的夹持。依据为视频 1.4–2.4 s 手指弯曲贴压内存上缘附近、没有可见的拇指对向夹持，视频 2.8–3.5 s 手上提而内存不动；log step 35 的交付脚本采用palm-clamp、finger hook握法，log step 39 保存的结果stage=0。会话试验log step 33、34也记录同类握法仅食指至小指接触、上提后接触消失且内存未离架，作为根因旁证，不作本次节点值。成功参考inputs/oracle/replay.mp4的视频 6–10 s 则显示同款Sharpa手夹持内存并带离泡沫架，参考视频 29 s 显示PASS，因此存在已验证的替代握法；参考仅用于可行性比较。" + } + ], + "gap_zh": "观察：inputs/中有本次及成功参考视频和运行日志，没有逐帧状态日志；手掌遮挡部分接触面，无法复算各指接触对、接触力及亚毫米几何误差，抓取布局的具体失效机理为结合视频和会话试验的推断。评分器reward未报告DAG列出的九项连续指标，故native_metrics.value均为null。log step 57 的agent自述称搬运、插入等后续动作未执行，但视频 3.5–8.0 s 和log step 35、39的交付记录显示执行了这些空手动作；进度以本次视频为准。" + }, + "summary_zh": "观察：本次右手在泡沫架处接触内存后空手移向主板，并下降、张手和退离，内存始终留在原架内，插入与闭扣均未达到，最终0/2。推断：断点在插入内存步骤的拾取阶段，未建立有效夹持，根因为抓取和接触设计；成功参考证明存在能带离泡沫架的替代握法。观察：无逐帧状态日志，部分接触面被手遮挡，接触布局的细节及力学机理不能精确核验。", + "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、日志一致：两节点均未达到（final 0/2），内存全程留在泡沫架，右手只在架上缘压/擦后空手移向主板；断点 module_seated 的拾取阶段、没建立接触、抓取和接触设计均有证据支持，成功参考（oracle）证明存在替代握法。未发现需修改的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:37:26Z", + "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-ram-module-install-i00-privileged--7pwjg4j/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-privileged--7pwjg4j/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "29822026b9ec8f3c504f4c77e44b2f4e61cf8aacb9437dbd0d86a0bcb803f639", + "video_sha256": "259565a3b2180ef8d237c0176c931d552384f579fcad92c064f49de045027b94", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--fr435kv.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--fr435kv.json new file mode 100644 index 0000000000000000000000000000000000000000..8e5b9b1eb11dd3c220c502bd50a0a3694c882e7e --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--fr435kv.json @@ -0,0 +1,249 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-privileged--fr435kv", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 270, + "sim_steps": 270, + "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": 1.053, + "peak_processes": 13, + "peak_disk_gb": 0.985, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-ram-module-install-i00-privileged--fr435kv/replay.mp4", + "duration_s": 7.5, + "fps": 10.0, + "frames": 75, + "sha256": "d822968d7bf14d2cf3d1fc7961d983415ec1d9e19311147569a263d74675becb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 内存条竖立在前景粉色泡沫架内，主板最外侧黑色插槽为空；视频 0.0–3.9 s 右手移到泡沫架上方并闭指取料。" + }, + { + "t": 4.1, + "log_step": null, + "text_zh": "观察：视频 4.0–4.4 s 右手上抬，绿色内存条离开泡沫架并发生偏转，仍悬在泡沫架上方；视频 4.5–7.4 s 手与内存均停在原取料区，没有移到主板或插入目标槽。" + }, + { + "t": 7.4, + "log_step": 176, + "text_zh": "观察：视频 7.4 s 顶部显示 Stage 0/3、end depths 20.3/17.2 mm，目标槽仍为空。log step 176 对最终交付的270行执行器目标文件重新重放，输出 picked=false、seated=false、latched=false、stage=0、fingers_on_module=[index]，与画面中未搬运到插槽的终态一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：右手在泡沫架处以弯曲的食指和拇指夹取内存条，起抬后失去对向夹持，终态仅食指接触。视频 2.5–4.3 s 可见闭指、内存随手抬升及偏转；夹持内部部分被掌部遮挡。log step 79/81 的同一握法试验记录先有食指与拇指接触、起抬后只剩食指；log step 170–174 将交付重建为该270步动作并恢复精确偏移，log step 176 的最终文件重放确认只剩食指接触。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 顶部 latch 读数为0.55 rad，内存仍在泡沫架内，目标槽为空。" + }, + { + "t": 7.4, + "log_step": 176, + "text_zh": "观察：视频 0.0–7.4 s 右手始终只在泡沫架处取料，未向目标槽下压内存或操作锁扣；视频 7.4 s 目标槽仍为空，latch 读数仍为0.55 rad，released hold 为0/50。log step 176 的最终文件重放也报告 seated=false、latched=false，因此闭扣节点从未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "module_seated", + "t": 4.0, + "log_step": 176, + "where": "操作中", + "evidence_zh": "观察：视频 3.9–4.3 s 右手从泡沫架起抬时，内存条偏转并悬在手下；此后到视频 7.4 s 均未运往主板。log step 176 直接重放最终交付文件，报告仅食指接触、picked=false、stage=0、failure=None。推断：插入步骤在取料起抬时未保持所需的拇指与另一手指夹持，此问题始终未修复，断点取视频约4.0 s；不是把未尝试的闭扣节点当作断点。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 4.0, + "log_step": 176, + "evidence_zh": "推断：视频 3.7–3.9 s 右手闭指围住泡沫架中的内存条，视频 4.0–4.3 s 起抬时内存发生偏转，随后悬在手下而未进入搬运。log step 176 对最终交付文件的重放确认内存已升到z=0.8625 m，但仅食指接触、picked=false；结合起抬前后画面，所需的对向夹持未能保持。这里指夹持丢失，视频并未显示内存完全脱手落地。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 4.0, + "log_step": 176, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：所选拇指与食指夹持布局未能在承载起抬后保持对向接触。log step 67 的运动学搜索得到倾斜的指垫法向；log step 79/81 的同一270步握法试验显示内存尚在架内时拇指和食指均接触，起抬后只剩食指。log step 170–174 重建该动作并恢复精确偏移，log step 176 对最终交付文件重放仍只有食指接触，视频 4.0–4.3 s 亦见内存偏转。可行替代已由成功参考视频验证：参考视频 6.0–16.0 s 中同为Sharpa右手夹持内存离架并运到目标槽，参考视频 30.0 s 显示PASS；参考只用于可行性对照，不作为本次节点进度证据。" + } + ], + "gap_zh": "无逐帧状态日志；本次总览中掌部遮住部分拇指与内存接触区，具体接触丢失时刻及承载方式由起抬前后画面和最终交付文件重放读数推断，断点仅取视频约4.0 s。log step 79/81 是会话中的同一握法试验，用于接触设计根因的佐证；未将会话中其他掉落或插槽按压试验当成本次现象。评分器reward未报告DAG所列九项连续指标，native_metrics均保留null，视频顶部读数仅作视觉证据。", + "unmet": { + "module_seated": false, + "latch_closed": false + } + }, + "summary_zh": "右手在泡沫架处夹取并小幅抬起内存，但内存始终留在取料区，插入内存与合上锁扣两个节点均未达到。断点在视频约4.0 s的取料起抬：所选夹持未能保持拇指与食指的对向接触，最终仅食指接触，未完成合规拾取或后续搬运。部分接触被掌部遮挡，无逐帧状态日志，夹持丢失的细节由画面和最终交付文件重放读数推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点均未达成、断点取料起抬（约视频4.0 s）、没保持住 + 抓取和接触设计均与画面和 log step 176 的最终文件重放一致，未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:16:12Z", + "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-ram-module-install-i00-privileged--fr435kv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-privileged--fr435kv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a78f70bf3c6b54d0c2594c9cf80a2f76826e8602830893cb7d91ca328c41f4a0", + "video_sha256": "d822968d7bf14d2cf3d1fc7961d983415ec1d9e19311147569a263d74675becb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--ohkkeck.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--ohkkeck.json new file mode 100644 index 0000000000000000000000000000000000000000..1613a3a5b3442ccf74d1e329781063acdd8639e9 --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--ohkkeck.json @@ -0,0 +1,243 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-privileged--ohkkeck", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 480, + "sim_steps": 472, + "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": 0.71, + "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-ram-module-install-i00-privileged--ohkkeck/replay.mp4", + "duration_s": 11.6, + "fps": 10.0, + "frames": 116, + "sha256": "9615871c91631471295d5d6fe2b4cd4e0becac850ea6076b0047db82dfcf8a1c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [ + [ + 7.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 内存条在粉色泡沫架中；视频 2.0 s 机器人右手已将内存条带离泡沫架，随后搬至主板最外侧插槽上方，视频 6.0–6.8 s 逐渐下送入槽。" + }, + { + "t": 7.4, + "log_step": null, + "text_zh": "观察：视频 7.3 s 两下端距插槽基面读数仍为5.0/1.5 mm；视频 7.4 s 内存条直立落入最外侧插槽，两端读数为2.5/2.4 mm，顶部阶段由1/3变为3/3。视频 7.5–7.9 s 两端继续处于1.5–2.6 mm范围内，首次就位时刻标为约视频 7.4 s。" + }, + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 8.0、8.1 s 机器人撤手时两端读数为3.1/2.2 mm，视频 8.2 s 恢复2.0/2.0 mm；逐帧检查视频 7.9–8.2 s 未见内存离槽。推断：该约0.2 s 的短暂偏离按不足约0.3 s不记丢失的规则合并在连续区间内。" + }, + { + "t": 9.5, + "log_step": 340, + "text_zh": "观察：视频 9.5 s 显示PASS及两端2.0/2.0 mm、释放静止保持50/50；视频 10.5–11.5 s 末尾近景保持同一安装状态。log step 340、341 是log step 339生成的同一480行交付文件的两次官方重放，均在472控制步报告seated=true、latched=true、released=true、still=true、hold_steps=50，最终哈希一致；其末态两端均0.002 m、横向偏差0.00006 m、沿槽偏差-0.00001 m、竖直误差0.088°、键向误差0.004°，与本次视频终态一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右侧灵巧手夹持绿色内存条，从泡沫架提起并搬运到最外侧插槽；下送后接触转为食指、中指区域压住内存上缘/侧面，最后撤腕脱离。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [ + [ + 7.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.9, + "log_step": null, + "text_zh": "观察：视频 6.8 s 机器人手指仍在内存条上，锁扣角读数为0.43 rad；视频 6.9 s 机器人继续压送内存条，锁扣角降至0.01 rad，但两端读数为4.9/1.5 mm，尚未同时就位，因此此时尚不计本节点完成。" + }, + { + "t": 7.4, + "log_step": null, + "text_zh": "观察：视频 7.4 s 锁扣角读数约-0.00 rad，两端同时到2.5/2.4 mm，顶部阶段变为3/3。推断：结合内存直立就位及闭扣角达标，本节点首次成立于约视频 7.4 s；视频 8.0–8.2 s 的就位短暂偏离约0.2 s，按短暂偏离规则不拆分区间，锁扣角一直约为0 rad。" + }, + { + "t": 9.5, + "log_step": 341, + "text_zh": "观察：视频 8.5–9.5 s 两端保持2.0/2.0 mm、锁扣角约0 rad，释放静止计数从3/50增加到50/50并显示PASS；视频 10.5–11.5 s 近景中内存仍直立在槽内。log step 340、341 对同一交付文件的官方重放末态均报告latched=true、latch_rad=-0.0026、手与内存及锁扣接触数均为0，与视频通过画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "机器人右手食指、中指区域压送已进入插槽的内存条，使内存条作用于被动锁扣并促其回合；视频未见机器人直接抓住锁扣，之后撤腕离开内存条。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": 0.002 + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": 0.002 + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": 6e-05 + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": 1e-05 + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": 0.088 + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": 0.004 + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": -0.0026 + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": 0.0 + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": 0.002 + } + ], + "failure": null, + "summary_zh": "机器人右手将内存条从泡沫架提起、搬至目标插槽并压入；锁扣在视频约6.9 s回合，待两端同时就位后，两个节点均从视频约7.4 s计为完成，视频9.5 s显示释放静止保持50/50并通过，最终完成2/2。视频8.0–8.2 s的约0.2 s就位偏离按短暂偏离规则不记丢失，无失败断点。无状态日志，亚毫米几何无法仅凭画面独立复算；节点终值以视频读数和成功评分相互核对，原生指标取log step 340、341对同一交付文件的官方重放末态判据字段（深度取两端最小/最大值、沿槽偏差取绝对值），未将会话调试试验当作本次轨迹。", + "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，两节点约视频7.4 s同时成立，帧上读数（7.3 s 5.0/1.5 mm Stage1/3，7.4 s 2.5/2.4 mm Stage3/3）与标注一致，无失败断点，未见需改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:36:29Z", + "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-ram-module-install-i00-privileged--ohkkeck/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-privileged--ohkkeck/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "65273a711664965510bebccd2e3a5fada766387564c90822e8ec28c46cb80e42", + "video_sha256": "9615871c91631471295d5d6fe2b4cd4e0becac850ea6076b0047db82dfcf8a1c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--br4fv2b.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--br4fv2b.json new file mode 100644 index 0000000000000000000000000000000000000000..30ac4b046ffb9dbbe57222a0a563ec7fbb8456df --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--br4fv2b.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-standard--br4fv2b", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 303, + "control_steps_total": 8870, + "elapsed_s": 3727.717, + "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": 2495, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 7, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 2495, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.568, + "peak_processes": 10, + "peak_disk_gb": 0.848, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-ram-module-install-i00-standard--br4fv2b/replay.mp4", + "duration_s": 52.0, + "fps": 5.0, + "frames": 260, + "sha256": "43bdaf3ce420ce7a36939ad1229008463b1daedaf56c2e141d62d7e0bf2c939c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频开头绿色内存条直立于粉色泡沫架，主板最外侧目标插槽为空；全片粗查及视频13.2–16.8 s、29.0–32.4 s和45.0–51.8 s密查均未见内存条被搬到主板。" + }, + { + "t": 16.4, + "log_step": null, + "text_zh": "观察：视频13.6–15.8 s右手手指靠到内存条上缘附近，视频16.4–16.8 s手向上退出，内存条仍留在泡沫架；视频32.0–32.4 s再次抬手时也未带走内存条。" + }, + { + "t": 51.8, + "log_step": null, + "text_zh": "观察：视频49.0 s至末帧51.8 s，内存条仍立在泡沫架中，未嵌入目标插槽；顶部原生状态显示Stage 0/3、两端深度约-8.8/-8.8 mm。" + }, + { + "t": null, + "log_step": 203, + "text_zh": "观察：log step 148记录第七次reset；log step 203的机器人服务状态为episode 8、control_steps 2495、resumes 0，与reward的resets 7、n_actions 2495一致；本标签以最终回合视频为准，未将之前各回合的试验并入进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频13.6–15.8 s右手手指贴压内存条上缘及端部附近，随后空手抬起；视频24–31.8 s和40–49.8 s继续靠压、试夹。未见内存条被夹持提离泡沫架；后段拇指与食指的对向接触区被掌部遮挡，无法确认是否形成夹紧。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频25.0 s右手仍在泡沫架处尝试取内存条，主板插槽未装入内存，顶部latch读数为0.55 rad；未见对插槽锁扣的操作。" + }, + { + "t": 51.8, + "log_step": null, + "text_zh": "观察：视频49.0–51.8 s内存条仍在泡沫架，顶部latch仍为0.55 rad，released hold为0/50，未出现就位且锁扣角不超过0.08 rad的状态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "module_seated", + "t": 16.4, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频13.6–15.8 s右手在泡沫架处尝试夹取，视频16.4–16.8 s抬手后内存条仍在原架内；后续改换手姿并多次尝试，视频32.4 s及49.0–51.8 s仍未取出内存条。拾取属于插入内存节点的过程，该节点一直未完成。" + }, + "unmet": { + "module_seated": false, + "latch_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 16.4, + "log_step": null, + "evidence_zh": "推断：视频13.6–16.8 s可见手指靠压内存条附近后抬起，内存条没有随手离开泡沫架；视频32.0–32.4 s再次抬手和45.0–49.8 s后续尝试仍未提离。所需的有效夹持未建立，视频没有显示先持起内存条再掉落的过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频13.6–16.8 s、29.0–32.4 s和45.0–49.8 s显示右手到达内存条附近、调整手指和腕部后仍未实现取物；log step 149的脚本用手指执行器目标和腕姿构造夹取，log step 155继续下调接近，log step 191调整闭合目标，log step 200再发出抬腕指令。结合这些实际动作及其效果，失败在夹持建立和取物的控制执行层；现有证据不足以确定具体控制子类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无模拟器状态日志；视频后段掌部遮挡拇指与食指接触区，缺少接触对、夹持力及逐步实际/目标位姿记录，不能确认后段是否短暂形成对向夹紧，也不足以区分接触几何、夹持力和轨迹跟踪问题，根因保留在控制。reward未报告DAG所列原生几何和速度指标，native_metrics的value均置null；画面读数仅用于辅助节点判定。" + }, + "summary_zh": "最终第8回合的内存条始终留在泡沫架，插入内存与合上锁扣均未达到，最终进度0/2。断点在插入内存的拾取过程中：右手反复靠压、试夹和抬起，未形成能将内存条取出的有效夹持，归因为控制。缺少接触状态和力数据，且后段手掌遮挡接触区，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": "两个节点均未达成、断点在module_seated的拾取过程，与视频一致；接触和根因保守且有证据，未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:22:29Z", + "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-ram-module-install-i00-standard--br4fv2b/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--br4fv2b/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0c183dac3899703e7a5ccdb346392ce223f67dfb2140a729fb403c4927c685ce", + "video_sha256": "43bdaf3ce420ce7a36939ad1229008463b1daedaf56c2e141d62d7e0bf2c939c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--hhpyie9.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--hhpyie9.json new file mode 100644 index 0000000000000000000000000000000000000000..e44f6b6f0bbce602286ce30bb6c24d2ebdbfeb9b --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--hhpyie9.json @@ -0,0 +1,253 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-standard--hhpyie9", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 41, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 655, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 655, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 2.922, + "peak_processes": 10, + "peak_disk_gb": 1.042, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-ram-module-install-i00-standard--hhpyie9/replay.mp4", + "duration_s": 15.2, + "fps": 5.0, + "frames": 76, + "sha256": "3e7b6490affb7284e7315752f8bcd828dde6d78f86e606c4066df40528a34a0d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 0.0–6.6 s，右手接近粉色泡沫架中的绿色内存条并弯曲手指，内存条始终留在架内，仅有轻微位姿变化，未被取出。" + }, + { + "t": 7.2, + "log_step": 166, + "text_zh": "观察：视频 6.8–7.4 s，右手抬离泡沫架时手中没有内存条，内存条仍立在原架中；随后视频 8.0–12.8 s 右手空手移向主板并开指。log step 166 的服务结果记录最终第 6 回合共655个控制步、done=false、reason=null，评分器 live_matches_replay=1。" + }, + { + "t": 15.0, + "log_step": null, + "text_zh": "观察：视频 14.2–15.0 s 的全部末段帧中，绿色内存条仍在粉色泡沫架内，目标插槽没有内存条；顶部回放状态为 Stage 0/3。插入节点全程不成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 2.4–6.6 s，右手弯曲手指的指腹贴压内存条上缘附近，内存条轻微下移；未见形成能够带起内存条的拇指与其他手指对向夹持，随后空手离开。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 0.0–15.0 s，内存条一直留在泡沫架，未到达目标插槽；视频 8.0–12.8 s 机器人在主板上方执行的是空手动作。顶部回放的 latch 角读数一直约0.55 rad，末段视频 14.2–15.0 s 仍如此，就位且闭扣的条件从未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "module_seated", + "t": 6.8, + "log_step": 166, + "where": "操作中", + "evidence_zh": "观察：视频约 6.8 s，右手结束泡沫架处的合指动作并向上抬起，绿色内存条没有随手离架；视频 7.2 s 已可见右手与仍在架中的内存条分离。此后机器人空手向主板移动，直到视频 15.0 s 内存条仍在原处，拾取失败没有修复；此拾取属于插入内存节点的过程。" + }, + "unmet": { + "module_seated": false, + "latch_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 6.8, + "log_step": 166, + "evidence_zh": "观察：视频 2.4–6.6 s 右手在内存条上缘附近合指，视频 6.8–7.4 s 手抬起后为空手，内存条未离开泡沫架。没有建立拾取所需的有效对向夹持；此前有局部贴压，不代表已经抓住后滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "source_zh": "日志 / 视频 / agent 自述", + "evidence_zh": "推断：log step 143 的控制代码以 right_index_DP、right_middle_DP 的连杆原点位移补偿合指时的腕部位置，log step 166 又直接加入8 mm横向挤压及对开放姿态的12 mm高度修正，未记录指腹实际对向接触的核验；视频 2.4–7.4 s 显示该接触几何未形成可带起内存条的夹持。agent 在 log step 167 自述把连杆原点当作指尖，并称合指使指尖上移；具体偏差数值未经独立核实。成功参考视频 6.0–12.0 s 可见同型右手夹住内存并移出泡沫架，只用来验证存在可行替代握法，不作为本次进度证据。" + } + ], + "gap_zh": "没有状态日志或逐帧接触对、接触力记录，总览中部分指腹被手体遮挡，无法精确确认各指接触点及压力；连杆原点与指腹的毫米级偏差只有 agent 自述，根因据代码和空手抬离现象推断。视频末尾含最终状态静帧，时间锚点均直接取自视频，未用agent工作时间或655个控制步换算。" + }, + "summary_zh": "本次第6回合中，右手在泡沫架处弯指贴压内存条后空手抬走，内存条直到视频 15.0 s 仍在原架中，插入内存和合上锁扣均未达到，最终进度0/2。断点在插入过程的拾取环节：未建立有效夹持，日志中的接触点设计及后续自述支持控制类的抓取和接触设计问题。缺少逐帧接触和力记录，无法独立核实具体指腹偏差与压力。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标签与视频一致：右手在泡沫架处合指后空手抬起，内存条始终留在架内，两节点均未达成，断点与现象、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": "2026-10-30T19:37:21Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--hhpyie9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--hhpyie9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8717beb88d831031a089ce55aa3c13b3b63f92a7ecacf37cfeaa01ff91b50eca", + "video_sha256": "3e7b6490affb7284e7315752f8bcd828dde6d78f86e606c4066df40528a34a0d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--pqicapm.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--pqicapm.json new file mode 100644 index 0000000000000000000000000000000000000000..f98bf07b0f0f213981985d7bc7bd898f0247f821 --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--pqicapm.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-standard--pqicapm", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 417, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 2884, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 6, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 2884, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.38, + "peak_processes": 11, + "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-ram-module-install-i00-standard--pqicapm/replay.mp4", + "duration_s": 59.8, + "fps": 5.0, + "frames": 299, + "sha256": "9b56d0bf62732db1dfb21189c707deae128cd9007b1a2711a79c80f48f3e293a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，绿色内存条直立在粉色泡沫架中，主板目标插槽为空；插入状态初始不成立。" + }, + { + "t": 10.0, + "log_step": 136, + "text_zh": "观察：视频 8.8–12.6 s，机器人右手悬在主板上方，四指基本伸直，指尖与泡沫架中的内存条仍有明显间距，未见合指夹持，内存条保持原位不动。log step 136 中 [grip]、[lift] 和 NO PICK 是 agent 脚本输出，不能把其中的合指、抬手描述当作该视频时段的观察；该回合随后仍有动作，不能把这里当作视频终点。" + }, + { + "t": 59.6, + "log_step": 146, + "text_zh": "观察：视频 24.0–33.0 s、36.0–58.0 s 的后续手部移动均未带走内存条；视频约 46.0–59.6 s，手指移到内存条上端附近，仍未见拇指与其他手指在内存条两侧形成对向夹持。视频 58.6–59.6 s 逐帧检查仍见内存条留在泡沫架，目标插槽无内存。画面顶部原生检查器显示 Stage 0/3、end depths -8.8/-8.8 mm；log step 146 的最终报告也承认未拾取。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 8.8–12.6 s，机器人右手悬在主板上方，四指基本伸直，指尖未到内存条；视频约 46.0–59.6 s，右手手指移到内存条上端附近，但未见拇指与其他手指对向夹持，内存条始终在泡沫架原位。手背遮挡局部，且无接触对日志，不能确认是否短暂擦到内存条或仅接近泡沫架；实际接触方式保留未知，不计已发生抓握。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，内存条在泡沫架而非目标槽，顶部原生检查器显示 latch 0.55 rad，锁扣未闭合。" + }, + { + "t": 59.6, + "log_step": null, + "text_zh": "观察：视频 0.0–58.0 s 的全程粗查及视频 58.6–59.6 s 的末秒逐帧检查中，机器人没有将内存条带到主板插槽下压；末帧仍显示 latch 0.55 rad，内存条仍在泡沫架。闭扣节点要求内存就位且锁扣角达标，两条件均未达到，未实际尝试闭扣。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "module_seated", + "t": 10.0, + "log_step": 136, + "where": "操作中", + "evidence_zh": "观察：视频 8.8–12.6 s，机器人右手悬在主板上方，四指基本伸直，指尖与泡沫架中的内存条仍有明显间距，内存条原位不动；视频约 46.0–59.6 s，手指靠近内存条上端，仍未见对向夹持或带走内存条，视频 59.6 s 终态仍未插入。log step 136 的 [grip]、[lift] 仅为 agent 脚本输出，不是该视频时段合指、抬手的观察证据。推断：取出和搬运并入插入节点，最早未修复的问题发生在该节点的拾取过程中，约以视频 10.0 s 为导航锚点。" + }, + "unmet": { + "module_seated": false, + "latch_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 10.0, + "log_step": 136, + "evidence_zh": "观察：视频 8.8–12.6 s，右手四指基本伸直，指尖未到内存条，未见对向夹持；视频约 46.0–59.6 s，手指移到内存条上端附近，仍未见拇指与其他手指在内存条两侧形成夹持，内存条没有离开泡沫架。推断：所需的有效拾取接触始终未建立；没有已经持住后滑落的可见过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "evidence_zh": "观察：视频 8.8–12.6 s，机器人右手悬在主板上方，四指基本伸直，指尖与内存条有明显间距；视频约 46.0–59.6 s，手指虽靠近内存条上端，但仍未见对向夹持，内存条不随手移动。log step 137、144、145 的控制代码反复改变腕部下降位置、手指弯曲量并分段抬腕；这些属于最终第7回合的重试，代码命令和脚本输出不等于可见动作已实现。推断：本次接近姿态与手指布局未让指腹在薄内存条两侧建立承载夹持，支持抓取和接触设计归因，不能据关节误差断定精确接触力或关节限位。对照成功参考录像（inputs/oracle/replay.mp4）视频 4.0–8.0 s，同型号右手以另一夹持姿态将内存条带离泡沫架，验证存在可行替代；参考录像仅用于替代可行性，不作为本次进度证据。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志或真实接触对记录，录像仅提供总览，手背遮住局部拇指及指腹；可确认未形成有效拾取，但无法排除对内存条或泡沫架的短暂擦碰，因此插入节点的实际接触标未知。log step 146 关于指间自碰、泡沫接触和腕部工作区限位的解释是 agent 自述，未据此追加碰撞、够不着或感知标签。评分器 reward 未报告DAG原生连续指标，全部保留 null；画面角度读数仅作节点证据。" + }, + "summary_zh": "观察：评分视频中机器人右手反复调整位置，视频 8.8–12.6 s 四指基本伸直且未到内存条，视频约 46.0–59.6 s 靠近内存条上端仍未见对向夹持；内存条始终留在泡沫架，插入内存和合上锁扣均未达到，最终为0/2。推断：断点在插入节点包含的拾取过程中，所需夹持接触未建立，右手接近姿态和手指布局支持抓取和接触设计归因。缺少状态与接触对日志，无法判定局部短暂擦碰及准确受力；最终第7回合与先前6次重置分开判断，未把会话中的早期尝试计入进度。", + "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（两节点均未达成、final false）、断点 module_seated、现象“没建立接触”与根因大体成立；但“视频 8.8–12.6 s 右手合指并抬手”的观察与帧不符：该段手指基本伸直悬在主板上方，距内存条约一个手长，未见合指，需改写证据措辞。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "两节点均未达成、final 0/2、断点 module_seated、现象没建立接触、根因抓取和接触设计与帧一致；上轮的合指措辞已改正，未见新的实质错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:40:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "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-ram-module-install-i00-standard--pqicapm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--pqicapm/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--pqicapm/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--pqicapm/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0f1f780f1f98ea3e0d2688d170aba908f1cd56c69e23175fca9d47d8578e4d57", + "video_sha256": "9b56d0bf62732db1dfb21189c707deae128cd9007b1a2711a79c80f48f3e293a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--qgw8oun.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--qgw8oun.json new file mode 100644 index 0000000000000000000000000000000000000000..ccee5447a07fda8f21b887ea9707894f137f9fb7 --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--qgw8oun.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-standard--qgw8oun", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 127, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 907, + "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": 907, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.438, + "peak_processes": 9, + "peak_disk_gb": 0.339, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-ram-module-install-i00-standard--qgw8oun/replay.mp4", + "duration_s": 20.4, + "fps": 5.0, + "frames": 102, + "sha256": "0d38a3b1b18c2b0944d957724b36ed8d1d6d8520fbd7a1ed9d5bf1cb28abd699" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.6, + "log_step": 101, + "text_zh": "观察：视频 4.8–6.8 s，机器人右手夹住绿色内存条并将其带离粉色泡沫架，原架槽逐渐空出；本回合确实完成拾取和后续搬运，但尚未插入。log step 101 显示最后一次重置进入 episode 21。" + }, + { + "t": 16.4, + "log_step": 102, + "text_zh": "观察：视频 14.0–16.4 s，机器人将内存条降到主板插槽上方，仍明显悬空；视频 16.4 s 顶部原生回放读数 end depths 为 24.7/21.0 mm，远高于两端均为 1.5–2.6 mm 的就位范围。" + }, + { + "t": 18.2, + "log_step": 104, + "text_zh": "观察：视频 16.4–18.2 s，机器人手腕基本停住而内存条逐渐倾斜；视频 18.2 s 出现 FAIL: module_off_target_contact，end depths 为 34.0/7.7 mm、Stage 1/3。视频 19.4–20.2 s 的末段静帧保持该状态；全程未见两端入槽到底。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.8–6.8 s，右手拇指与对侧手指夹持内存条板面并提离泡沫架，随后夹持搬至目标槽上方；视频 16.4–18.2 s 内存条在夹持区域相对手指滑转，未保持稳定姿态。log step 100 的最终回合脚本及 log step 106 自述将该握法指定为拇指对食指和中指。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 锁扣角读数 latch 为 0.55 rad，处于张开状态。" + }, + { + "t": 18.2, + "log_step": null, + "text_zh": "观察：视频 14.0–18.2 s 的逐帧末段及视频 19.4–20.2 s 的静帧，顶部 latch 始终约为 0.55 rad，未达到不超过 0.08 rad 的闭扣条件，内存条也未就位；机器人没有开始压入就位后的闭扣操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "module_seated", + "t": 17.0, + "log_step": 103, + "where": "操作中", + "evidence_zh": "观察：视频 16.4–18.0 s，机器人正在目标槽上方夹持内存条，手腕近乎不动，内存条却持续倾斜，两端高度差增大；视频 18.2 s 原生回放显示 module_off_target_contact 并终止。log step 103 仍在观察夹持漂移，log step 104 增加拇指夹紧量的请求已被 EpisodeOver: task_failure 拒绝；插入步骤此后没有修复。" + }, + "unmet": { + "module_seated": false, + "latch_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 17.0, + "log_step": 103, + "evidence_zh": "观察：视频 5.6–14.0 s 内存条随右手离架并搬运，已有有效夹持；视频 16.4–18.2 s 手指仍在板面附近，但内存条相对基本静止的手持续滑转，一端上翘、另一端下沉。顶部 end depths 从视频 16.4 s 的 24.7/21.0 mm 变为视频 18.2 s 的 34.0/7.7 mm，随后显示 module_off_target_contact；这是夹持中失去稳定姿态，不是未建立抓取。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 17.0, + "log_step": 106, + "source_zh": "视频 / 日志 / agent 自述", + "evidence_zh": "推断：视频 5.6 s 可见右手以板面两侧的局部捏持承载内存条，视频 16.4–18.2 s 手腕停驻时内存条仍绕夹持区滑转，说明本次接触布局未能稳定约束内存条转动。log step 100、102 的脚本在搬运和等待段保持原手指目标；agent 在 log step 106 自述拇指与食指、中指接触高度相近、夹持像铰链，该解释与可见滑转相符，但其“没有扭转摩擦”的物理机制未独立核实。成功参考 inputs/oracle/replay.mp4 的视频 6.0–26.0 s 展示同为 Sharpa 右手采用另一手姿夹持、搬运和压入，参考视频 29.0–30.0 s 显示 PASS、两端 2.0/2.0 mm，因此存在已验证的可行替代握持方案；参考仅用于可行性比较。" + } + ], + "gap_zh": "观察：inputs/ 未提供状态日志或逐接触体记录，视频末段虽明确显示 module_off_target_contact，但不能辨认具体碰到哪个非目标部件，也不能独立验证接触力、接触点高度或扭转摩擦参数；评分器 reward 未报告 DAG 所列九项原生几何、速度指标，native_metrics.value 因而均为 null。agent 在 log step 106 将终止概括为“掉落”，与视频 18.2 s 的明确失败代码不同，本标注采用视频所示碰错对象的终止事实，未断言内存条完全脱手。" + }, + "summary_zh": "机器人将内存条从泡沫架夹起并搬到目标插槽上方，但始终未就位，也未闭扣，两个节点最终均未达到。视频 16.4–18.2 s 内存条在基本停驻的手内持续滑转，最终回放以 module_off_target_contact 判失败；证据支持夹持接触布局未能稳定约束转动。缺少状态及接触体日志，具体碰撞对象和摩擦机制不能确定，agent 自述“掉落”不替代回放显示的失败代码。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点均未达到、断点 module_seated（操作中）、没保持住 + 抓取和接触设计（已验证有替代）与视频、log 及原生读数一致；未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:29:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--qgw8oun/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--qgw8oun/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f51ba5232c6dd4598d9d1983423dda3442950d2dfbc426cbd7485234eb28fbbd", + "video_sha256": "0d38a3b1b18c2b0944d957724b36ed8d1d6d8520fbd7a1ed9d5bf1cb28abd699", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--uuzh3fy.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--uuzh3fy.json new file mode 100644 index 0000000000000000000000000000000000000000..9239c2a5e507c22da6b7c4d632c10fc2fe9baba8 --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--uuzh3fy.json @@ -0,0 +1,274 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-standard--uuzh3fy", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "calls": 47, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 1, + "n_actions": 2686, + "no_verdict": 0, + "replay_success": 1, + "reset_budget": 20, + "resets": 0, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 2686, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.441, + "peak_processes": 9, + "peak_disk_gb": 0.908, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-ram-module-install-i00-standard--uuzh3fy/replay.mp4", + "duration_s": 56.0, + "fps": 5.0, + "frames": 280, + "sha256": "132fbcf03e12f53da2db0f75bd00a7188aaf1282fff28181f36f952e8a47290c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [ + [ + 52.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.4, + "log_step": 31, + "text_zh": "观察：视频 12.4–16.0 s，右手拇指与对侧手指夹住绿色内存条并向上搬离粉色泡沫架，原架内位置变空；视频 18.0–30.0 s，内存随手移到主板最外侧插槽上方并下降。log step 31 的实时服务返回同一 episode 1 的 lift 完成，整个运行 reward.resets=0、resumes=0。" + }, + { + "t": 36.0, + "log_step": null, + "text_zh": "观察：视频 35.6–51.6 s，内存已进入目标插槽，但录像顶部基准读数显示一端约1.5 mm、另一端约4.3 mm，stage仍为1/3，尚未双端就位；视频 52.0 s 读数为1.5/3.6 mm，仍未达到插入判据。" + }, + { + "t": 52.2, + "log_step": null, + "text_zh": "观察：视频 52.0–52.4 s，右手指腹从内存上缘下压，翘起端下降，视频 52.2 s 顶部首次显示stage 3/3、两端深度2.6/1.8 mm，视频 52.4 s 为2.4/1.8 mm；视频 52.8 s 后稳定为2.0/2.0 mm。" + }, + { + "t": 55.8, + "log_step": 79, + "text_zh": "观察：视频 53.8 s 显示PASS及released hold 50/50，视频 55.0–55.8 s 的末秒近景中内存直立留在最外侧插槽、手已离开，深度始终2.0/2.0 mm；log step 79 的实时机器人服务报告episode 1、control_steps=2686、done=True、reason=success，评分器live_success=replay_success=1、live_matches_replay=1。" + }, + { + "t": 52.2, + "log_step": null, + "text_zh": "推断：由视频 52.2 s 的首次阶段通过、双端深度达标，以及随后连续释放静止窗口和最终成功判定，插入节点从视频约52.2 s 起成立并保持至结束；视频按0.2 s采样，首次时刻有约0.2 s不确定性，未用agent工作时间换算。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 8.0–42.0 s，右手拇指与对侧食指、中指夹住内存条侧面，拾取、搬运到目标插槽并尝试下压；之后松开侧面捏持。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：侧面捏持结束后，视频 48.0–52.6 s 右手食指、中指附近的指腹从内存条上缘施压；视频约52.2 s 翘起端下降到槽底。两种接触依次发生。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [ + [ + 52.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 50.0, + "log_step": null, + "text_zh": "观察：视频 36.0–51.6 s，机器人持续处理插槽内的内存条，顶部latch读数约0.55 rad、两端深度约1.5/4.3 mm；活动锁扣仍外张，闭扣节点不成立。" + }, + { + "t": 52.2, + "log_step": null, + "text_zh": "观察：视频 51.8 s 锁扣角约0.54 rad，视频 52.0 s 降为0.38 rad，视频 52.2 s 变为约0.00 rad，同时stage首次为3/3、两端深度2.6/1.8 mm；右手正在从上缘按压内存，未见手直接拨动锁扣。" + }, + { + "t": 55.8, + "log_step": 79, + "text_zh": "观察：视频 52.4–55.8 s，锁扣角持续约0.00 rad，内存两端随后稳定为2.0/2.0 mm；机器人抬手退出，视频 53.8 s released hold达到50/50并显示PASS，最后视频 55.8 s 仍为PASS。log step 79 的实时服务亦报告success，评分器确认重放成功。" + }, + { + "t": 52.2, + "log_step": null, + "text_zh": "推断：右手下压内存条使被动锁扣闭合；结合视频 52.2 s 的就位及闭扣读数、后续稳定读数和最终成功，闭扣节点从视频约52.2 s 起持续成立。锁扣根部有局部遮挡，以录像自身的铰链角读数与后续近景共同判断，未将锁存stage单独当作持续闭扣证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 34.0–42.0 s，右手仍从两侧捏持内存并尝试压入，锁扣角仍约0.55 rad；这段闭扣尝试未成功，随后松开捏持。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：之后视频 48.0–52.6 s，右手指腹压内存条上缘，视频 52.0–52.2 s 锁扣随内存下降而转回闭合；经内存条传力，未见手直接抓住锁扣。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人捏持内存条离开泡沫架并搬入最外侧插槽，侧面捏持下压后改以指腹压上缘，视频约52.2 s 同时达到插入和闭扣，两个节点此后均保持成立。视频 53.8 s 显示PASS、无接触保持50/50，末秒近景仍稳定，实时服务与重放评分均成功。没有状态日志，横向及沿槽的亚毫米误差和完整速度阈值不能逐帧复算，由录像基准读数与最终成功判定共同支持；节点首次时刻受视频0.2 s采样限制，原生指标未在reward中逐项报告，故数值留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "视频顶部读数显示 51.8 s 为 Stage 1/3、1.5/4.3 mm、latch 0.54 rad，52.2 s 变为 3/3、2.6/1.8 mm、latch 0.00 rad，与两个节点从约 52.2 s 起成立一致；成功运行，无失败标注，未发现错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:17:48Z", + "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-ram-module-install-i00-standard--uuzh3fy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--uuzh3fy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "eb97ace2666690150012cf3f9edd305ff3ae05a2ac414761ac34f0504549df73", + "video_sha256": "132fbcf03e12f53da2db0f75bd00a7188aaf1282fff28181f36f952e8a47290c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--wfqns6j.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--wfqns6j.json new file mode 100644 index 0000000000000000000000000000000000000000..236ee06546ecd4c991b7385c1067640c67ddf680 --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--wfqns6j.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-standard--wfqns6j", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 8, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 200, + "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": 200, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.588, + "peak_processes": 9, + "peak_disk_gb": 0.215, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-ram-module-install-i00-standard--wfqns6j/replay.mp4", + "duration_s": 6.2, + "fps": 5.0, + "frames": 31, + "sha256": "4c820d57ce7e6aba327b2517e053eb5c91d70a97afed22a9cdd7f5955763a9b6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 内存条竖立在前景粉色泡沫架内，目标黑色插槽位于后方主板上，二者分离。" + }, + { + "t": 3.4, + "log_step": null, + "text_zh": "观察：视频 3.0–4.0 s 右手夹持内存条上提，内存条两端上升不一致并转斜；视频 4.0–6.0 s 内存条仍位于泡沫架上方，未搬向后方主板，更未嵌入目标槽。末帧顶部显示 Stage 1/3、end depths 1.6/36.4 mm、released hold 0/50。" + }, + { + "t": null, + "log_step": 71, + "text_zh": "观察：log step 71 先重置到 episode 2，随后执行夹持和上提，服务两次返回 done=False、reason=None；该动作顺序与视频一致。log step 52 是重置前的另一回合，不用于本次节点进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 2.0–4.0 s，单只右手的拇指与对侧手指夹住绿色内存条侧面并上提；内存条随手离开原位，但夹持期间转斜。该拾取属于插入步骤的准备过程。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 0.0–6.0 s 目标插槽始终空置，右手只在前景泡沫架附近操作内存条，没有操作主板上的锁扣；视频 4.0–6.0 s 顶部 latch 读数保持 0.55 rad，锁扣仍外张。" + }, + { + "t": 6.0, + "log_step": null, + "text_zh": "推断：视频末帧内存条尚未进入目标插槽，且锁扣角 0.55 rad 大于闭扣阈值 0.08 rad，因此不满足含就位条件的闭扣节点。成功参考视频中内存条进入后方主板槽内并闭扣的外观，在本次全程均未出现。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "module_seated", + "t": 3.4, + "log_step": 71, + "where": "操作中", + "evidence_zh": "观察：视频约 3.4 s 起，右手在插入前的上提过程中未保持内存条原有夹持姿态，内存条一端明显高于另一端；至视频 4.0–6.0 s 仍斜持在泡沫架上方，未完成搬运和插入。log step 71 对应重置后第二回合的夹持与上提，后续没有再次执行机器人动作修复此状态。" + }, + "unmet": { + "module_seated": false, + "latch_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 3.4, + "log_step": 71, + "evidence_zh": "观察：视频 3.0 s 内存条仍沿泡沫架方向被右手夹住；视频 3.4–4.0 s 手向上抬时，内存条在夹指间转斜，两端高度差持续扩大，末帧顶部 end depths 为 1.6/36.4 mm。失去的是稳定夹持姿态，未见内存条完全脱手自由落下。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 71 的上提段只把腕部竖直位置目标增加 0.035 m，沿用夹紧时的手指目标和腕部朝向；视频 3.0–4.0 s 内存条却相对夹指转斜、两端上升不一致，说明该夹持控制未能在承载上提时维持物体姿态。现有记录不能进一步区分接触几何、夹持载荷分配或反馈跟踪的责任。" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志，评分器 reward 未报告 DAG 所列九项原生几何或速度指标，故 native_metrics 的值均为 null；视频单一总览遮住部分指腹接触，无法复算接触力或细分控制根因。log step 106 记录模型过滤中断，log step 71 的服务仍为 done=False、reason=None，不能把之后未继续搬运归因为主动放弃；本标注只记录视频 3.4–4.0 s 已出现且未修复的夹持转斜，不把过滤中断作为机器人现象或根因。" + }, + "summary_zh": "观察：右手在本次第二回合夹起内存条，但上提时内存条在夹指间转斜，最终停在泡沫架上方；插入内存、合上锁扣均未达到，节点最终为 0/2。推断：断点位于插入步骤的拾取上提过程，现象为没保持住，根因为控制，尚不足以细分接触设计或反馈问题。观察：没有状态日志及原生指标值，且 log step 106 的模型过滤中断限制了后续动作，未将其计作物理失败原因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点 0/2、断点 module_seated（操作中）、现象 接触·没保持住、根因 控制 与视频和日志一致；视频 0–4 s 为 200 步（150 步夹持 + 50 步上提）的执行回放，4–6.2 s 为终态静帧；内存条被夹起后在泡沫架上转斜，末帧 Stage 1/3、end depths 1.6/36.4 mm、锁扣 0.55 rad，均与标注相符。", + "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": "2026-10-30T19:24:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--wfqns6j/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--wfqns6j/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "154b34000e6b40bb04c6273466ba491658f3938a146107e450a3f564a181cb37", + "video_sha256": "4c820d57ce7e6aba327b2517e053eb5c91d70a97afed22a9cdd7f5955763a9b6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--wijfjsr.json b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--wijfjsr.json new file mode 100644 index 0000000000000000000000000000000000000000..b75deae040dce3989c2d507d8c6ec9d20974175a --- /dev/null +++ b/phase2/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--wijfjsr.json @@ -0,0 +1,253 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-standard--wijfjsr", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 110, + "control_steps_total": 3310, + "elapsed_s": 2205.053, + "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": 305, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 305, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.369, + "peak_processes": 9, + "peak_disk_gb": 0.317, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-ram-module-install-i00-standard--wijfjsr/replay.mp4", + "duration_s": 8.2, + "fps": 5.0, + "frames": 41, + "sha256": "4b2ff2ca09312046c0e1f7880b72658b5e6b0ab136e4068559c925ba337ca1cc" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s绿色内存条直立在粉色泡沫架内，目标主板最外侧插槽为空；逐帧检查视频0.0–8.0 s，内存始终留在泡沫架处，没有搬到主板或插入socket_3。" + }, + { + "t": 5.4, + "log_step": 54, + "text_zh": "观察：视频4.0–5.2 s右手在内存上缘附近收指，视频5.4–6.0 s手略上移而内存未被带离泡沫架；视频6.2–8.0 s为相同终态。log step 54最后一次reset返回episode 6，执行close、lift8后停在control_steps=305，评分器n_actions=305且graded_by_live=1；因此本片是最后回合，较早会话中的搬运、插入指令不计入本片进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频4.0–6.0 s右手拇指和弯曲手指在内存上缘及侧面局部触压、收拢，内存仅轻微晃动且未离开泡沫架；未见形成可随手提起内存的对向夹持，不按任务典型方案直接记抓握。" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频0.0–8.0 s内存始终在泡沫架中，右手未携内存接近目标插槽，也未操作锁扣；视频8.0 s顶部显示Stage 0/3、latch 0.55 rad和released hold 0/50，目标槽为空，未形成就位且闭扣的状态。成功参考视频28.5 s则可见内存在主板槽内，顶部为两端2.0/2.0 mm、latch约0 rad；参考仅用于确认判据外观。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better", + "value": null + }, + { + "name": "max_end_depths_m", + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better", + "value": null + }, + { + "name": "lateral_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_along_slot_offset_m", + "unit": "m", + "threshold": 0.001, + "direction": "lower_better", + "value": null + }, + { + "name": "upright_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "keyed_err_deg", + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better", + "value": null + }, + { + "name": "latch_rad", + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better", + "value": null + }, + { + "name": "module_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "module_ang_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "module_seated", + "t": 5.4, + "log_step": 54, + "where": "操作中", + "evidence_zh": "观察：视频4.0–5.2 s右手在泡沫架上尝试夹持内存，视频5.4–6.0 s上提时内存仍留在原架中；直到视频8.0 s也未搬运到主板。log step 54最后回合在lift8和settle后输出GRIP SLIPPED - abort，之后log step 55只修改控制器文件，未继续执行物理动作。推断：最早未修复的失败发生在插入内存所包含的拾取环节，未进入闭扣操作。" + }, + "unmet": { + "module_seated": false, + "latch_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 5.4, + "log_step": 54, + "evidence_zh": "观察：视频4.0–5.2 s手指虽在内存上缘附近触压、收拢，视频5.4–6.0 s手上移时内存仍由泡沫架支承，没有随手离架；视频7.2–8.0 s终态仍在原处。推断：必要的承重夹持未建立；此处不是说手完全没碰到内存，也没有把agent在log step 54输出的“GRIP SLIPPED”当作曾经持起后丢失的证据。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 49、52的脚本设定拇指与中指侧面收拢，随后保持指令不变、令腕部抬高0.010 m；log step 54执行同一序列，记录收指后多关节实际值偏离目标，且视频5.4–6.0 s可见手移动而内存未随动，支持夹持控制未形成有效承载。现有证据不足以区分接触几何、夹持力或关节跟踪问题，故不细分控制子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或逐指接触对、接触力记录；总览遮住部分指腹，不能确定全部对向接触及其承载力，也不能证明agent所称滑脱之前曾经可靠持住内存。节点未达可由内存全程留在泡沫架及目标槽为空确定；根因只标控制。run.json的reward未报告DAG所列九项原生几何、速度指标，native_metrics值均为null；视频顶部读数仅作画面证据。" + }, + "summary_zh": "评分回合中右手到泡沫架上收指并小幅上提，但内存始终未离架，插入内存与合上锁扣均未达成，最终为0/2。断点在插入内存的拾取环节：局部触压未形成能带离泡沫架的夹持，根因支持控制失败；缺少逐指接触及力记录，不能进一步判定几何或夹持力问题。会话较早试验及保存的完整控制器均不替代最后305个控制步所对应的评分轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点均未达成、最终0/2与视频一致（内存全程留在泡沫架，顶部Stage 0/3）；断点、现象和根因与证据相符，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:32:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--wijfjsr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--wijfjsr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b6ba3c3ba9b43291d39af0459ee189c575127a8161c5ca0c286f9651aafacd00", + "video_sha256": "4b2ff2ca09312046c0e1f7880b72658b5e6b0ab136e4068559c925ba337ca1cc", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--7kypvj7.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--7kypvj7.json new file mode 100644 index 0000000000000000000000000000000000000000..c0105e0255b89cc60a06459eca5bb746ede78f89 --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--7kypvj7.json @@ -0,0 +1,307 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-privileged--7kypvj7", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 3522, + "sim_steps": 3522, + "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": 1.56, + "peak_processes": 11, + "peak_disk_gb": 0.834, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stool-brace-insert-i00-privileged--7kypvj7/replay.mp4", + "duration_s": 31.5, + "fps": 10.0, + "frames": 315, + "sha256": "92369dfa9f17b165a18dc898de3b04a5388543c33e99d8fa5d3d1a6da217c6dc" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [ + [ + 9.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，待装横撑平放于桌面前侧，下框另有三根预装杆；字幕为 stage 0/4、seated interfaces 3/8，横撑尚未插入。" + }, + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 2.0–5.5 s，机器人单只右手合拢夹住横撑，横撑离开原桌面位置并随手转为直立；视频 5.0 s 字幕已为 stage 1/4 brace lifted。" + }, + { + "t": 9.4, + "log_step": null, + "text_zh": "观察：视频 9.3 s 字幕仍为 stage 1/4、接口 3/8；视频 9.4 s，机器人持握的直立横撑下端已进入下框原空孔，字幕变为 stage 2/4 brace dowel seated、接口 4/8。据这两帧将首次成立定位为视频约 9.4 s。" + }, + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 12.0 s，机器人右手已张开并离开横撑，横撑仍直立插在下框；视频 13.0–27.0 s 的逐秒画面中该关系保持，装框时也未见横撑脱离下孔。" + }, + { + "t": 31.4, + "log_step": null, + "text_zh": "观察：视频 29.4 s 及视频 30.5–31.4 s 各帧，字幕均为 PASS、stage 4/4、接口 8/8、released hold 50/50，横撑仍连接上下框；inputs/run.json 的 reward.success=1、stages_completed=4，与画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.0–9.4 s，单只 Sharpa Wave 右手的拇指与弯曲手指从横撑两侧夹持木杆，持杆提起、转直、对孔下放；随后张手撤离，视频 12.0 s 横撑已独立站在下框中。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [ + [ + 27.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.0, + "log_step": null, + "text_zh": "观察：视频 15.5–20.5 s，机器人右手合拢于桌面后侧对侧框的横杆处，该框整体随手上升并离开原桌面位置；视频 18.0 s 字幕为 stage 3/4 side frame lifted，视频 20.5 s 框架已高于直立杆。" + }, + { + "t": 27.6, + "log_step": null, + "text_zh": "观察：视频 21.0–27.5 s，机器人保持对侧框倒置朝向，将其平移至四根竖杆上方后向下套合；视频 27.5 s 字幕仍为 stage 3/4、接口 4/8，视频 27.6 s 变为 stage 4/4、8 dowels seated、接口 8/8。该节点允许持框时成立，故以视频约 27.6 s 作为起点。" + }, + { + "t": 29.4, + "log_step": null, + "text_zh": "观察：视频 29.0、29.1、29.2、29.3 s 字幕 released hold 依次为 8/50、20/50、32/50、44/50，视频 29.4 s 变为 PASS、50/50；上框与四根杆保持套合。手仍在框旁，字幕中的离手静置计数是基准检查器的无手接触且低速条件读数，不能因手靠近就判为未松开。" + }, + { + "t": 31.4, + "log_step": null, + "text_zh": "观察：视频 30.5–31.4 s 逐帧检查中，上框及四根竖杆位置保持不变，字幕持续 PASS、接口 8/8、released hold 50/50；inputs/run.json 的评分器字段 success=1、deterministic=1、stages_completed=4。" + }, + { + "t": null, + "log_step": 57, + "text_zh": "观察：log step 57 的工具输出记录交付动作文件在两个新进程回放中均 success=True、steps=3522 且末态哈希一致；log step 60 的工具输出确认最终交付文件动作数组与生成文件完全一致。此处仅核对交付及回放，节点时刻均取视频画面，未换算 agent 会话时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 15.5–20.5 s，机器人单只右手弯曲手指扣住对侧框横杆，框架整体随手离桌、上升；视频 21.0–27.6 s 持框平移并向下套合四根上榫。推断：结合合拢手形、框架随手稳定搬运及 log step 37、41 中 upper_frame 与 hand 的接触输出，实际为单手夹持横杆；视频 29.0–29.4 s 离手静置计数增长至 50/50。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人完成两个节点：视频约 9.4 s 将横撑下榫插入下框，视频约 27.6 s 将对侧框套到四根上榫，两种插接关系均保持至结束。视频 29.4 s 显示 PASS、接口 8/8 和离手静置 50/50，评分器 success=1，交付文件的两次独立回放成功且末态哈希一致（log step 57、60），无失败断点。没有状态日志，毫米级几何及速度合格依靠视频检查器字幕和成功评分佐证，reward 未报告各原生指标数值，故其 value 留空；oracle 的 runId 与本次相同，未作为独立参考证据。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "两个节点的时刻（视频约9.4 s、27.6 s）与字幕阶段变化一致，成功运行无断点，接触标注合理；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": "2026-10-30T19:17:44Z", + "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-stool-brace-insert-i00-privileged--7kypvj7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--7kypvj7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f8c4bb9561a06834855c72f01e92db948f3f42cf52c1db20725e59eadeff1140", + "video_sha256": "92369dfa9f17b165a18dc898de3b04a5388543c33e99d8fa5d3d1a6da217c6dc", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--ajbuyy9.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--ajbuyy9.json new file mode 100644 index 0000000000000000000000000000000000000000..d29ed735ec886cc5721a8750b557d1e496cb519a --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--ajbuyy9.json @@ -0,0 +1,319 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-privileged--ajbuyy9", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1090, + "sim_steps": 1090, + "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": 0.814, + "peak_processes": 10, + "peak_disk_gb": 0.26, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stool-brace-insert-i00-privileged--ajbuyy9/replay.mp4", + "duration_s": 23.9, + "fps": 10.0, + "frames": 239, + "sha256": "13e07fe49b3c76ffa1eaf1decaac31fcadc81a717afa45a78d3a2ce71f596570" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [ + [ + 6.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 1.6–2.8 s，机器人右手手指包住桌前横撑，将横撑提离原来的桌面位置；视频 2.8 s 字幕进入阶段 1/4（brace lifted）。" + }, + { + "t": 6.3, + "log_step": null, + "text_zh": "观察：视频 6.2 s 横撑已转直并沿下框空孔下降；视频 6.3 s 字幕首次显示阶段 2/4（brace dowel seated）和 4/8 接口。视频 6.4 s 总数短暂回到 3/8，视频 6.5 s 恢复 4/8；该短暂变化不拆分节点区间。" + }, + { + "t": 23.8, + "log_step": null, + "text_zh": "推断：视频 6.5–18.5 s 横撑直立留在原下框孔中，机器人撤手后转去搬上框；视频 19.6–19.8 s 全局接口总数短暂降至 3/8，但视频 19.9 s 恢复 4/8、视频 20.0 s 增至 5/8。结合视频 21.8 s 及视频 22.9–23.8 s 横撑下端仍留在下框、未见脱孔或倾倒，判横撑下框插接最终保持；全局计数不能指认短暂失配的是哪个下端接口。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.2–6.3 s，单只右手的拇指与弯曲的其余手指夹住横撑中段，提起、转直并下放入下框孔；视频 6.5–7.0 s 张指撤离。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.5, + "log_step": null, + "text_zh": "观察：视频 10.0 s 对侧框仍在桌后，视频 11.0–11.5 s 机器人右手弯指握住其横杆，将整框提起；视频 11.5 s 框已离开桌面，字幕为阶段 3/4（side frame lifted）、4/8 接口。" + }, + { + "t": 19.2, + "log_step": null, + "text_zh": "观察：视频 16.0–19.2 s 机器人持上框移到四根直杆上方并下放；视频 19.2 s 上框已靠在杆顶附近，但字幕仍为阶段 3/4、4/8 接口，并未出现四个上端全部插好的结果。" + }, + { + "t": 23.8, + "log_step": null, + "text_zh": "观察：视频 19.3–20.4 s 机器人张指并抬手，视频 20.0 s 起仅显示 5/8 接口；视频 21.8 s 和逐帧查看的视频 22.9–23.8 s 均停在阶段 3/4、5/8、released hold 0/50，上框搭在杆端附近且接合处仍见间隙。成功参考视频 29.5 s 同一视角可显示阶段 4/4、8/8 和 PASS；本次没有出现该完整套合状态。" + }, + { + "t": null, + "log_step": 395, + "text_zh": "观察：log step 395 记录交付动作数组为 1090×28；inputs/run.json 的评分器字段同样为 n_actions=1090、stages_completed=3、success=0、deterministic=1。log step 400 中 agent 自述“Succeeded”，但该自述不符合本次视频的阶段与接口数，不能据此计装配完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 11.0–19.2 s，单只右手以拇指和弯曲的其余手指握住对侧框的横杆，提起、调姿、搬运和下放整框；视频 19.3–20.4 s 张指后撤离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "upper_frame_on_dowels", + "t": 19.2, + "log_step": 390, + "where": "操作中", + "evidence_zh": "观察：视频 19.2 s，机器人已将上框下放到杆顶附近，字幕仍为阶段 3/4、4/8 接口；随后机器人张指撤手，至视频 23.8 s 仍仅 5/8 接口、released hold 0/50，未再修正装框。log step 390 的最终生成脚本在固定下降后直接张指、抬腕和等待，对应视频中的这段交付动作。" + }, + "unmet": { + "brace_in_lower_frame": true, + "upper_frame_on_dowels": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 19.2, + "log_step": null, + "evidence_zh": "观察：视频 18.5–19.2 s 上框落到四根直杆顶部附近时没有同时套入四个上榫，接合处留有间隙，字幕仍只认定 4/8 接口；视频 20.0–23.8 s 松手后仅增至 5/8，始终未达完整套合。偏差在松手前已经存在，并非成功插好后才失稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 19.2, + "log_step": 390, + "evidence_zh": "推断：log step 390 的交付生成脚本用固定腕部转角 [0.07, 0.08, 1.110] 调姿，只在搬运前读取一次上框位置计算平移，随后执行固定搬运及下降 0.110 m；脚本仅打印 assembled 而不据其结果校正四孔对合，就继续松手。视频 18.5–20.4 s 与这一动作顺序一致，未消除的插接位姿误差一直留到撤手；因此支持控制层面的精确装配不足，现有证据不足以区分握持微滑、轨迹跟踪或具体接触参数。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "未提供状态日志，视频不能精确测量各接口的毫米级深度、横向误差、轴角或接触力，也不能指认视频 19.6–19.8 s 全局接口计数暂降时具体哪个接口失配。最终生成与回放在 log step 391、397 只留下后台启动信息，没有返回逐接口状态；控制根因保留大类，不能进一步确定微滑或力控机制。" + }, + "summary_zh": "机器人抓起并转直横撑，约在视频 6.3 s 插入下框，最终完成 1/2 个语义节点。随后虽提起并搬运上框，视频 19.2 s 下放时仍未完成四榫套合，松手后仅 5/8 接口、阶段 3/4；交付脚本以固定动作下放后直接松手，未修正剩余插接误差。缺少逐接口状态与接触力，根因仅标控制；agent 在 log step 400 的成功自述不作为完成依据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "横撑节点（约 6.3 s 起 4/8、终态仍直立在下框）与上框未完成（终态 3/4、5/8、搭在杆端）均与帧一致；断点、位姿不准与控制根因有帧和日志支持，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:33:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--ajbuyy9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--ajbuyy9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ac9decf453cd8c5bef54b4cf578103478508a3093e4494dcc13ea7cb52f09723", + "video_sha256": "13e07fe49b3c76ffa1eaf1decaac31fcadc81a717afa45a78d3a2ce71f596570", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--e2lwczl.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--e2lwczl.json new file mode 100644 index 0000000000000000000000000000000000000000..78c9a06548cd7fcdbdd1a4af60bf4f0f2c79eab5 --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--e2lwczl.json @@ -0,0 +1,293 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-privileged--e2lwczl", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1651, + "sim_steps": 1651, + "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": 0.825, + "peak_processes": 9, + "peak_disk_gb": 0.242, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stool-brace-insert-i00-privileged--e2lwczl/replay.mp4", + "duration_s": 29.6, + "fps": 10.0, + "frames": 296, + "sha256": "0a233772f0c388e9fbac0c271172d5849d581ad4944b2c9808cacf894404662d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 横撑平躺在桌面前侧，下框仅有三根预装杆；视频 1.5–4.0 s 单只右手合指夹住横撑上端并将其提离桌面，字幕升至阶段 1/4，但尚未插好下榫。" + }, + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 20.0–25.0 s 右手持横撑向下框空孔下降，视频 25.0–27.5 s 横撑下端停在孔口附近，手仍夹着上端；字幕一直为阶段 1/4、seated interfaces 3/8。视频 28.6–29.5 s 的逐帧终态仍为上述读数，未出现参考成功视频 9.5 s 的阶段 2/4、接口 4/8。" + }, + { + "t": 29.5, + "log_step": 63, + "text_zh": "观察：log step 63 重新生成并保存 d14.py 的 1651 行动作，独立回放仍报 stage 1；评分器字段 n_actions=1651、stages_completed=1、deterministic=1 与视频吻合。该交付包含对孔下降，不能用 log step 65 自述的“只在高处持握结束”替代视频。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 1.5–4.0 s 及 22.0–27.5 s，Sharpa 右手拇指与弯曲手指从相对两侧夹住横撑靠近一端的木杆，提起、转直、横移后持握下压；结尾仍夹持横撑。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.5, + "log_step": null, + "text_zh": "观察：视频 0.0–27.5 s 的全程抽帧和视频 28.6–29.5 s 的逐帧终态中，右手始终在操作前侧横撑；后侧倒放的对侧框架一直留在桌面原处，未被抓起或移到四根杆上方。参考成功视频 28.0 s 可见上框已经套上四杆，本次没有这一结构，故装上对侧框未达到，亦未尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "brace_in_lower_frame", + "t": 25.0, + "log_step": 63, + "where": "操作中", + "evidence_zh": "观察：视频 22.0–25.0 s 右手将横撑下榫降到空孔附近，视频约 25.0 s 后杆件的下移趋于停止，随后直至视频 29.5 s 始终未出现阶段 2/4 或第四个插好接口。log step 63 确认最终交付的是尝试下降插接后仍为 stage 1 的 1651 行轨迹；首次插接未获完成，之后也未修复。" + }, + "unmet": { + "brace_in_lower_frame": false, + "upper_frame_on_dowels": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 25.0, + "log_step": 63, + "evidence_zh": "观察：视频 23.0–25.0 s 右手继续向空孔压下横撑，视频 25.0–27.5 s 横撑下端滞留在孔口附近，手指仍夹着上端而杆件没有完成插接，字幕持续阶段 1/4、接口 3/8。推断：下榫接触后未能压入合格位置，表现为插接卡滞；并非抓空或持物掉落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 25.0, + "log_step": 60, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：靠横撑一端的指尖夹持未能在重新收紧及平移后保持插接所需轴向姿态。观察：视频 4.0–18.0 s 横撑从上端夹点悬垂并随手指调整摆动；log step 60 的 d14.py 输出记录松指后 tilt 4.1°、重新收紧并横向校正后 pre-desc2 tilt 14.0°，随后下降仍为 stage 1；log step 63 明确重新执行该脚本并回放同一 1651 行交付，与视频末段下压未插好的过程相符。参考成功视频 9.5 s 右手从杆侧夹住横撑较低处且阶段 2/4、接口 4/8，参考视频 29.5 s 最终 PASS，证明同任务存在可行的替代接触方案；此参考仅用于替代可行性，不作本次接触证据。" + } + ], + "gap_zh": "本次没有状态日志，单一总览无法直接量出孔内榫尖深度、横向误差、轴向夹角或接触力；卡滞的具体孔壁接触机制及抓握导致的姿态误差属于结合视频和交付生成日志的推断。原生指标的实际值未在评分器字段中报告，均留 null；log step 65 的末段叙述与已保存脚本及视频不符，以视频和 log step 63 的交付核验为准。" + }, + "summary_zh": "单只右手夹起横撑并转直、移到下框空孔处下压，但直至视频 29.5 s 仍为阶段 1/4、接口 3/8，两个语义节点均未达到，对侧框也未被操作。断点为横撑插入下框，末段插接停滞；结合生成脚本的松指与重新夹紧读数，推断端部夹持无法保持精细插接姿态。没有状态日志或孔内近景，无法直接核验毫米级误差和接触力。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点均未达到、断点为横撑插入下框、末态阶段1/4与接口3/8均与视频及评分字段一致；接触力异常（插接卡滞）与抓取和接触设计根因有视频及log step 60/63（8 mm后卡滞、倾角7.9°）支撑，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:15:06Z", + "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-stool-brace-insert-i00-privileged--e2lwczl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--e2lwczl/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a86ff761d26e1b1ed5527b5b43e8f9dccb3461fd7b3893fb6c1289f80a2602dd", + "video_sha256": "0a233772f0c388e9fbac0c271172d5849d581ad4944b2c9808cacf894404662d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--j3pi4if.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--j3pi4if.json new file mode 100644 index 0000000000000000000000000000000000000000..61b0096893dc380613cea178c8058b3366aa3a5c --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--j3pi4if.json @@ -0,0 +1,300 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-privileged--j3pi4if", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 925, + "sim_steps": 925, + "stages_completed": 2, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.072, + "peak_processes": 9, + "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-stool-brace-insert-i00-privileged--j3pi4if/replay.mp4", + "duration_s": 20.6, + "fps": 10.0, + "frames": 206, + "sha256": "d913a43b4d940c17e669964e7f9b03e549409e23d7320a8aad36d98ba50b540a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [ + [ + 18.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，待装横撑平放于桌面前侧，下框仅有三根预装杆直立；横撑下端尚未入孔。" + }, + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 7.8–9.0 s，机器人右手合指夹住横撑，横撑离开原桌面位置并随手升起、转成直立；字幕进入 stage 1/4。" + }, + { + "t": 18.5, + "log_step": 77, + "text_zh": "观察：视频 18.4 s 字幕仍为 stage 1/4、3/8 接口；视频 18.5 s 横撑直立落入下框前侧空孔，字幕变为 stage 2/4 brace dowel seated、4/8 接口，至视频 20.5 s 末帧保持。log step 77 对保存的交付记录 SAVED 925、stage 2，下榫深度约 0.0127 m、横向误差约 0.0002 m、轴角约 0.017 rad，与画面一致；持握时该节点也计完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人单只 Sharpa Wave 右手拇指与弯曲手指夹住横撑杆身，提起、转直并插入下框，评分轨迹结束时仍持握横撑。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.5, + "log_step": 77, + "text_zh": "观察：视频 0.0–18.5 s，机器人只操作前侧横撑；桌面后侧倒放的对侧框架始终未离开原处。log step 77 保存的 925 步交付到横撑插好即结束。" + }, + { + "t": 20.5, + "log_step": null, + "text_zh": "观察：视频 18.6–20.5 s 为相同终态，手仍在横撑旁，对侧框架仍在后侧桌面，四根上榫裸露；字幕为 stage 2/4、4/8 接口、released hold 0/50。成功参考视频 29.5 s 则明确显示对侧框架套在四根杆顶、8/8 接口；本次未出现该关系，也未启动取框动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "upper_frame_on_dowels", + "t": 18.5, + "log_step": 77, + "where": "首步前", + "evidence_zh": "观察：视频 18.5 s 横撑插好后动作回放结束，视频 18.6–20.5 s 只展示终态；机器人没有松开横撑、移向后侧框架或开始提框。log step 77 保存的交付为 925 步、stage 2，与评分器 n_actions=925、stages_completed=2 相符；log step 80 之后的取框测试没有进入该交付。" + }, + "unmet": { + "brace_in_lower_frame": true, + "upper_frame_on_dowels": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 18.5, + "log_step": 77, + "evidence_zh": "观察：评分视频 0.0–20.5 s 中机器人仅抓持并插入横撑，后侧对侧框架始终放在桌上；视频 18.5 s 达到 stage 2/4 后即进入终态，装上对侧框的步骤从未启动。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：agent 尚未解决对侧框架的稳定提起控制，交付因此仍停在已保存的横撑插接段。会话测试中，log step 85 的提框过程持续倾斜且未过 stage 2；log step 89 的姿态补偿脚本产生超关节范围目标；log step 92、96、98 的快速提框在仍有手接触时倾斜至约 0.36 rad 并触发 frame_dropped，log step 94 的换位抓法则失去手接触并失败。这些独立测试支持控制层面的困难，不能把测试中的倾倒当作评分轨迹的现象。" + } + ], + "gap_zh": "没有状态日志，横撑毫米级插接依靠视频字幕及与交付吻合的 log step 77 佐证。对侧框架的取放仅见于未保存的会话测试；这些测试不足以区分接触布局、提速轨迹与姿态反馈各自的贡献，根因保留在控制大类，不能给这些测试分配评分视频时间。" + }, + "summary_zh": "评分轨迹完成横撑提起、转直及下端插入下框，视频 18.5 s 达到 stage 2/4、4/8 接口，语义节点最终完成 1/2。交付到此结束，装上对侧框尚未启动；会话中的后续提框测试反复出现倾斜、脱手或控制目标越界，支持控制困难，但这些测试不是评分轨迹。无状态日志，精确插接由字幕与交付日志佐证，控制子类仍不能确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "横撑节点 18.5 s 达成（字幕 stage 2/4、4/8 接口）与帧一致；对侧框未启动，首步前/没尝试，根因控制依据会话测试（与 FAIL-22 一致），无需改动。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:22:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--j3pi4if/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--j3pi4if/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e0c0e2471ed2edde0356b806ea7a4c4ef9b5eb26e72ed54683f8f66c760f1b38", + "video_sha256": "d913a43b4d940c17e669964e7f9b03e549409e23d7320a8aad36d98ba50b540a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--nipqyst.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--nipqyst.json new file mode 100644 index 0000000000000000000000000000000000000000..711175f0faccc856a00cd0f6a23a0d52b198716d --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--nipqyst.json @@ -0,0 +1,305 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-privileged--nipqyst", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 930, + "sim_steps": 930, + "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": 1.006, + "peak_processes": 10, + "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-stool-brace-insert-i00-privileged--nipqyst/replay.mp4", + "duration_s": 20.7, + "fps": 10.0, + "frames": 207, + "sha256": "95b9b58936c7fcf36b4b1112ce41eb0e1ada53dc762342846572fd9005943d36" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [ + [ + 14.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频 1.2–2.5 s，机器人单只右手的拇指与其余手指夹住桌面前侧横撑；视频 3.6–5.1 s 将其转直并提离桌面。" + }, + { + "t": 14.9, + "log_step": null, + "text_zh": "观察：视频 14.8 s 字幕仍为 Stage 1/4、seated interfaces 3/8；视频 14.9 s 变为 Stage 2/4（brace dowel seated）、4/8，横撑下端位于下框原空孔，机器人仍持握横撑。以首次可见阶段转换定位插接成立，精度约 0.1 s。" + }, + { + "t": 20.6, + "log_step": 53, + "text_zh": "观察：视频 17.0–18.6 s 机器人张手撤离，横撑仍直立插在下框；视频 19.7–20.6 s 逐帧检查的结尾静帧仍为阶段 2/4、4/8 接口，无横撑脱离。log step 53 的交付生成脚本止于 release_brace，930 行动作的两次独立回放均停在阶段 2 且哈希一致，与视频相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 1.2–17.0 s，机器人单只 Sharpa 右手以拇指和其余手指相向夹住横撑，持握转直、搬至下框空孔并下插；随后张手撤离。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 对侧框倒放在桌面后侧，四根连接杆上方没有对侧框。" + }, + { + "t": 18.6, + "log_step": 53, + "text_zh": "观察：视频 0.0–18.6 s，机器人只操作前侧横撑，对侧框始终留在桌面后侧；视频 19.7–20.6 s 结尾静帧亦相同，字幕仅阶段 2/4、4/8 接口。log step 53 的交付生成脚本只有抓横撑、转直、插入、松手，未调用抓框或装框动作。" + }, + { + "t": 20.6, + "log_step": 55, + "text_zh": "推断：对侧框未提起、未移至四根上榫上方，故本节点从未成立；该可见条件不存在，并非仅因 success=0 判未达。成功参考视频 29.5 s 的同视角可清楚看到框架套在四杆顶部及 8/8 接口；参考只用于辨认形态，不作本次进度证据。log step 55 中 agent 也说明交付止于阶段 2，后续提框属于另开的会话测试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "upper_frame_on_dowels", + "t": 18.6, + "log_step": 53, + "where": "首步前", + "evidence_zh": "观察：视频 18.6 s 机器人已从插好的横撑旁张手撤离，评分动作结束；随后至视频 20.6 s 为同一终态，对侧框仍倒放在桌面后侧，未开始提框或套榫。log step 53 明确保存并复核的 930 行交付只执行到 release_brace，阶段 2/4；本锚点取最后动作附近，不把会话测试的掉框当成评分轨迹的失败事件。" + }, + "unmet": { + "brace_in_lower_frame": true, + "upper_frame_on_dowels": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 18.6, + "log_step": 53, + "evidence_zh": "观察：视频全程机器人只夹持、转直、插入并松开横撑；视频 18.6–20.6 s 对侧框仍在原桌面位置。log step 53 的保存脚本未包含 grasp_frame 或后续装框动作，交付回放只到阶段 2，因此本次评分尝试没有启动装上对侧框。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / agent 自述", + "evidence_zh": "推断：未形成能稳定携框的控制方案，解释了 agent 最终只交付横撑阶段。此归因来自会话测试而非评分视频：log step 45 的提框测试中框架倾角由 0.19° 增至 20.72°，返回 frame_dropped；log step 46 在同一测试过程中，拇指、食指、中指、无名指的接触力逐渐衰减，末段只剩拇指接触；log step 48 的保持位姿测试也由近水平转至 20.61° 后失败。log step 55 中 agent 自述握持不能维持到搬运结束，且明确仅交付前两阶段；log step 53 的生成与复核记录证实这一交付范围。现有证据支持抓持稳定性上的控制困难，不足以区分接触设计与反馈控制子类。" + } + ], + "gap_zh": "无状态日志，视频与阶段字幕支持横撑插接及其保持，但不能独立量出毫米级深度、横向误差和全部零件速度；评分器 reward 未报告 DAG 中各项连续指标，native_metrics 的值均留 null。对侧框失稳只在会话测试日志中有记录，未发生在交付视频，故只作为控制根因的间接证据；其接触几何、反馈控制的具体责任及本次控制器可用的替代抓法尚未验证。" + }, + "summary_zh": "评分轨迹在视频 14.9 s 完成横撑插入下框，张手撤离后保持到视频 20.6 s，最终完成 1/2 个语义节点，字幕为阶段 2/4、4/8 接口。交付止于横撑松手，对侧框全程未被操作，断点为装上对侧框／首步前，现象为没尝试；会话测试中反复出现提框后抓持失稳，支持控制困难使后续方案未能交付的推断。无状态日志，无法独立核验毫米级插接与速度，且根因来自会话测试而非评分轨迹中的提框动作。", + "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（14.9 s 阶段 2/4）、断点（首步前/没尝试）与根因（控制，来自会话测试并如实标注为推断）均有视频与 log 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": "2026-10-30T19:21:55Z", + "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-stool-brace-insert-i00-privileged--nipqyst/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--nipqyst/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "af377923e76f892624e6137a5834dccf9fdf1003e6897c2fdb9716cddeba37ee", + "video_sha256": "95b9b58936c7fcf36b4b1112ce41eb0e1ada53dc762342846572fd9005943d36", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--vfugqvq.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--vfugqvq.json new file mode 100644 index 0000000000000000000000000000000000000000..424386065083ccb13d6ed5bf10ee59fc730bd2f3 --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--vfugqvq.json @@ -0,0 +1,310 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-privileged--vfugqvq", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 180, + "sim_steps": 180, + "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": 0.792, + "peak_processes": 12, + "peak_disk_gb": 0.982, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stool-brace-insert-i00-privileged--vfugqvq/replay.mp4", + "duration_s": 5.7, + "fps": 10.0, + "frames": 57, + "sha256": "92f72f9b0698b3398a1861aa197a8e0e3ab1a70efdb3a5e666716382148e067d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 横撑平放在桌面前侧，下框仅有三根预装杆，对侧框平放在后侧；横撑下端与下框没有插接关系。" + }, + { + "t": 1.8, + "log_step": 157, + "text_zh": "观察：视频 1.1–1.8 s 右手手指伸展接近横撑端部，随后横撑端部随指端上移；视频 2.1–3.2 s 横撑逐渐转直。log step 157 的交付生成脚本将此接触设计为指垫滑到外露榫头下方后勾托旋转，未用拇指与其余手指对夹木杆。" + }, + { + "t": 3.6, + "log_step": 216, + "text_zh": "观察：视频 3.3–3.6 s 横撑被提离桌面，但仍悬在下框左前方，榫头没有移入空孔；字幕只有 Stage 1/4 brace lifted、seated interfaces 3/8。视频 3.7–5.6 s 为同一终态静帧。log step 216 对最终 180 行交付文件的两次回放均返回 stage=1、success=False、reason 为空，与画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：视频 1.1–3.6 s 单只 Sharpa 右手以伸展指端勾托横撑外露端榫，旋腕将横撑转直并提离桌面；拇指保持张开，没有形成包围木杆的对夹抓握。接触部位由 log step 157 的交付生成脚本辅助确认。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 对侧框倒放在桌面后侧，与下框及三根预装杆分离。" + }, + { + "t": 5.6, + "log_step": 216, + "text_zh": "观察：视频 0.0–3.6 s 机器人只处理前侧横撑，未接近或提起后侧对侧框；视频 4.6–5.6 s 逐帧检查中，对侧框仍在原桌面位置，四个上端榫均未套入该框。最终交付回放只到 stage=1（log step 216），未进入提框和装框过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "value": null, + "unit": "m", + "threshold": 0.012, + "direction": "higher_better" + }, + { + "name": "seat_depth_max", + "value": null, + "unit": "m", + "threshold": 0.019, + "direction": "lower_better" + }, + { + "name": "seat_lateral", + "value": null, + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better" + }, + { + "name": "seat_axis_angle", + "value": null, + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better" + }, + { + "name": "max_linear_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "max_angular_speed_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better" + }, + { + "name": "lower_frame_shift_m", + "value": null, + "unit": "m", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "lower_frame_tilt", + "value": null, + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better" + }, + { + "name": "preseated_depth_min", + "value": null, + "unit": "m", + "threshold": 0.008, + "direction": "higher_better" + }, + { + "name": "preseated_tilt", + "value": null, + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better" + }, + { + "name": "post_lift_brace_height_above_table", + "value": null, + "unit": "m", + "threshold": 0.09, + "direction": "higher_better" + }, + { + "name": "post_seating_brace_tilt", + "value": null, + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better" + }, + { + "name": "post_lift_upper_frame_tilt", + "value": null, + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better" + }, + { + "name": "unsupported_downward_speed", + "value": null, + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better" + }, + { + "name": "lift_center_rise", + "value": null, + "unit": "m", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "lift_lowest_corner_clearance", + "value": null, + "unit": "m", + "threshold": 0.02, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "brace_in_lower_frame", + "t": 3.6, + "log_step": 216, + "where": "操作中", + "evidence_zh": "观察：视频 3.3–3.6 s 机器人完成横撑提离后便停止，横撑仍由指端勾托在下框旁，未移到空孔或插入；视频 3.7–5.6 s 为终态静帧，字幕仍是阶段 1/4、接口 3/8。log step 157 的最终生成脚本仅含接近、勾榫转直和提离，log step 216 确认保存并重复回放的是这段 180 行轨迹，stage=1、success=False。视频 3.6 s 仅作提离后停住的导航锚点，没有可见掉落事件。" + }, + "unmet": { + "brace_in_lower_frame": false, + "upper_frame_on_dowels": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志", + "evidence_zh": "推断：视频 1.8–3.6 s 显示右手以伸展指端承载横撑端部，拇指张开，未形成包围木杆的抓握；log step 157 的生成脚本采用 open_hand 指令勾榫、转直并提离。会话测试 log step 151 使用相同的前 180 行动作，提离时 stage=1、failure=None，继续搬运后返回 translate brace_dropped，并将 236 行截回 180 行；log step 165 使用相同提离动作后的三次侧移测试均返回 brace_dropped，log step 171 的换指形测试也未完成搬运。由可见的勾托布局及这些测试反馈，推断该接触设计在已测试的后续搬运中承载不稳，解释为何交付仅保留提离段；这不是评分轨迹发生掉落的证据，也不采用 log step 217 对指垫面积、滑落距离和速度的自述作为事实。没有接触力或滑移状态日志，尚不能排除轨迹跟踪或动态参数的影响；替代接触方案可行性未知。" + } + ], + "gap_zh": "观察：inputs/ 有本次完整视频、run.json 和成功参考视频，但没有状态日志。逐帧检查评分视频，横撑提离后没有继续对孔、插入或失手过程，视频 3.7–5.6 s 为终态静帧；依据 CASES.md FAIL-23，现象层留空，不能把会话测试里的 brace_dropped 标为本次轨迹的没保持住。推断：根因仅使用视频中的接触布局、log step 157 的动作代码和 log step 151/165/171 的会话测试反馈；docs/03_trajectory.md:91–92 与 CASES.md FAIL-22 允许会话证据用于根因。缺少这些测试的接触力、滑移与跟踪误差记录，无法唯一确认是接触设计而非轨迹或动态参数导致承载失败，因此归因不确定，conf 从 8 降为 5。" + }, + "summary_zh": "机器人用指端勾托横撑端榫，将其转直并于视频约 3.3 s 提离桌面，但始终未将横撑插入下框；装上对侧框也未开始，两个语义节点最终均未达成。断点为横撑插入下框的操作中，交付只保留提离阶段；评分视频没有失手或对孔失败过程，现象层留空。保留接触设计根因作为推断，但缺少接触力、滑移和跟踪误差记录，尚不能唯一确定机制，故 conf 降为 5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值、断点和时间与视频一致（视频约 3.0–3.6 s 横撑提离，字幕 Stage 1/4，之后静帧，两节点均未达成）。问题在根因：评分视频中没有任何失手或搬运过程，现象层为空，而唯一的根因“抓取和接触设计”完全建立在会话内的测试（log step 151/153/165/171 的 brace_dropped）和代理的最终叙述上，这些不属于被评分的轨迹，也不是 03 允许的证据。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点均未达成、断点（横撑插入下框，操作中，视频约 3.6 s 提离后停住）与帧一致；现象层留空并说明交付止于提离（符合 FAIL-23），根因仅作带 alt_feasible=未知 的会话证据推断（符合 FAIL-22），未把会话测试当作评分轨迹事实，conf 5 合理。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": "2026-10-30T19:38:44Z", + "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-stool-brace-insert-i00-privileged--vfugqvq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--vfugqvq/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--vfugqvq/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--vfugqvq/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "39519ca110d0285eb00b88eae1a68cd472e4666d314caf11c0f93edbf64f59f6", + "video_sha256": "92f72f9b0698b3398a1861aa197a8e0e3ab1a70efdb3a5e666716382148e067d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--9ptbpxq.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--9ptbpxq.json new file mode 100644 index 0000000000000000000000000000000000000000..b74e5a071518b376ad66d6fe3bf6c6aa4d55243f --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--9ptbpxq.json @@ -0,0 +1,300 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-standard--9ptbpxq", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 210, + "control_steps_total": 6825, + "elapsed_s": 3551.439, + "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": 0, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 0, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.345, + "peak_processes": 7, + "peak_disk_gb": 0.295, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stool-brace-insert-i00-standard--9ptbpxq/replay.mp4", + "duration_s": 2.2, + "fps": 5.0, + "frames": 11, + "sha256": "574ebd077a3559545aa3677f62ecb43a4775f4546b0161e6921efeb2f54a17a4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：本次视频 0.0–2.0 s 的全部 11 帧中，浅色横撑始终平放在桌面前侧，未提起、转直或移到下框空孔；灵巧手停在场景后上方。字幕始终为阶段 0/4、已插接口 3/8，未出现横撑下端插接。" + }, + { + "t": 2.0, + "log_step": 85, + "text_zh": "观察：视频 2.0 s 的终帧仍是初始摆放；log step 83 的重置返回 episode=6、control_steps=0，log step 85 的服务状态仍为 episode=6、control_steps=0。此前测试回合的动作不属于该评分回合。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：本次视频 0.0–2.0 s 全部帧中，对侧框架一直倒放在桌面后侧，未被灵巧手提起，也未套到上端木榫；只有三根预装杆直立，横撑仍在桌面，字幕保持阶段 0/4、已插接口 3/8。" + }, + { + "t": null, + "log_step": 86, + "text_zh": "观察：agent 在 log step 86 明确自述最终第 6 回合为零控制步，决定不再提交动作；评分器 reward 中 graded_by_live=1、n_actions=0、success=0，与本次视频中的未动作状态一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "brace_in_lower_frame", + "t": 0.0, + "log_step": 83, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–2.0 s 中灵巧手和全部零件没有任务动作，横撑一直平放在桌面，首个插接步骤未启动。log step 83 的服务返回重置后的第 6 回合 control_steps=0，log step 85 仍为零步；agent 在 log step 86 明确表示不再向该回合提交动作。" + }, + "unmet": { + "brace_in_lower_frame": false, + "upper_frame_on_dowels": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 85, + "evidence_zh": "观察：逐帧检查视频 0.0、0.2、0.4、0.6、0.8、1.0、1.2、1.4、1.6、1.8、2.0 s，灵巧手未向桌面前侧的横撑接近或闭指，横撑未离桌，字幕始终为阶段 0/4；log step 85 的最终回合服务状态 control_steps=0。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：结合会话测试和 agent 的最终说明，未解决的横撑抓取与搬运控制是其放弃最终回合的能力瓶颈。log step 73 中 agent 的闭环勾取脚本连续两次输出 miss，最终 FAILED；log step 80–82 中其推移横撑方案均在提交回撤动作时收到服务的 task_failure。随后 agent 于 log step 83 重置，log step 86 将停止与此前抓取滑脱、勾取和边缘推移失败联系起来。上述记录只支持一般控制归因，不证明某种力限、接触几何或所有合法抓法必然不可行，也不将测试中的物理失败计作本次视频现象。" + } + ], + "gap_zh": "没有状态日志；评分器未报告 DAG 所列插深、侧偏、速度等原生指标，均填 null。根因来自先前测试回合的脚本反馈及最终说明，缺少这些测试的完整视频和具体判负字段，不能细分为抓取设计、轨迹或反馈控制；agent 在 log step 86 关于手力不足及工作区使任务不可行的主张待核实，不能据此判任务或环境问题。本次视频只展示最终未动作回合，不代表整场会话没有做过测试。" + }, + "summary_zh": "本次评分采用最后重置的第 6 回合：视频 0.0–2.0 s 的全部帧均保持初态，横撑平放桌面、对侧框未装上，两个节点均未达成，断点为横撑插入下框的首步前，现象为没尝试。会话测试的反复抓取失败及推移时判负支持一般控制瓶颈，agent 最后重置并保留零动作回合；这些早期测试不计入本次进度或接触。缺少状态日志和测试的具体失败字段，无法确定控制子类或核实 agent 所称任务不可行。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分回合为最后重置的第6回合，视频 0.0–2.0 s 全程初态，两节点未达成，断点首步前/没尝试，根因控制来自会话测试并标注为推断且 gap_zh 说明局限，符合 FAIL-22，未发现需改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:38:21Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--9ptbpxq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--9ptbpxq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "92eca7e5552d9a6eca61774e6f8b1803e23e85205b5724049facccc7b5a910e1", + "video_sha256": "574ebd077a3559545aa3677f62ecb43a4775f4546b0161e6921efeb2f54a17a4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--b63xdfu.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--b63xdfu.json new file mode 100644 index 0000000000000000000000000000000000000000..caed62aba8679707117c3baecc58971d225abf27 --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--b63xdfu.json @@ -0,0 +1,330 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-standard--b63xdfu", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 293, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 2100, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 2100, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 8.684, + "peak_processes": 8, + "peak_disk_gb": 0.306, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stool-brace-insert-i00-standard--b63xdfu/replay.mp4", + "duration_s": 44.2, + "fps": 5.0, + "frames": 221, + "sha256": "36756a2fe6f98de24568d50e792abeece21eec227a8259a3e653dbfacdb0224a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.0, + "log_step": 78, + "text_zh": "观察：视频 3.2–4.2 s，Sharpa 右手在桌面横撑的一端合拢拇指与小指形成对向夹持；视频 8.8–10.4 s 横撑随手转直并离开原来桌面位置，字幕进入 stage 1/4（brace lifted），说明提离已完成，但尚非插好。" + }, + { + "t": 17.0, + "log_step": 79, + "text_zh": "观察：视频 14.8–20.2 s，机器人把横撑下端送到下框原空孔处并下压，木杆下端仍停在孔口附近，字幕始终为 stage 1/4、seated interfaces 3/8；视频 38.0–40.2 s 及 43.2–44.0 s 末段仍为同一状态，没有新增合格接口。" + }, + { + "t": 44.0, + "log_step": null, + "text_zh": "推断：本次视频新增的横撑下端接口从未通过插接判据，故本节点全程不成立；这是依据本次画面及其接口/阶段字幕，而非仅由总分为零反推。参考成功视频 10.0 s 的相同总览视角，插好后字幕已为 stage 2/4、4/8 接口。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.2–4.2 s 单只 Sharpa 右手以拇指和卷曲的小指夹住横撑靠一端的相对两侧；视频 8.8–17.0 s 持续夹持横撑转直、提离、搬运并在下框空孔处下压，末段仍持握横撑。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 对侧框架倒放在桌面后侧，与三根直立预装杆的上端分离。" + }, + { + "t": 44.0, + "log_step": null, + "text_zh": "观察：完整视频的逐秒总览及视频 43.2–44.0 s 末段均显示对侧框架留在桌面原处，机器人一直操作前侧横撑，未提起或移动对侧框架，也未把其四孔套上四根上榫；本节点从未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "brace_in_lower_frame", + "t": 17.0, + "log_step": 79, + "where": "操作中", + "evidence_zh": "观察：视频 14.8–20.2 s 机器人正在持握横撑尝试插入下框空孔，约视频 17.0 s 下端已停在孔口附近却没有插深进展；随后搜索直至视频 42.0 s 动作结束及视频 44.0 s 最后一帧，字幕仍为 stage 1/4、接口 3/8。log step 78 为最后一次重置后的提离与搬运，log step 79–80 继续下压和孔口搜索；该插接始终未修复，对侧框尚未操作。" + }, + "unmet": { + "brace_in_lower_frame": false, + "upper_frame_on_dowels": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 17.0, + "log_step": 79, + "evidence_zh": "观察：视频 16.0–20.2 s，手已把横撑下端压到下框孔口附近，但横撑没有继续深入成合格插接；视频 38.0–40.2 s 仍卡在相同插接位置，字幕接口数一直为 3/8。log step 79 的脚本发出额外向下 0.006 m 的腕部目标，log step 80 发出反复上下及横向网格搜索目标，仍未出现新增接口；这里标注的是受压插不到位，未据画面臆测接触力数值。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 17.0, + "log_step": 80, + "evidence_zh": "推断：视频 8.8–17.0 s 显示机器人能够夹持横撑、转直并搬到正确的下框空孔处；log step 78–80 的控制程序在该处保持手指目标，以腕部位置下压和间距 0.0004 m 的网格搜索寻找插入。结合视频 17.0–42.0 s 始终未插好，可归于插接时的精细对准与接触控制未奏效；现有证据不足以细分为握持设计、轨迹跟踪或参数问题。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "观察：inputs/ 中有本次与参考成功视频、完整运行记录，但无状态日志；本次仅有总览视角，无法独立量出榫端的毫米级横向偏差、实际插深、接触力或手内微滑，故控制根因保留在上位条目，不进一步指定子类。log step 78 以前的回合包含其他试验，未将其滑落、倾斜或步数上限事件当作本次现象；log step 80 最后回报 done=False、control_steps=2100，log step 82 仍有 2250 s 预算，本次是 agent 停止时插接未完成，并非视频中发生了超时或硬约束判负。" + }, + "summary_zh": "机器人已夹起横撑、将其转直并搬到下框空孔处，但视频约 17.0 s 起反复下压搜索仍插不到位，至视频 44.0 s 字幕仍为阶段 1/4、接口 3/8，因此两个语义节点最终均未达成（0/2），对侧框未尝试。断点为横撑插入下框，按 docs/03_trajectory.md Step 3.2 将孔口处受压而几乎不再深入的可见现象保留为接触力异常，根因仅支持精细插接控制未奏效。缺少状态日志和孔口近景，无法确定接触力、毫米级误差或更细的控制失效机制；审阅所称 log step 78 的倾角 0.37 rad 实为测量脚本输出的 0.37°（log step 51 使用 np.degrees），但仍不能决定性排除细小位姿误差造成停滞，故本轮将置信度从 8 降至 7；已排除其他重置回合的事件。", + "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、时钟、断点（横撑插入下框，操作中）均与视频一致；但现象“接触力异常”缺乏接触力证据（作者自己也承认未量力），实际可见的是下端榫尖没有对准孔轴/深入，应为位姿不准。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点（横撑插入下框，操作中）与视频一致：视频 17/30/43 s 字幕均为 stage 1/4、接口 3/8，手持横撑停在下框孔口。上一轮关于接触力异常的争议已有证据回应（Step 3.2 与 tilt 单位核查），无新证据，不再重复。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:39:31Z", + "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-stool-brace-insert-i00-standard--b63xdfu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--b63xdfu/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--b63xdfu/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--b63xdfu/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "52051e5ef88b96d0a533efdc31c17907c0a7840258d6855a4ab8715cffa8cea8", + "video_sha256": "36756a2fe6f98de24568d50e792abeece21eec227a8259a3e653dbfacdb0224a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--lidazix.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--lidazix.json new file mode 100644 index 0000000000000000000000000000000000000000..1d8158eef0dc42397f0783ee3ff7dfd403502126 --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--lidazix.json @@ -0,0 +1,345 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-standard--lidazix", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 495, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 4265, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 17, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 4265, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.488, + "peak_processes": 11, + "peak_disk_gb": 0.871, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stool-brace-insert-i00-standard--lidazix/replay.mp4", + "duration_s": 59.2, + "fps": 5.0, + "frames": 296, + "sha256": "adb87729319e226c6256187574a435e88473b8478fe2fc4cfbd0e57c15ed0611" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [ + [ + 37.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.0, + "log_step": null, + "text_zh": "观察：视频 8.0–18.0 s，机器人单只右手夹住横撑，将其从桌面提起并转至近竖直；横撑原来平放的位置已空出，横撑随手运动。" + }, + { + "t": 37.8, + "log_step": null, + "text_zh": "观察：视频 37.6 s 字幕仍为 Stage 1/4、seated interfaces 3/8；视频 37.8 s 横撑下端位于下框原空孔内，字幕变为 Stage 2/4 brace dowel seated、seated interfaces 4/8。该字幕是评分回放显示的原生阶段及已插好接口数，支持下榫已合格，达到时刻取首个确认帧。" + }, + { + "t": 59.0, + "log_step": null, + "text_zh": "观察：视频 40.0–44.0 s 机器人张开手指并撤离横撑；视频 37.8–57.2 s 逐帧字幕持续显示 seated interfaces 4/8，横撑保持直立于下框空孔内。视频 58.2–59.0 s 的末秒静帧中该关系仍在，没有再次提起或倾倒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人单只右手以拇指与其余手指的对向夹持抓住横撑木杆，提起、转直并将下端榫送入下框空孔，随后张手撤离；视频 18.0 s、30.0 s 和 37.8 s 可见夹持。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 55.8, + "log_step": null, + "text_zh": "观察：视频 48.0–55.8 s 机器人右手靠近并合握桌面后侧的对侧框横杆，框架随手离开原来的桌面位置向上运动；视频 55.8 s 字幕变为 Stage 3/4 side frame lifted，但 seated interfaces 仍为 4/8。" + }, + { + "t": 57.0, + "log_step": 181, + "text_zh": "观察：视频 56.8–57.0 s 对侧框仍悬在四根上端木榫的后侧上方，没有下放套合；视频 57.0 s 字幕首次显示 FAIL: frame_dropped，仍为 Stage 3/4、seated interfaces 4/8、released hold 0/50。log step 181 的服务状态记录最终 episode 18 在 control_steps 4265 以 task_failure 结束，log step 182 保存同样长度的控制记录；reward.live_matches_replay=1。" + }, + { + "t": 59.0, + "log_step": null, + "text_zh": "观察：视频 58.2–59.0 s 最后静帧中对侧框与四根上榫之间仍有明显空隙，未形成完整框架；成功参考视频 28.0–30.0 s 则显示对侧框落到四杆顶部并达到 seated interfaces 8/8。本次节点未达到，参考视频仅用于比较达成外观。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人单只右手以弯曲的四指和对侧拇指夹住对侧框的一根横杆，框架随手提离桌面；视频 55.4–56.8 s 可见合握及提框，未到装配后的计划松手。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "upper_frame_on_dowels", + "t": 57.0, + "log_step": 181, + "where": "操作中", + "evidence_zh": "观察：视频 55.8 s 机器人已将对侧框提离桌面，继续上提准备搬到四根上榫上方；视频 57.0 s 回放字幕变为 FAIL: frame_dropped，接口数停在 4/8，对侧框尚未套合任何上端木榫。log step 181 记录最终 episode 18 在提框控制段结束，后续搬运与插接没有执行；这是横撑插好后首次未修复的步骤失败。" + }, + "unmet": { + "brace_in_lower_frame": true, + "upper_frame_on_dowels": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 57.0, + "log_step": 181, + "evidence_zh": "推断：视频 56.4 s 对侧框在机器人右手下方近水平悬空，视频 56.8–57.0 s 上提过程中框架逐渐倾斜；视频 57.0 s 原生评分回放字幕出现 FAIL: frame_dropped，视频 57.2–59.0 s 终态静帧中右手仍握着框架的一侧横杆，框架倾斜悬空，未见脱手或落桌。task/task_dag.json:151 的 upper_frame_dropped_after_lift 判据包含再次触桌或偏离倒置携带朝向超过 0.349 rad；结合悬空与倾斜外观，推断本次为携带朝向偏差超限，不能将字幕名称直接当作实际掉落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：视频 55.8–57.0 s 机器人单只右手握住对侧框的一侧横杆上提，框架从近水平变为倾斜，尚未横移装配便被判 frame_dropped；视频 57.2–59.0 s 仍见手与悬空框架接触。log step 178 的最终脚本先执行 continue upward，再安排横移、对准和插接；log step 173 的 pose_loop 控制循环沿用手指关节目标，迭代调整腕部位姿；log step 181 的服务状态和异常输出确认最终 episode 18 在上提段以 task_failure 结束。动作目标及顺序合理，证据支持上提时未控制好框架携带姿态，根因保留为控制；缺少接触几何与物体、腕部姿态真值，无法进一步确定握位、相对滑转或腕姿跟踪等具体子因。" + } + ], + "gap_zh": "没有状态日志；视频只有总览视角，手与横杆的局部接触部分遮挡，视频 57.2–59.0 s 为终态静帧。未提供最终物体朝向、速度、接触力、逐链接触对及各插接误差；携带朝向超限由可见倾斜、悬空关系和 frame_dropped 判据共同推断，不能精确量出倾角，也不能确定相对滑转、腕姿跟踪等控制子因。根因只标到控制，各原生连续指标未报告，均填 null。横撑插接时刻由视频原生字幕与可见关系共同确定，精度受 5 fps 限制。" + }, + "summary_zh": "本次评分回放中，机器人于视频 37.8 s 将横撑插入下框并保持到结束，最终完成 1/2 个节点。随后提起对侧框，在视频 57.0 s 上提途中被判 frame_dropped，尚未套合四根上端木榫；终态框架仍在手中悬空但倾斜，失败现象为位姿不准，根因仅能定位到控制。视频与最终 episode 18 的日志、评分回放一致；缺少状态、接触力和姿态真值，无法细分携带姿态失控的机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值（横撑 37.8 s 到达并保持、对侧框未达）与断点 upper_frame_on_dowels 我认可。但现象「没保持住」与视频不符：frame_dropped 触发后（视频 57.2–59.0 s）对侧框仍被右手握着悬在空中，没有滑落或掉落，只是倾斜；DAG 的 upper_frame_dropped_after_lift 含「偏离倒置携带朝向超过 0.349 rad」的条件，字幕标签 frame_dropped 不等于真的掉了。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "横撑于视频 37.8 s 到达并保持、对侧框未达、断点 upper_frame_on_dowels（57.0 s FAIL: frame_dropped）与帧一致；现象为位姿不准（推断）、根因控制，证据与标注吻合，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:39:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--lidazix/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--lidazix/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--lidazix/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--lidazix/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "99c7ad99c6e829945a7d1fb43b39bb0e06ce684aea24d08849d9616f56193643", + "video_sha256": "adb87729319e226c6256187574a435e88473b8478fe2fc4cfbd0e57c15ed0611", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--qbqvcgv.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--qbqvcgv.json new file mode 100644 index 0000000000000000000000000000000000000000..9558826745d9b3578c915701e218601d6ef1afd6 --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--qbqvcgv.json @@ -0,0 +1,296 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-standard--qbqvcgv", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 400, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 375, + "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": 375, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.599, + "peak_processes": 9, + "peak_disk_gb": 0.857, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stool-brace-insert-i00-standard--qbqvcgv/replay.mp4", + "duration_s": 9.8, + "fps": 5.0, + "frames": 49, + "sha256": "55ac3a313ea4b19709a21ae032d017a3b96a14bfcb31fb954c2f8c86e76f203c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 横撑平放在桌面前侧、下框留有空孔；视频 0.0–7.4 s 机器人只在横撑一端接近、屈指和抬腕，没有把横撑转直移入空孔。" + }, + { + "t": 7.6, + "log_step": null, + "text_zh": "观察：视频 7.2–7.4 s 手指再次压到横撑一端；视频 7.6 s 手已抬起，横撑与手分离并偏转，字幕显示 FAIL: brace_dropped、Stage 0/4、seated interfaces 3/8。视频 8.0–9.6 s 终态静帧仍见横撑在下框外，没有新增插接。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1.2–5.0 s 及视频 7.2–7.4 s，单只 Sharpa 右手的手指在平放横撑的一端上方下压并屈曲；抬腕时横撑没有随手稳定搬起，画面未确认对向夹紧。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.6, + "log_step": null, + "text_zh": "观察：视频 0.0–9.6 s 对侧框一直倒放在桌面后侧，机器人始终操作前侧横撑，未接触或提起该框；四根上榫未被该框套合。参考成功视频约 28.0 s 可见对侧框位于四根立杆顶部，本次没有出现这一构型。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "brace_in_lower_frame", + "t": 7.6, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 1.2–7.4 s 机器人反复对横撑一端屈指、抬腕，未转直或移向下框空孔；视频 7.6 s 横撑偏转并与抬起的手分离，字幕转为 FAIL: brace_dropped，仍是 Stage 0/4、3/8 接口。首个插入步骤在抓取准备过程中失败，后续无修复。" + }, + "unmet": { + "brace_in_lower_frame": false, + "upper_frame_on_dowels": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 5.6, + "log_step": null, + "evidence_zh": "观察：视频 1.2–5.0 s 机器人手指贴压横撑端部并屈曲，视频 5.6–7.0 s 闭合的手升到横撑上方，横撑仍留在桌面原处，没有随手搬起；视频 7.2–7.6 s 再次下压、上提后横撑偏转而未被携带。推断：所需的有效抓持始终未建立；这里指抓持失败，不是手指从未碰到木杆。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 1.2–7.6 s 机器人已到达横撑处并进行屈指和抬腕，但横撑不能随手稳定提起，失败直接发生在手与木杆的抓取执行环节。现有画面不足以进一步区分对向接触布局、夹持力或关节跟踪的问题，因此只标控制。" + } + ], + "gap_zh": "没有状态日志或接触力记录；总览视角不能确认被手遮挡的拇指侧是否形成过极短暂夹持，也不能恢复视频 7.4–7.6 s 两帧间的脱离过程。字幕 brace_dropped 只报告失败类别，未给出具体子步判据及数值，不能由它反推横撑已满足提离阶段；全片字幕仍为 Stage 0/4。日志含多次重置，log step 306 重置至 episode 11 后执行控制器，log step 308 再次下移并抬腕，但其返回文本为空，无法精确对应视频帧；不使用先前试验作为本次节点进度。原生指标均未在评分器字段中报告。" + }, + "summary_zh": "本次评分回放中，机器人反复对横撑端部下压、屈指并抬腕，但未建立能稳定搬起横撑的抓持；横撑未插入下框，对侧框未被操作，最终完成 0/2 节点。视频约 7.6 s 横撑偏转并与手分离，字幕判为 brace_dropped，断点是横撑插入下框步骤，根因按证据保留在控制层。没有状态日志，单一总览视角及空缺的末段服务返回不能细分接触布局、夹持力和瞬时掉落判据。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点均未达成、断点（横撑插入下框，操作中）、没建立接触现象和控制根因与视频一致；字幕 FAIL: brace_dropped 在 7.6 s 出现，时钟均标明视频时间。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": "2026-10-30T19:30:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--qbqvcgv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--qbqvcgv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "80753081921020d72eeb53564de0053dc27d9162800db17eeb0a5300a6e95e07", + "video_sha256": "55ac3a313ea4b19709a21ae032d017a3b96a14bfcb31fb954c2f8c86e76f203c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--qwmcucs.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--qwmcucs.json new file mode 100644 index 0000000000000000000000000000000000000000..57036acb8e9018ab9598dd6fcc1777df8cb38447 --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--qwmcucs.json @@ -0,0 +1,302 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-standard--qwmcucs", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 445, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 960, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 14, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 960, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.372, + "peak_processes": 9, + "peak_disk_gb": 0.255, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stool-brace-insert-i00-standard--qwmcucs/replay.mp4", + "duration_s": 21.4, + "fps": 5.0, + "frames": 107, + "sha256": "371709251152bc9f2240379ea8d72b2820d254366897a434fba52689c2e96ca8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": null, + "text_zh": "观察：视频 2.6–4.8 s，机器人右手在桌面前侧横撑上方收指，横撑沿桌面略向前侧滑移；视频 5.0–6.4 s 手向上离开，横撑仍平放在桌面，没有随手提起。" + }, + { + "t": 12.8, + "log_step": null, + "text_zh": "观察：视频 9.0–12.8 s 的第二次收指、上提仍留下平放桌面的横撑；视频 16.6–19.2 s 的第三次尝试也为空手上提。" + }, + { + "t": 21.2, + "log_step": null, + "text_zh": "观察：视频 21.2 s 最后一帧中横撑仍在前侧桌面，下框空孔未插入横撑；字幕为 Stage 0/4、seated interfaces 3/8、released hold 0/50。视频全程没有横撑转直并插入下框的状态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 2.6–4.8 s、9.2–10.6 s、16.6–17.4 s，单只右灵巧手的掌侧和弯曲手指贴压横撑上表面及边缘，收指伴随横撑在桌面上滑移；随后手抬离，未见形成对向夹持或将横撑勾起。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.2, + "log_step": null, + "text_zh": "观察：视频 0.0–21.2 s，总览中后侧倒放的对侧框一直留在桌面，机器人只反复接近前侧横撑，没有取框动作；视频 21.2 s 上端木榫仍裸露，对侧框没有套到四根杆上，字幕仍为 Stage 0/4、3/8 接口。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "brace_in_lower_frame", + "t": 5.2, + "log_step": 93, + "where": "操作中", + "evidence_zh": "观察：视频 2.6–4.8 s 机器人右手已对横撑收指并接触，视频约 5.2 s 开始抬离时横撑没有被带起，至视频 6.4 s 仍平放桌面；视频 9.0–12.8 s、16.6–19.2 s 的重试也没有补成抓取，更没有插入下框。log step 93 记录 agent 修正旧脚本的图像保存依赖后重新启动最终回合，首轮输出 HELD: False 并转入重试；该 log step 只作回合来源与尝试说明，不用于换算视频时刻。" + }, + "unmet": { + "brace_in_lower_frame": false, + "upper_frame_on_dowels": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 5.2, + "log_step": null, + "evidence_zh": "观察：视频 2.6–6.4 s 机器人右手虽然贴压并推动横撑，但手抬高后横撑仍完整留在桌面，未建立能够承载横撑的抓取接触；视频 10.8–12.8 s 及 17.6–19.2 s 再次空手上提，直到视频 21.2 s 横撑仍未提离、未插接。" + } + ], + "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：所用收指接触布局未形成承载横撑的对向夹持。视频 2.6–4.8 s、9.2–10.6 s、16.6–17.4 s 中机器人手指从横撑上方弯曲，接触主要落在其上表面和边缘，横撑被压推而没有被包住；各轮手升高时横撑均留在桌面。log step 88 的最终控制脚本采用固定 HOOK 指形并仅改变三次腕部横向偏移，log step 93 首轮已输出 HELD: False。可行替代已由同任务成功参考视频证明：参考视频 4.0–10.0 s 的 Sharpa Wave 右手实际提起、转直并插好横撑；此参考仅说明存在可行方案，不作为本次节点进度的证据。" + } + ], + "gap_zh": "本次没有状态日志；总览视角可确认横撑未提离和两个节点均未达到，但手掌遮挡了部分指腹接触，不能精确分解各手指接触点和接触力。评分 reward 未报告 DAG 列出的原生几何、速度等指标，故其 value 均为 null；最终后台脚本在 log step 93 后没有完整结束输出，不据此猜测停止原因。" + }, + "summary_zh": "评分视频中，机器人对前侧横撑做了三轮收指与上提尝试，但横撑始终留在桌面，横撑插入下框和装上对侧框均未达到，最终为 0/2。断点是横撑插入下框过程中的取件失败：手对横撑有按压和推动，却未建立可承载的抓取接触，接触布局不适配是有视频与最终脚本支持的根因。缺少状态日志和逐指接触力记录，无法进一步量化接触失配；会话中早先重置试验及已修复的脚本错误不计入本次节点进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点均未达成（0/2）、横撑始终留在桌面，与视频一致；断点 brace_in_lower_frame、现象“没建立接触”、根因“抓取和接触设计”均有视频与最终脚本（三次偏移重试、首轮 HELD: False）支持，时间均为视频时钟，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": "2026-10-30T19:25:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--qwmcucs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--qwmcucs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "de95072b52a4c4972c5e9c4ece326f66dc142fc82cd39c204f6e6548e44fdef3", + "video_sha256": "371709251152bc9f2240379ea8d72b2820d254366897a434fba52689c2e96ca8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--sakffqy.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--sakffqy.json new file mode 100644 index 0000000000000000000000000000000000000000..b214c615dfdb115ddc9754460a0c2c2ab1ed1745 --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--sakffqy.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-standard--sakffqy", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 18, + "control_steps_total": 50, + "elapsed_s": 394.503, + "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": 50, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 0, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 50, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.348, + "peak_processes": 6, + "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-stool-brace-insert-i00-standard--sakffqy/replay.mp4", + "duration_s": 3.2, + "fps": 5.0, + "frames": 16, + "sha256": "a849f3b2d80f35ea6154e815dfb00c79e13001c537648a89cbef4ef76cd608da" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.0–3.0 s 的全部 16 帧（视频总长 3.2 s）；浅色横撑一直平放在桌面前侧，没有提离、转直或插入下框空孔，灵巧手停在框架上方，字幕始终为 Stage 0/4、seated interfaces 3/8。" + }, + { + "t": 1.0, + "log_step": 60, + "text_zh": "观察：log step 60 中 agent 的脚本仅把当前关节位置重复提交 50 个控制步以测试仿真速度，服务返回 control_steps=50、done=False、reason=None；视频 1.0 s 的终态画面与初态相同。log step 62–66 仅调用不推进物理的正向运动学查询，没有执行拟议抓取。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 0.0–3.0 s 全部 16 帧中，对侧框一直倒放于桌面后侧，没有被手提起，也没有套到三根预装杆及横撑的四根上榫上；视频 3.0 s 末帧仍为 Stage 0/4、seated interfaces 3/8。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 67, + "where": "首步前", + "evidence_zh": "观察：log step 67 的最终消息明确为 Gemini 过滤器阻断，后续没有调用；此前 log step 61 的服务状态仍为 done=False、reason=None，且 time_left_s=3343.7。视频 0.0–3.0 s 的全部帧只显示初态保持，未见装配动作或已发生的物理失败。推断：现场任务尚未结束即被模型提供方过滤器中断，不能把自动终结后的 success=0 归为某个装配步骤的机器人失败，故断点为 unknown、位置为首步前。" + }, + "unmet": { + "brace_in_lower_frame": false, + "upper_frame_on_dowels": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 67 记录模型提供方过滤器阻断；log step 60 仅执行保持初态的 50 个控制步，log step 61 服务仍未结束，log step 62–66 只有正向运动学计算。推断：这是在任务结果固定前发生的外部中断，按 CASES.md FAIL-5 与 DECISIONS.md D37 留空现象及根因，不标“没尝试”，应重测并排除出机器人失败分析。没有状态日志且评分器未报告 DAG 所列原生几何、速度指标，故这些指标值为 null；现有画面足以判断两项装配关系均未成立。" + }, + "summary_zh": "观察：视频 0.0–3.0 s 的全部 16 帧显示机器人保持初始姿态，横撑平放桌前、对侧框倒放桌后，字幕始终为阶段 0/4、接口 3/8，两个目标节点均未完成（0/2）。观察：log step 60 仅提交保持当前姿态的动作，log step 61 服务尚未结束，log step 67 随后记录 Gemini 过滤器阻断。推断：本次为首步前的外部中断，保留目录 success=0，但不归因于机器人能力失败；无状态日志及原生指标实测值，现象和根因按外部中断规则留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 9, + "summary_zh": "标签与证据一致：视频仅显示初态保持（阶段 0/4、接口 3/8），两节点均未达成；log step 67 为 Gemini 过滤器阻断，属任务结果确定前的外部中断，断点 unknown/首步前、现象与根因留空并写 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": "2026-10-30T19:31:38Z", + "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-stool-brace-insert-i00-standard--sakffqy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--sakffqy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "247407bc4f97dd2b09ca9fec320a17f63cf4ac730caf19306823a7dfd172de1d", + "video_sha256": "a849f3b2d80f35ea6154e815dfb00c79e13001c537648a89cbef4ef76cd608da", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--su9lvkc.json b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--su9lvkc.json new file mode 100644 index 0000000000000000000000000000000000000000..a75d74216e0355e2dbc13be5e809e0f597ae9030 --- /dev/null +++ b/phase2/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--su9lvkc.json @@ -0,0 +1,306 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-standard--su9lvkc", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 69, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 346, + "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": 346, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.456, + "peak_processes": 10, + "peak_disk_gb": 1.01, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-stool-brace-insert-i00-standard--su9lvkc/replay.mp4", + "duration_s": 9.2, + "fps": 5.0, + "frames": 46, + "sha256": "ce22b38f71f96424ad269b38d92a38d56990eb91b1b3b349823159e938d14f4b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 横撑平放在桌面前侧，下框有三根预装直杆，空孔尚未插入横撑。" + }, + { + "t": 6.8, + "log_step": 230, + "text_zh": "观察：视频 4.8–6.8 s 右手合拢手指与拇指夹住横撑靠左的一段，横撑随后随手升高但仍大致横放，未转直或移到下框空孔；视频 7.0 s 字幕转为 FAIL: brace_dropped，阶段 1/4、已插接口 3/8。" + }, + { + "t": 9.0, + "log_step": 235, + "text_zh": "观察：视频 7.2–9.0 s 保持判负后的静止画面，横撑仍在下框外，未形成下端插接；log step 235 服务返回 episode=21、control_steps=346、done=true、reason=task_failure。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 5.6–7.0 s 单只右灵巧手的弯曲手指与对侧拇指夹住横撑靠左的一段，并带横撑向上移动；没有开始榫孔插接。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 对侧框平放在下框后侧桌面上，未套住任何上端木榫。" + }, + { + "t": 9.0, + "log_step": null, + "text_zh": "观察：视频 0.0–9.0 s 右手只接近前侧横撑，对侧框始终留在后侧桌面上，没有被提起或移到直杆上方；视频 9.0 s 仍仅有三根预装杆且字幕为已插接口 3/8。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_depth_min", + "unit": "m", + "threshold": 0.012, + "direction": "higher_better", + "value": null + }, + { + "name": "seat_depth_max", + "unit": "m", + "threshold": 0.019, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_lateral", + "unit": "m", + "threshold": 0.0016, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_axis_angle", + "unit": "rad", + "threshold": 0.105, + "direction": "lower_better", + "value": null + }, + { + "name": "max_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_shift_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "lower_frame_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "preseated_depth_min", + "unit": "m", + "threshold": 0.008, + "direction": "higher_better", + "value": null + }, + { + "name": "preseated_tilt", + "unit": "rad", + "threshold": 0.1745, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_brace_height_above_table", + "unit": "m", + "threshold": 0.09, + "direction": "higher_better", + "value": null + }, + { + "name": "post_seating_brace_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "post_lift_upper_frame_tilt", + "unit": "rad", + "threshold": 0.349, + "direction": "lower_better", + "value": null + }, + { + "name": "unsupported_downward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_center_rise", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "lift_lowest_corner_clearance", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "brace_in_lower_frame", + "t": 7.0, + "log_step": 230, + "where": "操作中", + "evidence_zh": "观察：视频 6.4–6.8 s 右手夹住横撑向上提，横撑仍大致水平，尚未到下框空孔；视频 7.0 s 首次出现 FAIL: brace_dropped，同时阶段从 0/4 变为 1/4、接口仍为 3/8。log step 230 本次继续执行后服务报告 control_steps=346、task_failure，log step 235 确认 episode=21 已结束；之后没有修复横撑插接。" + }, + "unmet": { + "brace_in_lower_frame": false, + "upper_frame_on_dowels": false + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": 7.0, + "log_step": 230, + "evidence_zh": "推断：视频 6.6–7.0 s 横撑随合拢的右手上升，未见明确脱手或回落，却在首次达到阶段 1 时立即被字幕判为 brace_dropped。inputs/run.json 的 task_text 规定提离需中心上升至少 0.05 m，而阶段 1 后中心还必须高于桌面 0.09 m；结合横撑仍近水平、刚离桌的画面，支持触发提离后的最低中心高度约束。具体高度无状态日志可核验，不能把判负名称直接当作已观察到滑落。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 229 的本次控制序列经 log step 230 修正后执行，F、G 都保持腕部旋转为零，先逐渐向上提，直到后续 H 才转直；视频 6.4–7.0 s 也显示横撑在仍近水平时提离并立即判负。task_text 明示阶段 1 的 0.05 m 升高门槛与随后 0.09 m 的中心离桌下限，该先水平抬升、再转直的顺序使横撑在阶段切换时进入被禁止的低高度区间；这是动作顺序与阶段判据不相容的推断，并非由 agent 自述的“抓不住”推出。" + } + ], + "gap_zh": "观察：inputs/ 没有 states.jsonl，评分字段没有横撑中心高度、接触对或逐子步失败细节；视频为总览视角、5 fps，手指遮住局部接触，无法精确恢复阶段切换子步的高度或排除极短暂滑移。因此最低中心高度触发及动作顺序根因属推断，未将 agent 在 log step 250 关于其他测试中脱手的自述作为本回合的脱手现象。" + }, + "summary_zh": "本次评分回合只进行了横撑抓取与提离，横撑插入下框、装上对侧框均未达到，最终为 0/2。视频 7.0 s 在横撑仍近水平、随手上升时显示阶段 1/4 与 brace_dropped 判负，结合本次脚本先水平抬升再转直的顺序，推断未避开提离后的最低中心高度约束。无状态日志，不能精确核验触发子步高度或将判负名称解释为明确脱手；成功参考仅用于核对装配外观。", + "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 0/2、断点 brace_in_lower_frame 操作中、7.0 s 字幕 FAIL: brace_dropped 与阶段 1/4 均与视频一致；违反约束与推断标注诚实，根因为推断但已如实标明，无需改动。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:27:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--su9lvkc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--su9lvkc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0d1ace2cfd7b1cc564e539cc28e24b31d6c9afac321437ad6cf3990bb351dddd", + "video_sha256": "ce22b38f71f96424ad269b38d92a38d56990eb91b1b3b349823159e938d14f4b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--nyfbj5n.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--nyfbj5n.json new file mode 100644 index 0000000000000000000000000000000000000000..ba3d1745974842ab81869b139f493393a4433735 --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--nyfbj5n.json @@ -0,0 +1,444 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-privileged--nyfbj5n", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 40000, + "sim_steps": 28072, + "stages_completed": 6, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.276, + "peak_processes": 11, + "peak_disk_gb": 1.014, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-sweep-dustpan-i00-privileged--nyfbj5n/replay.mp4", + "duration_s": 5.6, + "fps": 10.0, + "frames": 56, + "sha256": "e1558d45dcdcfb0604023abd1cb22afe129da9fe229f16ca246f6cdd2d83c097" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 7, + "final": 7, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，橙色包装块位于绿色簸箕入口外的灰色地面上；视频 0.6–1.2 s，机器人右手所持扫帚的刷毛从画面左侧向簸箕内推扫碎屑。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 1.0 s 状态栏为 in pan 0/6，视频 1.1 s 为 5/6，视频 1.2 s 为 6/6；碎屑群已越过入口进入绿色底板区域。视频 1.2–3.6 s 没有碎屑从簸箕落回地面，视频 3.6 s 的失败画面仍显示 in pan 6/6，至视频 5.5 s 为同一终态定格。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "推断：结合橙色包装块从初始地面位置被扫入的运动、入箕总数达到全部六件及后续由簸箕共同承接，判断该件入箕成立；首次成立锚定视频约 1.2 s，逐件精确先后在视频 1.0–1.2 s 间，部分被扫帚遮挡，未虚构更细的顺序。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "机器人右手持扫帚，刷毛在视频约 0.6–1.2 s 推扫橙色包装块及同组碎屑越过簸箕入口；部分瞬时接触被扫帚头遮挡，由接触前后连续位移辅助判断。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "机器人左手持绿色簸箕，入口斜坡及底板承接橙色包装块；随后该件随簸箕一起抬离地面。按工具与碎屑的接触链记录，不重复登记握住工具柄。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红色瓶盖位于绿色簸箕入口外的灰色地面上；视频 0.6–1.2 s，机器人右手所持扫帚的刷毛从画面左侧向簸箕内推扫碎屑。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 1.0 s 状态栏为 in pan 0/6，视频 1.1 s 为 5/6，视频 1.2 s 为 6/6；碎屑群已越过入口进入绿色底板区域。视频 1.2–3.6 s 没有碎屑从簸箕落回地面，视频 3.6 s 的失败画面仍显示 in pan 6/6，至视频 5.5 s 为同一终态定格。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "推断：结合红色瓶盖从初始地面位置被扫入的运动、入箕总数达到全部六件及后续由簸箕共同承接，判断该件入箕成立；首次成立锚定视频约 1.2 s，逐件精确先后在视频 1.0–1.2 s 间，部分被扫帚遮挡，未虚构更细的顺序。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "机器人右手持扫帚，刷毛在视频约 0.6–1.2 s 推扫红色瓶盖及同组碎屑越过簸箕入口；部分瞬时接触被扫帚头遮挡，由接触前后连续位移辅助判断。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "机器人左手持绿色簸箕，入口斜坡及底板承接红色瓶盖；随后该件随簸箕一起抬离地面。按工具与碎屑的接触链记录，不重复登记握住工具柄。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，棕色细长木屑位于绿色簸箕入口外的灰色地面上；视频 0.6–1.2 s，机器人右手所持扫帚的刷毛从画面左侧向簸箕内推扫碎屑。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 1.0 s 状态栏为 in pan 0/6，视频 1.1 s 为 5/6，视频 1.2 s 为 6/6；碎屑群已越过入口进入绿色底板区域。视频 1.2–3.6 s 没有碎屑从簸箕落回地面，视频 3.6 s 的失败画面仍显示 in pan 6/6，至视频 5.5 s 为同一终态定格。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "推断：结合棕色细长木屑从初始地面位置被扫入的运动、入箕总数达到全部六件及后续由簸箕共同承接，判断该件入箕成立；首次成立锚定视频约 1.2 s，逐件精确先后在视频 1.0–1.2 s 间，部分被扫帚遮挡，未虚构更细的顺序。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "机器人右手持扫帚，刷毛在视频约 0.6–1.2 s 推扫棕色细长木屑及同组碎屑越过簸箕入口；部分瞬时接触被扫帚头遮挡，由接触前后连续位移辅助判断。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "机器人左手持绿色簸箕，入口斜坡及底板承接棕色细长木屑；随后该件随簸箕一起抬离地面。按工具与碎屑的接触链记录，不重复登记握住工具柄。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，浅蓝色包装块位于绿色簸箕入口外的灰色地面上；视频 0.6–1.2 s，机器人右手所持扫帚的刷毛从画面左侧向簸箕内推扫碎屑。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 1.0 s 状态栏为 in pan 0/6，视频 1.1 s 为 5/6，视频 1.2 s 为 6/6；碎屑群已越过入口进入绿色底板区域。视频 1.2–3.6 s 没有碎屑从簸箕落回地面，视频 3.6 s 的失败画面仍显示 in pan 6/6，至视频 5.5 s 为同一终态定格。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "推断：结合浅蓝色包装块从初始地面位置被扫入的运动、入箕总数达到全部六件及后续由簸箕共同承接，判断该件入箕成立；首次成立锚定视频约 1.2 s，逐件精确先后在视频 1.0–1.2 s 间，部分被扫帚遮挡，未虚构更细的顺序。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "机器人右手持扫帚，刷毛在视频约 0.6–1.2 s 推扫浅蓝色包装块及同组碎屑越过簸箕入口；部分瞬时接触被扫帚头遮挡，由接触前后连续位移辅助判断。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "机器人左手持绿色簸箕，入口斜坡及底板承接浅蓝色包装块；随后该件随簸箕一起抬离地面。按工具与碎屑的接触链记录，不重复登记握住工具柄。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，米白色纸球位于绿色簸箕入口外的灰色地面上；视频 0.6–1.2 s，机器人右手所持扫帚的刷毛从画面左侧向簸箕内推扫碎屑。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 1.0 s 状态栏为 in pan 0/6，视频 1.1 s 为 5/6，视频 1.2 s 为 6/6；碎屑群已越过入口进入绿色底板区域。视频 1.2–3.6 s 没有碎屑从簸箕落回地面，视频 3.6 s 的失败画面仍显示 in pan 6/6，至视频 5.5 s 为同一终态定格。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "推断：结合米白色纸球从初始地面位置被扫入的运动、入箕总数达到全部六件及后续由簸箕共同承接，判断该件入箕成立；首次成立锚定视频约 1.2 s，逐件精确先后在视频 1.0–1.2 s 间，部分被扫帚遮挡，未虚构更细的顺序。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "机器人右手持扫帚，刷毛在视频约 0.6–1.2 s 推扫米白色纸球及同组碎屑越过簸箕入口；部分瞬时接触被扫帚头遮挡，由接触前后连续位移辅助判断。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "机器人左手持绿色簸箕，入口斜坡及底板承接米白色纸球；随后该件随簸箕一起抬离地面。按工具与碎屑的接触链记录，不重复登记握住工具柄。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，黄色瓶盖位于绿色簸箕入口外的灰色地面上；视频 0.6–1.2 s，机器人右手所持扫帚的刷毛从画面左侧向簸箕内推扫碎屑。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 1.0 s 状态栏为 in pan 0/6，视频 1.1 s 为 5/6，视频 1.2 s 为 6/6；碎屑群已越过入口进入绿色底板区域。视频 1.2–3.6 s 没有碎屑从簸箕落回地面，视频 3.6 s 的失败画面仍显示 in pan 6/6，至视频 5.5 s 为同一终态定格。" + }, + { + "t": 1.2, + "log_step": null, + "text_zh": "推断：结合黄色瓶盖从初始地面位置被扫入的运动、入箕总数达到全部六件及后续由簸箕共同承接，判断该件入箕成立；首次成立锚定视频约 1.2 s，逐件精确先后在视频 1.0–1.2 s 间，部分被扫帚遮挡，未虚构更细的顺序。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "机器人右手持扫帚，刷毛在视频约 0.6–1.2 s 推扫黄色瓶盖及同组碎屑越过簸箕入口；部分瞬时接触被扫帚头遮挡，由接触前后连续位移辅助判断。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "机器人左手持绿色簸箕，入口斜坡及底板承接黄色瓶盖；随后该件随簸箕一起抬离地面。按工具与碎屑的接触链记录，不重复登记握住工具柄。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [ + [ + 1.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.3 s，绿色簸箕贴在灰色地面上；视频 1.4–1.8 s，机器人左手所持簸箕带着碎屑向上移动，底板与地面之间的间距增大。视频 1.8–3.6 s 保持抬起，至视频 5.5 s 的终态定格也未放回地面。" + }, + { + "t": 2.0, + "log_step": 141, + "text_zh": "推断：log step 141 是最终交付轨迹前 20000 行的生成结果，log step 143 只在其后追加相同末行；前缀诊断的 control step 16000、18000 分别对应仿真 8.0、9.0 s，pan_lift 为 0.060、0.061 m。画面标注 native replay 4x，已在视频 2.0 s 的仿真 8.00 s 标注和抬箕画面核对，因此这些前缀读数支持抬高超过 0.05 m；到达时刻按视频 1.7–1.9 s 的抬起变化估为视频约 1.8 s，不以 agent 工作时间换算。" + }, + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 3.6 s 评分器状态栏显示仿真 14.04 s、in pan 6/6、FAIL: tool_pressed_by_other_robot_link；簸箕仍抬起，故抬高这个节点未丢失，但总成功验收失败。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左手开局握持簸箕长柄，左臂通过保持该握持抬起装载簸箕；画面可见簸箕柄和整箕随抬升运动，手柄上方的手指接触区域不在工作镜头内，握持判断结合开局已持工具的任务初态及连续运动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_raised", + "t": 3.6, + "log_step": null, + "where": "终态验收", + "evidence_zh": "观察：视频 1.2 s 六件均入箕，视频约 1.8 s 簸箕抬起后，机器人继续持工具保持；视频 3.5 s 状态仍为 IN PROGRESS，视频 3.6 s 转为 FAIL: tool_pressed_by_other_robot_link（画面仿真 14.04 s），并在抬箕终态定格。失败落在装载抬箕后的共同保持验收，七个几何节点此时均成立，未出现更早未修复的入箕失败。" + }, + "unmet": { + "orange_package_in_pan": true, + "red_cap_in_pan": true, + "wood_chip_in_pan": true, + "blue_package_in_pan": true, + "paper_ball_in_pan": true, + "yellow_cap_in_pan": true, + "pan_raised": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 3.6, + "log_step": null, + "evidence_zh": "观察：视频 3.6 s，评分器叠加状态明确报 FAIL: tool_pressed_by_other_robot_link，即工具被所属手以外的机器人部位挤压；判定前视频 2.0–3.5 s，抬起的簸箕仍缓慢向画面上方偏移。工作镜头可见工具和簸箕，具体发生挤压的连杆及接触点在镜头外，不能指认为某一只手或躯干。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 2.0–3.5 s 抬起的簸箕在保持阶段仍缓慢偏移，视频 3.6 s 评分器确认工具与非所属手连杆接触。log step 140 的控制器在扫入后抬箕，log step 143 又将最终电机目标恒定重复，并未为后续工具漂移提供修正；这套抬起及保持控制未能维持工具与本体间的安全间隙。缺少该终态的握持和接触诊断，不能再细分为逆解、握持几何或反馈增益问题。" + }, + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "日志 / 视频 / 评分器字段", + "evidence_zh": "观察：log step 141 保存的试验仅运行 20000 行，返回 success=False、done=False、terminal_run=0；log step 143 将末行电机目标重复 20000 次拼接为 40000 行并保存，之后 log step 145 只复制脚本，完整日志没有对追加后的文件执行重放验收。评分器 reward 报 n_actions=40000、sim_steps=28072、deterministic=1；对应视频 3.6 s 画面仿真 14.04 s 的工具接触失败，发生在追加的未检验保持段。" + } + ], + "gap_zh": "没有状态日志；工作视角未覆盖手部与本体的终态碰撞点，评分器画面可确定工具受其他连杆挤压，却不能定位哪件工具与哪条连杆。六件入箕的毫米边界和接触力由画面原生 in pan 6/6 支持，抬高越阈时刻约有 0.1–0.2 s 不确定性；reward 未报告四项原生指标，故 native_metrics 值均留 null，不能用 log step 141 的前缀试验读数冒充交付终态指标，也不能确定碰撞前共同保持未达标的具体速度条件。双工具接触采用 DAG 所述 D16(b) 工具链读法：扫帚推扫、簸箕承接。" + }, + "summary_zh": "机器人在视频约 1.2 s 将六件碎屑扫入簸箕，并在视频约 1.8 s 抬起，七个独立世界状态节点最终均成立。视频约 3.6 s 的终态保持阶段，评分器报工具被非所属手连杆挤压而失败；agent 在 log step 143 追加的恒定保持动作未经过完整重放验收。工作镜头未覆盖具体碰撞部位，且无状态日志或终态速度指标；视频末尾约两秒是定格，不能计为成功保持时间。", + "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、状态栏读数（视频 1.1 s 为 5/6、1.2 s 为 6/6，抬箕约 1.8 s）、断点（pan_raised / 终态验收）和现象均有帧与 log 支持；根因停在“控制”并追加“交付操作出错”（log step 141 追加 20000 行未重放，评分器 n_actions=40000、失败发生在仿真 14.04 s 的追加段）有依据，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": "2026-10-30T19:31:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--nyfbj5n/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--nyfbj5n/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d7e944df91e16c00f319230df44f2bc08104ce34012b235425375397f4886fb3", + "video_sha256": "e1558d45dcdcfb0604023abd1cb22afe129da9fe229f16ca246f6cdd2d83c097", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--skemtjf.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--skemtjf.json new file mode 100644 index 0000000000000000000000000000000000000000..ddce8ac7938f0e4f414ae615602999945f4c7682 --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--skemtjf.json @@ -0,0 +1,561 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-privileged--skemtjf", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 44279, + "sim_steps": 44279, + "stages_completed": 7, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.795, + "peak_processes": 9, + "peak_disk_gb": 0.508, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-sweep-dustpan-i00-privileged--skemtjf/replay.mp4", + "duration_s": 7.6, + "fps": 10.0, + "frames": 76, + "sha256": "2b20774fc45d39037d74393b9d398b27d25ad1a0ce9fc6e917ea3c351acbdb9f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 7, + "final": 7, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频 1.6 s 时橙包装仍在簸箕入口外、被扫帚局部遮挡；视频 1.8–1.9 s 右手扫帚向前上方推扫后，橙包装越过入口，视频 2.1 s 清楚位于绿色底板内侧。" + }, + { + "t": 1.9, + "log_step": null, + "text_zh": "推断：结合入口前后的连续帧，橙色包装碎片首次完整入箕并受底板承接约在视频 1.9 s，时间误差约 0.2 s。视频 3.5–3.7 s 两块包装均清楚位于底板内、位置稳定，推断该次持续回落来自刷头附近其余物件，保留该节点连续成立。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "观察：视频 4.0–5.5 s 扫帚撤离、簸箕抬高并后倾时，橙色包装碎片随簸箕移动且仍位于底板边界内；视频 6.6–7.5 s 的末尾定格也未显示掉落。log step 47 的已交付轨迹独立重放报告 success=true、stage=7、steps=44279，brushed 六项均为 1；log step 48 第二次重放报告成功且终态哈希一致。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "推断：画面中的入箕和随箕抬升与最终评分成功一致，因此最终完整包含及簸箕接触条件成立；无状态日志，不能从单帧直接量出毫米边界或接触力。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频顶栏 in pan N/6 为本次重放的入箕总数：视频 1.8–1.9 s 为 5/6，视频 2.0 s 为 3/6，视频 2.1 s 为 5/6，视频 2.2 s 为 6/6，视频 2.3 s 为 5/6，视频 2.4 s 为 4/6，视频 2.5–3.4 s 为 6/6，视频 3.5–3.7 s 为 4/6，视频 3.8 s 起恢复 6/6。总数不显示具体哪件未满足，不能仅由 5/6 指认浅蓝包装未入箕。" + }, + { + "t": 2.3, + "log_step": null, + "text_zh": "推断：依据 docs/03_trajectory.md Step 2 及开放点 D17 的当前处理，短于约 0.3 s 的回落不单独拆段；视频 2.0 s 及视频 2.3–2.4 s 的读数回落据此保留在连续区间内，不再以“弹动不算离箕”解释。该时间平滑不表示这些帧的即时总数仍为六。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握持扫帚，刷头与橙色包装碎片接触并将其推过绿色簸箕入口；部分接触被刷头遮挡，连续帧显示碎屑受推移动，log step 47 的交付重放确认其曾被刷毛触碰。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接橙色包装碎片，之后随簸箕一起被抬起；与右手扫帚配合。按 DAG 开放点 D16(b) 的当前工具接触链读法记录，不重复标注握工具。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.9, + 3.5 + ], + [ + 3.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频 1.6 s 红瓶盖仍在入口外侧的扫帚旁；视频 1.8–1.9 s 右手扫帚将其推过入口，视频 1.9 s 可见整个红瓶盖落在绿色底板内，视频 2.7–2.9 s 仍在箕内。" + }, + { + "t": 1.9, + "log_step": null, + "text_zh": "推断：结合入口前后的连续帧，红色瓶盖首次完整入箕并受底板承接约在视频 1.9 s，时间误差约 0.2 s；接触力无法直接由像素量出。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "观察：视频 4.0–5.5 s 扫帚撤离、簸箕抬高并后倾时，红色瓶盖随簸箕移动且仍位于底板边界内；视频 6.6–7.5 s 的末尾定格也未显示掉落。log step 47 的已交付轨迹独立重放报告 success=true、stage=7、steps=44279，brushed 六项均为 1；log step 48 第二次重放报告成功且终态哈希一致。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "推断：画面中的入箕和随箕抬升与最终评分成功一致，因此最终完整包含及簸箕接触条件成立；无状态日志，不能从单帧直接量出毫米边界或接触力。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频顶栏 in pan N/6 为本次重放的入箕总数：视频 1.8–1.9 s 为 5/6，视频 2.0 s 为 3/6，视频 2.1 s 为 5/6，视频 2.2 s 为 6/6，视频 2.3 s 为 5/6，视频 2.4 s 为 4/6，视频 2.5–3.4 s 为 6/6，视频 3.5–3.7 s 为 4/6，视频 3.8 s 起恢复 6/6。总数不显示具体哪件未满足，不能仅由 5/6 指认浅蓝包装未入箕。" + }, + { + "t": 2.3, + "log_step": null, + "text_zh": "推断：依据 docs/03_trajectory.md Step 2 及开放点 D17 的当前处理，短于约 0.3 s 的回落不单独拆段；视频 2.0 s 及视频 2.3–2.4 s 的读数回落据此保留在连续区间内，不再以“弹动不算离箕”解释。该时间平滑不表示这些帧的即时总数仍为六。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "推断：视频 3.5–3.7 s 顶栏持续为 4/6，视频 3.8 s 恢复 6/6；橙、蓝两块包装保持可见且位置稳定，其余红盖、黄盖、木屑、纸球位于刷头附近或被遮挡。没有逐件状态读数，无法可靠指认其中哪两件失效；因此红色瓶盖的区间在视频 3.5–3.8 s 按可确认成立的下限留空，视频 3.8 s 恢复。四个候选节点同时留空是保守界限，不是观察到四件同时离箕；该段节点计数低于 HUD 的 4/6。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握持扫帚，刷头与红色瓶盖接触并将其推过绿色簸箕入口；部分接触被刷头遮挡，连续帧显示碎屑受推移动，log step 47 的交付重放确认其曾被刷毛触碰。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接红色瓶盖，之后随簸箕一起被抬起；与右手扫帚配合。按 DAG 开放点 D16(b) 的当前工具接触链读法记录，不重复标注握工具。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.8, + 3.5 + ], + [ + 3.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.8, + "log_step": null, + "text_zh": "观察：视频 1.7 s 棕色木屑正在入口处移动，视频 1.8 s 已越过入口并躺在绿色底板中央偏右处；视频 2.1 s 仍清楚可见。" + }, + { + "t": 1.8, + "log_step": null, + "text_zh": "推断：结合入口前后的连续帧，棕色木屑首次完整入箕并受底板承接约在视频 1.8 s，时间误差约 0.2 s；接触力无法直接由像素量出。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "观察：视频 4.0–5.5 s 扫帚撤离、簸箕抬高并后倾时，棕色木屑随簸箕移动且仍位于底板边界内；视频 6.6–7.5 s 的末尾定格也未显示掉落。log step 47 的已交付轨迹独立重放报告 success=true、stage=7、steps=44279，brushed 六项均为 1；log step 48 第二次重放报告成功且终态哈希一致。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "推断：画面中的入箕和随箕抬升与最终评分成功一致，因此最终完整包含及簸箕接触条件成立；无状态日志，不能从单帧直接量出毫米边界或接触力。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频顶栏 in pan N/6 为本次重放的入箕总数：视频 1.8–1.9 s 为 5/6，视频 2.0 s 为 3/6，视频 2.1 s 为 5/6，视频 2.2 s 为 6/6，视频 2.3 s 为 5/6，视频 2.4 s 为 4/6，视频 2.5–3.4 s 为 6/6，视频 3.5–3.7 s 为 4/6，视频 3.8 s 起恢复 6/6。总数不显示具体哪件未满足，不能仅由 5/6 指认浅蓝包装未入箕。" + }, + { + "t": 2.3, + "log_step": null, + "text_zh": "推断：依据 docs/03_trajectory.md Step 2 及开放点 D17 的当前处理，短于约 0.3 s 的回落不单独拆段；视频 2.0 s 及视频 2.3–2.4 s 的读数回落据此保留在连续区间内，不再以“弹动不算离箕”解释。该时间平滑不表示这些帧的即时总数仍为六。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "推断：视频 3.5–3.7 s 顶栏持续为 4/6，视频 3.8 s 恢复 6/6；橙、蓝两块包装保持可见且位置稳定，其余红盖、黄盖、木屑、纸球位于刷头附近或被遮挡。没有逐件状态读数，无法可靠指认其中哪两件失效；因此棕色木屑的区间在视频 3.5–3.8 s 按可确认成立的下限留空，视频 3.8 s 恢复。四个候选节点同时留空是保守界限，不是观察到四件同时离箕；该段节点计数低于 HUD 的 4/6。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握持扫帚，最初通过碎屑相互挤推使棕色木屑进入簸箕；视频 3.2–3.8 s 扫帚在木屑处补刷。log step 33 的相应续接段记录木屑刷毛接触标记由 0 变 1，log step 47 的交付重放确认六件均有刷毛接触；初次入箕不误记为已被刷毛直接推扫。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接棕色木屑，之后随簸箕一起被抬起；与右手扫帚配合。按 DAG 开放点 D16(b) 的当前工具接触链读法记录，不重复标注握工具。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频 1.6 s 浅蓝包装在簸箕入口外；视频 1.9 s 放大帧可见橙包装左上方、刷头右缘旁露出细窄浅蓝色边缘，视频 2.1 s 蓝块已清楚显示在橙块左上方的底板上，视频 2.2 s 顶栏为 6/6。视频 1.9 s 仍有明显遮挡，不能由该帧独立验证整个碰撞形状及支承接触。" + }, + { + "t": 1.9, + "log_step": null, + "text_zh": "推断：结合入口前后的连续帧，浅蓝色包装碎片首次完整入箕并受底板承接约在视频 1.9 s，时间误差约 0.2 s。视频 3.5–3.7 s 两块包装均清楚位于底板内、位置稳定，推断该次持续回落来自刷头附近其余物件，保留该节点连续成立。" + }, + { + "t": 1.9, + "log_step": 29, + "text_zh": "推断：log step 29 的 P1 末尾评分器状态为 steps=14800、time_s=7.4、in_pan=6；log step 46 的交付脚本沿用该 P1 段，log step 47、48 对交付文件重放成功。2000 Hz 控制与视频 native replay 4x 给出控制步 14800 对应视频约 1.85 s；已由视频 1.9 s 顶栏仿真 7.60 s、入箕推扫动作和视频约 5.5 s 的终止动作核对映射。因此浅蓝节点约在视频 1.9 s 首次成立有早于视频 2.2 s 的支持，保留约 0.2 s 的时间不确定性；不是由单帧 5/6 判定具体物件。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "观察：视频 4.0–5.5 s 扫帚撤离、簸箕抬高并后倾时，浅蓝色包装碎片随簸箕移动且仍位于底板边界内；视频 6.6–7.5 s 的末尾定格也未显示掉落。log step 47 的已交付轨迹独立重放报告 success=true、stage=7、steps=44279，brushed 六项均为 1；log step 48 第二次重放报告成功且终态哈希一致。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "推断：画面中的入箕和随箕抬升与最终评分成功一致，因此最终完整包含及簸箕接触条件成立；无状态日志，不能从单帧直接量出毫米边界或接触力。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频顶栏 in pan N/6 为本次重放的入箕总数：视频 1.8–1.9 s 为 5/6，视频 2.0 s 为 3/6，视频 2.1 s 为 5/6，视频 2.2 s 为 6/6，视频 2.3 s 为 5/6，视频 2.4 s 为 4/6，视频 2.5–3.4 s 为 6/6，视频 3.5–3.7 s 为 4/6，视频 3.8 s 起恢复 6/6。总数不显示具体哪件未满足，不能仅由 5/6 指认浅蓝包装未入箕。" + }, + { + "t": 2.3, + "log_step": null, + "text_zh": "推断：依据 docs/03_trajectory.md Step 2 及开放点 D17 的当前处理，短于约 0.3 s 的回落不单独拆段；视频 2.0 s 及视频 2.3–2.4 s 的读数回落据此保留在连续区间内，不再以“弹动不算离箕”解释。该时间平滑不表示这些帧的即时总数仍为六。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握持扫帚，刷头与浅蓝色包装碎片接触并将其推过绿色簸箕入口；部分接触被刷头遮挡，连续帧显示碎屑受推移动，log step 47 的交付重放确认其曾被刷毛触碰。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接浅蓝色包装碎片，之后随簸箕一起被抬起；与右手扫帚配合。按 DAG 开放点 D16(b) 的当前工具接触链读法记录，不重复标注握工具。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.8, + 3.5 + ], + [ + 3.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.8, + "log_step": null, + "text_zh": "观察：视频 1.6 s 纸球在入口外的扫帚旁被遮挡，视频 1.8 s 已越过入口并落在绿色底板中部；视频 1.9–2.1 s 及视频 2.7–2.9 s 可见纸球仍在箕内。" + }, + { + "t": 1.8, + "log_step": null, + "text_zh": "推断：结合入口前后的连续帧，米白色纸球首次完整入箕并受底板承接约在视频 1.8 s，时间误差约 0.2 s；接触力无法直接由像素量出。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "观察：视频 4.0–5.5 s 扫帚撤离、簸箕抬高并后倾时，米白色纸球随簸箕移动且仍位于底板边界内；视频 6.6–7.5 s 的末尾定格也未显示掉落。log step 47 的已交付轨迹独立重放报告 success=true、stage=7、steps=44279，brushed 六项均为 1；log step 48 第二次重放报告成功且终态哈希一致。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "推断：画面中的入箕和随箕抬升与最终评分成功一致，因此最终完整包含及簸箕接触条件成立；无状态日志，不能从单帧直接量出毫米边界或接触力。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频顶栏 in pan N/6 为本次重放的入箕总数：视频 1.8–1.9 s 为 5/6，视频 2.0 s 为 3/6，视频 2.1 s 为 5/6，视频 2.2 s 为 6/6，视频 2.3 s 为 5/6，视频 2.4 s 为 4/6，视频 2.5–3.4 s 为 6/6，视频 3.5–3.7 s 为 4/6，视频 3.8 s 起恢复 6/6。总数不显示具体哪件未满足，不能仅由 5/6 指认浅蓝包装未入箕。" + }, + { + "t": 2.3, + "log_step": null, + "text_zh": "推断：依据 docs/03_trajectory.md Step 2 及开放点 D17 的当前处理，短于约 0.3 s 的回落不单独拆段；视频 2.0 s 及视频 2.3–2.4 s 的读数回落据此保留在连续区间内，不再以“弹动不算离箕”解释。该时间平滑不表示这些帧的即时总数仍为六。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "推断：视频 3.5–3.7 s 顶栏持续为 4/6，视频 3.8 s 恢复 6/6；橙、蓝两块包装保持可见且位置稳定，其余红盖、黄盖、木屑、纸球位于刷头附近或被遮挡。没有逐件状态读数，无法可靠指认其中哪两件失效；因此米白色纸球的区间在视频 3.5–3.8 s 按可确认成立的下限留空，视频 3.8 s 恢复。四个候选节点同时留空是保守界限，不是观察到四件同时离箕；该段节点计数低于 HUD 的 4/6。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握持扫帚，刷头与米白色纸球接触并将其推过绿色簸箕入口；部分接触被刷头遮挡，连续帧显示碎屑受推移动，log step 47 的交付重放确认其曾被刷毛触碰。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接米白色纸球，之后随簸箕一起被抬起；与右手扫帚配合。按 DAG 开放点 D16(b) 的当前工具接触链读法记录，不重复标注握工具。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.9, + 3.5 + ], + [ + 3.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频 1.6–1.7 s 黄瓶盖仍在入口附近并被扫帚局部遮挡；视频 1.8–1.9 s 右手扫帚将其推入，视频 1.9 s 可见整个黄瓶盖在绿色底板上，视频 2.7–2.9 s 仍在箕内。" + }, + { + "t": 1.9, + "log_step": null, + "text_zh": "推断：结合入口前后的连续帧，黄色瓶盖首次完整入箕并受底板承接约在视频 1.9 s，时间误差约 0.2 s；接触力无法直接由像素量出。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "观察：视频 4.0–5.5 s 扫帚撤离、簸箕抬高并后倾时，黄色瓶盖随簸箕移动且仍位于底板边界内；视频 6.6–7.5 s 的末尾定格也未显示掉落。log step 47 的已交付轨迹独立重放报告 success=true、stage=7、steps=44279，brushed 六项均为 1；log step 48 第二次重放报告成功且终态哈希一致。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "推断：画面中的入箕和随箕抬升与最终评分成功一致，因此最终完整包含及簸箕接触条件成立；无状态日志，不能从单帧直接量出毫米边界或接触力。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频顶栏 in pan N/6 为本次重放的入箕总数：视频 1.8–1.9 s 为 5/6，视频 2.0 s 为 3/6，视频 2.1 s 为 5/6，视频 2.2 s 为 6/6，视频 2.3 s 为 5/6，视频 2.4 s 为 4/6，视频 2.5–3.4 s 为 6/6，视频 3.5–3.7 s 为 4/6，视频 3.8 s 起恢复 6/6。总数不显示具体哪件未满足，不能仅由 5/6 指认浅蓝包装未入箕。" + }, + { + "t": 2.3, + "log_step": null, + "text_zh": "推断：依据 docs/03_trajectory.md Step 2 及开放点 D17 的当前处理，短于约 0.3 s 的回落不单独拆段；视频 2.0 s 及视频 2.3–2.4 s 的读数回落据此保留在连续区间内，不再以“弹动不算离箕”解释。该时间平滑不表示这些帧的即时总数仍为六。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "推断：视频 3.5–3.7 s 顶栏持续为 4/6，视频 3.8 s 恢复 6/6；橙、蓝两块包装保持可见且位置稳定，其余红盖、黄盖、木屑、纸球位于刷头附近或被遮挡。没有逐件状态读数，无法可靠指认其中哪两件失效；因此黄色瓶盖的区间在视频 3.5–3.8 s 按可确认成立的下限留空，视频 3.8 s 恢复。四个候选节点同时留空是保守界限，不是观察到四件同时离箕；该段节点计数低于 HUD 的 4/6。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握持扫帚，刷头与黄色瓶盖接触并将其推过绿色簸箕入口；部分接触被刷头遮挡，连续帧显示碎屑受推移动，log step 47 的交付重放确认其曾被刷毛触碰。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接黄色瓶盖，之后随簸箕一起被抬起；与右手扫帚配合。按 DAG 开放点 D16(b) 的当前工具接触链读法记录，不重复标注握工具。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [ + [ + 4.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.4, + "log_step": null, + "text_zh": "观察：视频 4.0–4.1 s 扫帚已撤离箕内，视频 4.2–4.5 s 左臂通过簸箕柄将绿色簸箕及六件碎屑一起抬起，底板与地面的相对位置明显改变；视频 5.0–5.5 s 簸箕又后倾，六件仍留在底板内。" + }, + { + "t": 4.4, + "log_step": null, + "text_zh": "推断：抬高至少 50 mm 的首次时刻约为视频 4.4 s（约 0.2 s 不确定性）；画面只能估计高度越阈时刻，最终阈值成立由评分成功佐证。" + }, + { + "t": 5.5, + "log_step": 43, + "text_zh": "观察：log step 43 的 TB 分支在控制步 44279 报告评分器 terminal_run=2000、in=6、success，并保存已执行动作到交付轨迹；同一 log step 的 PR 分支是另一项会话试验。log step 46 的生成脚本选择 TB 分支，log step 47、48 对交付轨迹两次独立重放均成功，reward 中 deterministic=1、stages_completed=7。" + }, + { + "t": 5.5, + "log_step": 47, + "text_zh": "推断：由最终成功判据可确认六件完整入箕、受簸箕承接、逐件刷毛接触历史、抬箕和低速条件共同满足约一秒；视频标示 native replay 4x，动态部分至视频约 5.5 s，随后视频 5.6–7.5 s 是定格，不能用于累计保持时长。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左手保持握住簸箕柄，左臂抬高并后倾绿色簸箕，六件碎屑随箕移动；右手将扫帚保持在簸箕入口外侧。手指握持处在画面外，握持方式结合开局预握条件、连续工具运动及成功重放推断。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": 2000 + } + ], + "failure": null, + "summary_zh": "机器人约在视频 1.8–1.9 s 首次将碎屑扫入簸箕，顶栏即时入箕数随后多次回落，视频 3.8 s 起恢复六件，约在视频 4.4 s 抬箕并后倾；log step 47、48 的交付重放及最终 PASS 支持终态七节点全部成立。视频 3.5–3.7 s 持续 4/6，但刷头遮挡使具体失效的两件不可唯一识别，红盖、黄盖、木屑、纸球四个候选节点在视频 3.5–3.8 s 均按可确认下限留空，不能把该段较低的节点计数解释为四件实际同时离箕；无逐件状态日志，置信度由 8 降为 6。关于短暂回落与审查意见的分歧，遵循开放点 DECISIONS.md D17 的 Now（当前应用约 0.3 s 丢失过滤）及 03 Step 2，视频 2.0 s、视频 2.3–2.4 s 不另拆段；视频 5.6–7.5 s 定格不计保持时长，未报告的接触力、速度和精确高度仍不可由帧量出，工具接触保留 D16(b) 当前读法。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "终态与 final=7 无误（评分成功、reward 1.0），但视频顶栏 'in pan N/6' 读数与文件的区间不符：浅蓝包装在视频 2.2 s 才首次入箕（文件写 1.9 s），且 2.0 s、2.3–2.4 s、3.5–3.7 s 读数回落（3/6、5/6→4/6、4/6），文件却把六个碎屑节点都写成 1.8–1.9 s 起连续成立并称“短暂弹动不判离箕”，与 DAG 规定（扫出/失去接触即失去状态）和画面读数矛盾。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "终态七节点成立（评分成功、reward 1.0、stages 7）；第一轮意见（HUD 回落、浅蓝起点）已按 D17 处理并如实说明。1.9 s 入箕、3.5–3.8 s 顶栏 4/6 的保守留空、4.4 s 抬箕均与帧和顶栏读数一致；成功运行无失败层，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:41:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--skemtjf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--skemtjf/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--skemtjf/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--skemtjf/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "384b72b9fd3263504ce4bd201cb6149de2f1723e2fd4744bedea923d39cd621a", + "video_sha256": "2b20774fc45d39037d74393b9d398b27d25ad1a0ce9fc6e917ea3c351acbdb9f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--wt9vlkv.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--wt9vlkv.json new file mode 100644 index 0000000000000000000000000000000000000000..12c1a44c0e6de715041a33b56be0e3ae7f492510 --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--wt9vlkv.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-privileged--wt9vlkv", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 37901, + "sim_steps": 37901, + "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": 2.319, + "peak_processes": 10, + "peak_disk_gb": 0.946, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-sweep-dustpan-i00-privileged--wt9vlkv/replay.mp4", + "duration_s": 6.8, + "fps": 10.0, + "frames": 68, + "sha256": "09d6d8631bbc0d3db148de20d017d842eae033dd3a4c10f6b94e3900af3f4e1e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.7, + "log_step": 97, + "text_zh": "观察：视频 0.0 s 橙包装在簸箕外；视频 0.9–1.3 s 被右手所持扫帚推移，视频 3.7–4.7 s 再向入口移动，未见完整越过入口进入底板。视频 4.7–6.7 s 扫帚遮住其局部位置，但画面原生计数一直为 in pan 0/6；log step 97 最终交付生成结果也为 debris_0 inside_pan=False、touching_pan=True，接触入口不等于完整入箕。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚以刷毛推扫橙包装；左手保持簸箕位置。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手所持簸箕入口斜坡接住橙包装的局部，但物件未完整入箕；视频 4.3–4.7 s 入口处运动与 log step 97 touching_pan=True 相符。工具链按 D16(b) 记录，不重复握柄接触。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.7, + "log_step": 97, + "text_zh": "观察：视频 0.7–1.2 s 右手所持扫帚先接触并推移红瓶盖，视频 1.2–1.7 s 仍在箕外；视频 3.7–4.7 s 再被推向入口，视频 4.7–6.7 s 红瓶盖停在绿色簸箕入口外沿，未完整进入。画面原生计数为 in pan 0/6；log step 97 最终交付生成结果为 debris_1 inside_pan=False、touching_pan=True。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚以刷毛推扫红瓶盖；左手保持簸箕位置。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手所持簸箕入口斜坡接住红瓶盖的局部，但物件未完整入箕；视频 4.3–4.7 s 入口处运动与 log step 97 touching_pan=True 相符。工具链按 D16(b) 记录，不重复握柄接触。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.7, + "log_step": 97, + "text_zh": "观察：视频 0.0 s 木屑在簸箕外；视频 0.0–4.7 s 扫帚扫过碎屑区时木屑基本留在原地，视频 4.7–6.7 s 仍清楚可见其在灰色地面上、簸箕入口外。log step 97 最终交付生成结果为 debris_2 inside_pan=False、touching_pan=False、brushed=False。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚在包含木屑的碎屑区进行扫入尝试，但刷毛经过木屑侧方，木屑未移动；未建立刷毛与木屑接触（log step 97 brushed=False）。按未接触目标的实际尝试记推/扫，不虚构成功接触。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.7, + "log_step": 97, + "text_zh": "观察：视频 0.0–3.7 s 蓝包装在簸箕外，视频 3.8–4.3 s 右手所持扫帚经过并将其推向入口，随后被扫帚遮挡，未见完整进入底板。视频 4.3–6.7 s 画面原生计数始终为 in pan 0/6；log step 97 最终交付生成结果为 debris_3 inside_pan=False、touching_pan=True。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚以刷毛推扫蓝包装；左手保持簸箕位置。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手所持簸箕入口斜坡接住蓝包装的局部，但物件未完整入箕；视频 4.3–4.7 s 入口处运动与 log step 97 touching_pan=True 相符。工具链按 D16(b) 记录，不重复握柄接触。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.7, + "log_step": 97, + "text_zh": "观察：视频 0.0 s 纸球在箕外，视频 3.7–4.2 s 被右手所持扫帚推至入口附近，随后局部被扫帚遮挡，未见完整进入底板。视频 4.2–6.7 s 画面原生计数仍为 in pan 0/6；log step 97 最终交付生成结果为 debris_4 inside_pan=False、touching_pan=True。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚以刷毛推扫纸球；左手保持簸箕位置。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手所持簸箕入口斜坡接住纸球的局部，但物件未完整入箕；视频 4.3–4.7 s 入口处运动与 log step 97 touching_pan=True 相符。工具链按 D16(b) 记录，不重复握柄接触。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.7, + "log_step": 97, + "text_zh": "观察：视频 0.9–1.3 s 黄色瓶盖被右手所持扫帚碰推，视频 2.5 s 扫帚撤开后可见其仍在地上；视频 3.7–6.7 s 黄色瓶盖留在扫帚下端外侧、木屑旁边，未进簸箕。log step 97 最终交付生成结果为 debris_5 inside_pan=False、touching_pan=False、brushed=True。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚以刷毛推扫黄瓶盖；左手保持簸箕位置。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.7, + "log_step": 97, + "text_zh": "观察：视频 0.0–4.7 s 左侧工具链所持绿色簸箕始终贴地，视频 4.8–6.7 s 为末态定格，也没有抬高。成功参考视频约 5.0 s 可见簸箕升高后的底板和侧壁变化，本次没有该变化；log step 94 最终生成器只追加右臂扫帚动作，log step 97 报告簸箕高度差 pan_lift_m=-0.0000163 m。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "red_cap_in_pan", + "t": 1.7, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 0.7 s 左右右手所持扫帚最先推到红瓶盖；视频 1.2–1.7 s 后续推扫仍未将它送过入口，随后扫帚撤回并再次扫动，至视频 4.7 s 红瓶盖仍停在入口外沿。推断：红瓶盖入箕是最早开始却始终未完成的步骤；视频 4.8–6.7 s 仅定格该未完成结果，log step 97 最终交付生成结果 inside_pan=False 与之相符。" + }, + "unmet": { + "orange_package_in_pan": false, + "red_cap_in_pan": false, + "wood_chip_in_pan": false, + "blue_package_in_pan": false, + "paper_ball_in_pan": false, + "yellow_cap_in_pan": false, + "pan_raised": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 1.7, + "log_step": null, + "evidence_zh": "观察：视频 1.2–1.7 s 扫帚推移红瓶盖后仍离簸箕入口有间隔；视频 3.7–4.7 s 再扫后，红瓶盖仅到入口边沿，部分仍在容纳区外，扫帚停止前未把它继续送入。视频 4.7 s 原生计数仍为 in pan 0/6。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：扫帚进给未有效转化为将碎屑推过入口的工具运动。log step 84 的生成器及 log step 94 的最终修改均以预设关节目标执行扫动；同一保留前缀的 log step 37 记录扫帚目标 y≈−0.008 m、实际仅到 y≈−0.163 m，且工具倾斜。视频 1.1–1.7 s 可见刷头推进很少并倾斜，最终追加的抬刷重置和再次扫动在视频 3.7–4.7 s 也只把红瓶盖推到入口边沿；log step 97 最终生成结果仍全部 inside_pan=False。证据支持工具运动与接触控制未完成有效进给，不能进一步确定控制子类。" + } + ], + "gap_zh": "没有逐帧状态日志，工作视角后段的扫帚遮住橙包装、蓝包装和纸球，无法从图像量出毫米级包含边界或接触力；使用视频原生 in pan 0/6 计数及与本次末态一致的最终交付生成诊断（log step 97）辅助判定，未将会话中其他碰撞或抬箕测试当作本次动作。缺少逐帧关节跟踪和刷毛受力记录，控制根因不细分。D16(b) 双工具链的接触按扫帚推/扫及簸箕托/舀记录。原生指标在 reward 中均未单列，native_metrics 的值留 null；生成器诊断值只作辅助证据。" + }, + "summary_zh": "本次轨迹用右手扫帚接触五件碎屑，四件被推至簸箕入口附近，但无一完整入箕；木屑基本未动，簸箕始终贴地，最终为 0/7。最早未修复的步骤为红瓶盖入箕：工具进给不足使其只到入口外沿，归为位姿不准及控制问题。后段部分物件被扫帚遮挡，依据视频原生计数与最终交付生成诊断辅助确认；视频 4.8–6.7 s 是定格，不计作继续操作或保持。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "各节点均为未达成，与视频（画面计数全程 in pan 0/6，红瓶盖末态停在入口外沿，木屑与黄瓶盖留在箕外，簸箕未抬）及 log step 97 的 debris 字段一致；断点、位姿不准与控制（不细分）有证据支持，未发现需要改动内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:26:15Z", + "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-sweep-dustpan-i00-privileged--wt9vlkv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--wt9vlkv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6917ec23804e43233e17415e245fab14ba4c76775d6c7459f3feb4cefe3bdc2a", + "video_sha256": "09d6d8631bbc0d3db148de20d017d842eae033dd3a4c10f6b94e3900af3f4e1e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--876eudk.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--876eudk.json new file mode 100644 index 0000000000000000000000000000000000000000..16404d3d53477d3b3c22bc6ace290dfb21f6cbeb --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--876eudk.json @@ -0,0 +1,320 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-standard--876eudk", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 172, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 13731, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 15, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 13731, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 114.54, + "peak_processes": 10, + "peak_disk_gb": 1.027, + "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-sweep-dustpan-i00-standard--876eudk/replay.mp4", + "duration_s": 3.8, + "fps": 10.0, + "frames": 38, + "sha256": "5e7c8add09a75ed5f85cf4cb9ed3fc78fac75f1fa8e37dd7f5d401d2aa3f14e1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，橙色方块包装位于扫帚与绿色簸箕入口之间的灰色地面上，尚未入箕。" + }, + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–1.7 s 及视频 1.8–3.7 s 的末尾定格，橙色方块包装始终留在簸箕入口外的地面上；机器人右侧扫帚未扫过它，簸箕内为空，画面计数始终为 in pan 0/6。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红色瓶盖位于扫帚与绿色簸箕入口之间的灰色地面上，尚未入箕。" + }, + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–1.7 s 及视频 1.8–3.7 s 的末尾定格，红色瓶盖始终留在簸箕入口外的地面上；机器人右侧扫帚未扫过它，簸箕内为空，画面计数始终为 in pan 0/6。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，棕色细长木屑位于扫帚与绿色簸箕入口之间的灰色地面上，尚未入箕。" + }, + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–1.7 s 及视频 1.8–3.7 s 的末尾定格，棕色细长木屑始终留在簸箕入口外的地面上；机器人右侧扫帚未扫过它，簸箕内为空，画面计数始终为 in pan 0/6。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，浅蓝色方块包装位于扫帚与绿色簸箕入口之间的灰色地面上，尚未入箕。" + }, + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–1.7 s 及视频 1.8–3.7 s 的末尾定格，浅蓝色方块包装始终留在簸箕入口外的地面上；机器人右侧扫帚未扫过它，簸箕内为空，画面计数始终为 in pan 0/6。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，米白色纸球位于扫帚与绿色簸箕入口之间的灰色地面上，尚未入箕。" + }, + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–1.7 s 及视频 1.8–3.7 s 的末尾定格，米白色纸球始终留在簸箕入口外的地面上；机器人右侧扫帚未扫过它，簸箕内为空，画面计数始终为 in pan 0/6。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，黄色瓶盖位于扫帚与绿色簸箕入口之间的灰色地面上，尚未入箕。" + }, + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–1.7 s 及视频 1.8–3.7 s 的末尾定格，黄色瓶盖始终留在簸箕入口外的地面上；机器人右侧扫帚未扫过它，簸箕内为空，画面计数始终为 in pan 0/6。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，簸箕入口贴近灰色地面，盘内为空。" + }, + { + "t": 1.6, + "log_step": 153, + "text_zh": "观察：视频 1.5–1.7 s，机器人经簸箕柄带动盘体小幅偏移、倾转，入口仍贴近地面，未出现成功参考视频 4.5–5.5 s 中盘体整体明显抬离地面的形态；视频 1.8–3.7 s 为末尾定格。" + }, + { + "t": 1.7, + "log_step": 153, + "text_zh": "推断：log step 153 在重置后命令左臂分四段向上移动并预转手掌，未执行扫屑，与本视频扫帚和六件碎屑基本不动、仅盘体移动的过程一致；这是本次评分局，而非 log step 151 那次先扫再抬的试验。结合盘体与地面的相对位置及成功参考视频 4.5–5.5 s 的可见抬升幅度，已记录片段未达到簸箕原点抬高至少50毫米，节点仍为 false；这不表示完整抬箕动作执行后未达高度。无状态日志，不能给出精确高度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左手开局握住簸箕柄，左臂通过柄带动盘体小幅移动、倾转，尝试抬箕。握持依据任务初态、log step 153 的左臂指令及盘体随柄运动推断；手掌和手指接触点位于画面上方，不能核实接触力或柄内滑移。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_raised", + "t": 1.6, + "log_step": 153, + "where": "操作中", + "evidence_zh": "观察：视频 0.0–1.4 s 盘体基本静止，视频 1.5–1.7 s 机器人通过簸箕柄带动盘体小幅移动、倾转，随后视频 1.8–3.7 s 定格；HUD 最终为仿真 6.87 s、in pan 0/6、IN PROGRESS。log step 153 是重置后分四段抬箕及预转手掌的探针，无返回输出。推断：pan_raised 和视频 1.6 s 仅锚定记录结束前正在操作的步骤；操作中描述机器人正在带动簸箕，不断言抬箕控制失败，无法定位一个已证实的物理失败时刻。" + }, + "unmet": { + "orange_package_in_pan": false, + "red_cap_in_pan": false, + "wood_chip_in_pan": false, + "blue_package_in_pan": false, + "paper_ball_in_pan": false, + "yellow_cap_in_pan": false, + "pan_raised": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "没有状态日志；手掌和手指握柄部位在画面外，不能确认接触力、柄内滑移或精确抬升高度。视频只见抬箕探针早期片段及末尾定格，没有完整四段动作的结果或物理失败诊断，故 phenomena 和 root_causes 均为空，不能由尚未达到高度归为位姿不准。inputs/run.json 的 wall_s=3608、time_limit_s=3600，log step 153 无输出，与探针在会话预算边界未完成相符；但 step_times=estimated，不能由 log step 153 的 agent 时间3584.1 s或别局重置耗时确定本局精确中断环节。画面末尾仿真时钟为6.87 s，而脚本先保持目标5.6 s、每段抬升0.9 s，不能断言第一段尚未执行完。按 docs/03_trajectory.md Step 3.5 和 CASES.md FAIL-5，预算耗尽仍按代理失败标注，不归外因，也不把超时作为现象或根因。Step 1 允许会话试验辅助根因，但 log step 138、151 的另局 task_failure 无法证明本局已发生相同控制故障，且 step 153 改用了手掌预转；因此删除原控制归因。断点仅作操作步骤导航，抬箕能否最终成功及本局是否触发过未报告的物理失败均不能判定。本局按视频及评分器 success=0、live_matches_replay=1 标注；四项原生指标均未报告，保留 null。视频 1.8–3.7 s 为定格，不作为额外保持时间。" + }, + "summary_zh": "评分局六件碎屑始终留在地面，机器人仅在抬箕探针中带动盘体小幅移动、倾转，已记录片段完成0/7节点。记录在会话预算边界结束，未见完整抬箕结果；pan_raised/操作中仅导航至正在尝试的步骤，不能据此认定运动失准或控制故障，现象与根因均留空。末尾约两秒为定格，较早会话试验不计入本局进度；预算耗尽按代理失败处理，不归外因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点全 false、0/7 与视频一致（0–3.7 s 六件碎屑始终在簸箕外，in pan 0/6）。问题在失败层：评分局是 log step 153 的会话探针，在 3600 s 时限处被切断（step 153 于 3584 s 开始，先 reset 约 37 s 再 settle，视频 1.4 s 后盘体才开始偏转，即第一段抬升刚开始就结束），标签却把它当成一次完整的“抬箕未达高度”并用别局（step 138/151）的测试结果支撑 控制 根因，违反“会话测试不是评分局事实”。位姿不准 与 控制 都没有评分局证据。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点全 false（0/7）与视频一致：六件碎屑始终在簸箕外，in pan 0/6，簸箕仅微偏；第1轮的位姿不准/控制已删除，现象与根因留空并在 gap_zh 说明，预算耗尽未归外因、未作现象，符合 FAIL-5/FAIL-22。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": "2026-10-30T19:39:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--876eudk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--876eudk/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--876eudk/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--876eudk/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8f2b5bf06894e3836361dbec42c1d22f2f7a8e43f3fe8d5ab7c3f5e4b16b6433", + "video_sha256": "5e7c8add09a75ed5f85cf4cb9ed3fc78fac75f1fa8e37dd7f5d401d2aa3f14e1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--bctjxcu.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--bctjxcu.json new file mode 100644 index 0000000000000000000000000000000000000000..39a7226f1a69977ffa3482eda58e9d52f6ef5290 --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--bctjxcu.json @@ -0,0 +1,373 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-standard--bctjxcu", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 51, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 19602, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 6, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 19602, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.345, + "peak_processes": 11, + "peak_disk_gb": 0.291, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-sweep-dustpan-i00-standard--bctjxcu/replay.mp4", + "duration_s": 4.5, + "fps": 10.0, + "frames": 45, + "sha256": "019984f9579c02de984b0cc63c2202271f3d39d21f3c0dc3655f893be0affc38" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频0.0 s位于簸箕入口外；视频1.4–1.6 s扫帚接近并推动该碎片，随后碎片被刷头遮住。" + }, + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：本次视频0.0–2.4 s画面顶部的评分器诊断（in pan为完整入箕件数）始终显示0/6；视频2.5 s显示FAIL: tool_slipped_in_hand且仍为0/6，至视频4.4 s定格不变。橙色包装碎片没有取得完整入箕状态。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "推断：结合视频1.5 s附近刷头与橙色包装碎片的接近、遮挡和碎屑向入口移动，机器人右手所持扫帚的刷毛推扫橙色包装碎片；只标实际扫动，未确认簸箕已托住它。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.3, + "log_step": null, + "text_zh": "观察：视频0.0 s位于簸箕入口外；视频1.2–1.5 s刷毛首先推到红色瓶盖，视频2.3 s瓶盖仍露在入口外缘。" + }, + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：本次视频0.0–2.4 s画面顶部的评分器诊断（in pan为完整入箕件数）始终显示0/6；视频2.5 s显示FAIL: tool_slipped_in_hand且仍为0/6，至视频4.4 s定格不变。红色瓶盖没有取得完整入箕状态。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "推断：结合视频1.3 s附近刷头与红色瓶盖的接近、遮挡和碎屑向入口移动，机器人右手所持扫帚的刷毛推扫红色瓶盖；只标实际扫动，未确认簸箕已托住它。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频0.0 s木屑在灰色地面上；视频1.7–2.4 s扫帚将其向入口推进，视频2.4–4.4 s仍可见木屑斜跨入口边缘、部分留在外侧。" + }, + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：本次视频0.0–2.4 s画面顶部的评分器诊断（in pan为完整入箕件数）始终显示0/6；视频2.5 s显示FAIL: tool_slipped_in_hand且仍为0/6，至视频4.4 s定格不变。棕色木屑没有取得完整入箕状态。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "推断：结合视频2.4 s附近刷头与棕色木屑的接近、遮挡和碎屑向入口移动，机器人右手所持扫帚的刷毛推扫棕色木屑；只标实际扫动，未确认簸箕已托住它。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：视频0.0–2.1 s浅蓝包装仍在入口外的灰色地面；视频2.2–2.4 s刷头到达该处，碎片被刷头遮挡，未见其完整越过斜坡。" + }, + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：本次视频0.0–2.4 s画面顶部的评分器诊断（in pan为完整入箕件数）始终显示0/6；视频2.5 s显示FAIL: tool_slipped_in_hand且仍为0/6，至视频4.4 s定格不变。浅蓝色包装碎片没有取得完整入箕状态。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "推断：结合视频2.2 s附近刷头与浅蓝色包装碎片的接近、遮挡和碎屑向入口移动，机器人右手所持扫帚的刷毛推扫浅蓝色包装碎片；只标实际扫动，未确认簸箕已托住它。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.8, + "log_step": null, + "text_zh": "观察：视频0.0 s纸球在地面上；视频1.7–1.9 s刷头接近并把纸球向入口推移，随后纸球被刷头遮挡，未见其完整进入簸箕。" + }, + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：本次视频0.0–2.4 s画面顶部的评分器诊断（in pan为完整入箕件数）始终显示0/6；视频2.5 s显示FAIL: tool_slipped_in_hand且仍为0/6，至视频4.4 s定格不变。米白色纸球没有取得完整入箕状态。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "推断：结合视频1.8 s附近刷头与米白色纸球的接近、遮挡和碎屑向入口移动，机器人右手所持扫帚的刷毛推扫米白色纸球；只标实际扫动，未确认簸箕已托住它。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频0.0 s黄色瓶盖在入口外；视频1.4–1.6 s扫帚推动该瓶盖，视频2.3–2.4 s仍可见黄色部分贴近入口边缘、位于刷头下方。" + }, + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：本次视频0.0–2.4 s画面顶部的评分器诊断（in pan为完整入箕件数）始终显示0/6；视频2.5 s显示FAIL: tool_slipped_in_hand且仍为0/6，至视频4.4 s定格不变。黄色瓶盖没有取得完整入箕状态。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "推断：结合视频1.5 s附近刷头与黄色瓶盖的接近、遮挡和碎屑向入口移动，机器人右手所持扫帚的刷毛推扫黄色瓶盖；只标实际扫动，未确认簸箕已托住它。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：本次视频0.0–2.4 s绿色簸箕入口一直贴着灰色地面，未见抬高；视频2.5–4.4 s失败后定格，簸箕仍在原处。成功参考视频4.0–6.0 s可见簸箕整体抬离地面，该变化在本次视频中没有发生。" + }, + { + "t": null, + "log_step": 61, + "text_zh": "观察：log step 59的控制脚本先执行200行等待、1500行抬扫帚、1950行撤扫帚，之后才开始左臂抬簸箕；log step 61服务返回仅执行2356行即task_failure，尚未执行抬簸箕段。这与本次视频簸箕始终贴地一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "red_cap_in_pan", + "t": 2.3, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：机器人在视频1.2–2.3 s用扫帚将碎屑推向簸箕，红瓶盖是最先被扫动的物件，至视频2.3 s仍露在入口外缘，评分器完整入箕计数in pan为0/6且尚无FAIL。红瓶盖未入箕发生在视频2.4–2.5 s撤帚及滑移判负之前，之后至视频4.4 s未修复；log step 59脚本也把推扫后的抬帚、撤帚安排在抬箕之前。以这次共同扫入动作中首先开始且未修复的红瓶盖入箕步骤作为断点，视频2.3 s为未扫到位的导航锚点；其他五件也未完成，不能把尚未启动的抬箕步骤作为断点。" + }, + "unmet": { + "orange_package_in_pan": false, + "red_cap_in_pan": false, + "wood_chip_in_pan": false, + "blue_package_in_pan": false, + "paper_ball_in_pan": false, + "yellow_cap_in_pan": false, + "pan_raised": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.3, + "log_step": null, + "evidence_zh": "观察：视频2.0–2.3 s机器人所持扫帚的刷头向绿色簸箕入口推进，但截至视频2.3 s红瓶盖、木屑等仍露在入口外侧，刷头尚未将其完整送过入口斜坡；画面顶部评分器完整入箕计数in pan仍为0/6，尚无FAIL。此次推扫未使碎屑到达完整入箕位置，这一现象先于视频2.4–2.5 s撤帚段的滑移判负。" + }, + { + "cat": "接触", + "item": "没保持住", + "t": 2.5, + "log_step": null, + "evidence_zh": "观察：视频2.4–2.5 s撤帚段，机器人所持扫帚杆由接近竖直明显转为倾斜，视频2.5 s评分器在画面顶部报告tool_slipped_in_hand（工具相对所属手发生超限滑移）；此前机器人已持扫帚连续推动碎屑。工具握持未能保持并触发判负；这是碎屑仍未完整入箕之后出现的第二个失败现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "t": 2.5, + "log_step": 61, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：此根因仅解释撤帚段的滑移，不解释此前碎屑未入箕。log step 59中solve返回58维关节向量q1，但撤帚逆解目标由q1[:3]加位移和q1[3:]构造；log step 61把后者改为q1[3:7]，仍将关节角切片当作笛卡尔位置和四元数，没有先经正运动学转换，因而向撤帚逆解提供了错误的末端位姿目标。log step 61服务返回执行2356行后task_failure；按log step 59的段长（等待200行、抬帚1500行、撤帚1950行）判断已进入撤帚、尚未抬箕，与视频2.4–2.5 s扫帚突变姿态并触发握持滑移相符，支持该错误导致撤帚滑移的推断。t=2.5为视频滑移事件锚点，log step 61为脚本执行证据，不将agent时间换算为视频时间。" + } + ], + "gap_zh": "没有逐帧状态或接触力日志，握柄处不在视频视野内，无法量化扫帚相对右手的滑移量、转角或握力；滑移类型依据视频内评分器诊断及扫帚姿态变化。部分碎屑在末段被刷头遮挡，完整入箕与否结合全过程画面及评分器in pan 0/6判断。六件被同一遍扫动共同推进，断点选首先开始的红瓶盖入箕，不能分辨每件各自的独立失败时刻；未据会话中的其他重置尝试补记本局进度。四项DAG原生指标均未在run.json的reward中报告，值保留null。 扫入不到位的具体根因证据不足：没有刷头实际位姿轨迹、握持相对位姿或接触力日志来区分推扫终点设置、执行偏差与接触作用；log step 62关于刷毛摩擦和握中转动的说明只是agent自述，不能据此确认为本局的物理机制。撤帚逆解错误发生于后续阶段，不能倒推为视频2.3 s之前未入箕的原因。" + }, + "summary_zh": "机器人实际用扫帚推扫了六件碎屑，但视频2.3 s红瓶盖等仍在簸箕入口外，完整入箕计数始终为0/6，簸箕也未抬起，终态为0/7节点。扫入不到位先于视频2.4–2.5 s撤帚段的工具握持滑移；最后执行脚本把关节向量误用为撤帚逆解的末端位姿目标，仅支持对后续滑移的轨迹或逆解归因。没有状态或接触力日志，扫入不到位的具体根因未确定，末段遮挡下的节点判断结合视频内评分器计数。", + "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 0/7、时钟与评分器读数无误；问题在失败原因：视频2.0–2.3 s 扫帚推扫结束时碎屑仍停在簸箕入口外（评分器 in pan 0/6），此时尚未撤帚，tool_slipped_in_hand 是其后（2.4–2.5 s）撤帚阶段才出现的第二个失败，却被标成唯一现象和断点原因。缺少‘扫程不到位’这一现象；根因只解释了滑移，不解释碎屑没入箕。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点0/7、评分器HUD读数（in pan 0/6，视频2.5 s起FAIL: tool_slipped_in_hand）、时钟与log引用均与视频一致；断点、两个现象和推断型根因的证据可核对，未发现需要改动内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:40:31Z", + "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-sweep-dustpan-i00-standard--bctjxcu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--bctjxcu/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--bctjxcu/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--bctjxcu/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d7cb91287eae4de96215e826a0c1949aca54187aa66796d6074ecbf9dea11caa", + "video_sha256": "019984f9579c02de984b0cc63c2202271f3d39d21f3c0dc3655f893be0affc38", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--f6ads7d.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--f6ads7d.json new file mode 100644 index 0000000000000000000000000000000000000000..230da2729fba717992999601b55eb3c0bb8095d0 --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--f6ads7d.json @@ -0,0 +1,335 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-standard--f6ads7d", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 49, + "control_steps_total": 93857, + "elapsed_s": 3622.343, + "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": 18641, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 18641, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.37, + "peak_processes": 11, + "peak_disk_gb": 0.257, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-sweep-dustpan-i00-standard--f6ads7d/replay.mp4", + "duration_s": 4.4, + "fps": 10.0, + "frames": 44, + "sha256": "79c32dcbe8f573c829037ff975b98e834d6bdfe26c45644fb1bf39db8105d8e6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，橙色包装碎片位于绿色簸箕入口外的灰色地面上；簸箕内为空。" + }, + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–2.4 s 及末尾视频 3.4–4.3 s，橙色包装碎片一直留在簸箕外，未越过入口；视频 2.4 s 起画面显示 FAIL: tool_slipped_in_hand、in pan 0/6，后续为同一终态定格。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红色瓶盖位于绿色簸箕入口外的灰色地面上；簸箕内为空。" + }, + { + "t": 2.4, + "log_step": 86, + "text_zh": "观察：逐帧检查视频 0.0–2.4 s 及末尾视频 3.4–4.3 s，红色瓶盖一直留在簸箕外，未越过入口；视频 2.4 s 起画面显示 FAIL: tool_slipped_in_hand、in pan 0/6，后续为同一终态定格。" + }, + { + "t": 1.4, + "log_step": 86, + "text_zh": "观察：视频 1.3–2.4 s，机器人使扫帚抬离原位、转动并下降到红瓶盖一侧，但瓶盖未被带动，末帧刷毛与瓶盖仍有可见间隙。log step 86 的最后一局为 episode 6，先执行 settle，再执行 push0:red，服务返回 done=True、reason=task_failure、control_steps=18641；与视频的首次扫动后失败相符，先前重置掉的局不计进度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "机器人通过右手所持扫帚尝试扫向红瓶盖；这是实际执行的工具推扫尝试，视频中刷毛尚未碰到瓶盖即终止，不能据此认定已发生刷毛—瓶盖接触；左手簸箕未承接任何碎屑。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，棕色细长木屑位于绿色簸箕入口外的灰色地面上；簸箕内为空。" + }, + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–2.4 s 及末尾视频 3.4–4.3 s，棕色细长木屑一直留在簸箕外，未越过入口；视频 2.4 s 起画面显示 FAIL: tool_slipped_in_hand、in pan 0/6，后续为同一终态定格。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，浅蓝色包装碎片位于绿色簸箕入口外的灰色地面上；簸箕内为空。" + }, + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–2.4 s 及末尾视频 3.4–4.3 s，浅蓝色包装碎片一直留在簸箕外，未越过入口；视频 2.4 s 起画面显示 FAIL: tool_slipped_in_hand、in pan 0/6，后续为同一终态定格。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，米白色纸球位于绿色簸箕入口外的灰色地面上；簸箕内为空。" + }, + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–2.4 s 及末尾视频 3.4–4.3 s，米白色纸球一直留在簸箕外，未越过入口；视频 2.4 s 起画面显示 FAIL: tool_slipped_in_hand、in pan 0/6，后续为同一终态定格。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，黄色瓶盖位于绿色簸箕入口外的灰色地面上；簸箕内为空。" + }, + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–2.4 s 及末尾视频 3.4–4.3 s，黄色瓶盖一直留在簸箕外，未越过入口；视频 2.4 s 起画面显示 FAIL: tool_slipped_in_hand、in pan 0/6，后续为同一终态定格。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 86, + "text_zh": "观察：视频 0.0–2.4 s，绿色簸箕入口始终贴在地面，未出现抬高动作；视频 3.4–4.3 s 的末尾定格仍为同一贴地空簸箕。log step 86 最后一局在 push0:red 返回 task_failure 后结束，没有执行 lift+hold。成功参考视频 5.0–5.5 s 可见装载簸箕抬离地面的明显变化，仅用于比较视觉线索。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "red_cap_in_pan", + "t": 2.4, + "log_step": 86, + "where": "操作中", + "evidence_zh": "观察：视频 1.3–2.3 s，机器人正在移动、转动并降低扫帚以开始扫向红瓶盖；视频 2.4 s 首次显示 FAIL: tool_slipped_in_hand（工具在手中滑移），六件仍在簸箕外。log step 86 确认最后一局执行 push0:red 后服务返回 task_failure，没有后续修复。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 2.4, + "log_step": 86, + "evidence_zh": "观察：视频 1.8–2.3 s 扫帚明显转动，视频 2.4 s 的基准回放状态条报告 FAIL: tool_slipped_in_hand，表示已持有工具相对所属手的握持姿态发生超限滑移；未见工具完全掉落，红瓶盖仍未移动。log step 86 的服务终止状态与这一回放终态一致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：最后一局的工具运动控制未能维持所需握持稳定性。log step 83 的实际脚本修改已将 GRIP_CLOSE 设为 0.6、PITCH 设为 0.03、PUSH_V 设为 0.06；log step 86 执行该修改后的首次扫动仍失败，视频 2.4 s 明确报告 tool_slipped_in_hand。证据支持控制层失效，但不足以区分接触几何、手指受力或轨迹跟踪的具体问题。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无逐帧状态日志，工作视角未显示手掌与工具柄的接触区；回放只报告 tool_slipped_in_hand，未提供左右工具各自的漂移、转角和接触力，不能确定具体握持失稳机制。agent 在 log step 69、83 对先前已重置局的碰臂或受载滑移解释属于其推测，不能代替最后一局的接触证据。原生抬高、速度和共同保持计数未由 reward 报告，均留 null。", + "unmet": { + "orange_package_in_pan": false, + "red_cap_in_pan": false, + "wood_chip_in_pan": false, + "blue_package_in_pan": false, + "paper_ball_in_pan": false, + "yellow_cap_in_pan": false, + "pan_raised": false + } + }, + "summary_zh": "评分局为 log step 86 的最后一局：六件碎屑始终留在绿色簸箕外，簸箕未抬起，七个节点均未达成。机器人首次扫向红瓶盖时，视频 2.4 s 报告工具在手中滑移并永久终止，现象为没保持住，根因保留在控制层。手部接触区不在画面中且无状态日志，无法区分握持几何、手指受力或轨迹跟踪等具体机制；审查提出的握持设计不足仍不能排除，因该主要根因分歧未能被决定性证据消除，置信度由 8 降为 7；末尾约两秒是定格。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值、断点（red_cap_in_pan，视频 2.4 s）与现象（接触·没保持住）经帧检查成立；但根因记为泛泛的“控制·控制”，与 FAIL-8 / 没保持住定义（受载握姿不牢滑移 → 控制·抓取和接触设计）不一致。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "七个节点均未达成、断点 red_cap_in_pan（视频 2.4 s，FAIL: tool_slipped_in_hand）与现象「没保持住」经帧与 log step 86 核对成立；根因子类缺少握持几何证据，保留「控制」可接受，未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + 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"ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--f6ads7d/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "47134aef974c0e8c017be6f39b52a15b19f40dc1f7a50ba13232d71b18389607", + "video_sha256": "79c32dcbe8f573c829037ff975b98e834d6bdfe26c45644fb1bf39db8105d8e6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--jkrqvwq.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--jkrqvwq.json new file mode 100644 index 0000000000000000000000000000000000000000..402aa460d5799011123f96d382baf241a586e36d --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--jkrqvwq.json @@ -0,0 +1,457 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-standard--jkrqvwq", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 70, + "control_steps_total": 418412, + "elapsed_s": 3507.162, + "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": 26001, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 19, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 26001, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.559, + "peak_processes": 9, + "peak_disk_gb": 0.378, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-sweep-dustpan-i00-standard--jkrqvwq/replay.mp4", + "duration_s": 5.3, + "fps": 10.0, + "frames": 53, + "sha256": "87682e7a57697a7ab0a385eddcbc97f24e11784fad6dc32184752f83ea48a3b6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 7, + "final": 7, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s，橙色包装碎片位于簸箕入口左侧的灰色地面上，尚未入箕。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频0.6–1.5 s，右侧机械臂所持扫帚向绿色簸箕扫动；视频1.5 s刷头撤开后，橙色包装碎片已越过入口，完整位于绿色底板范围内，画面原生入箕计数由视频1.4 s的1/6变为6/6。视频1.6–3.2 s可见该件随簸箕共同移动并留在箕内，视频5.2 s末帧仍在；视频约3.3–5.2 s为仿真13.00 s的定格。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "推断：结合碎屑落在底板、随抬箕移动及原生入箕计数，判定入箕状态成立；首次时刻受刷头遮挡，采用视频1.5 s首次清楚显露时刻，误差约0.1–0.2视频秒。毫米级边界和接触力未作精确测量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频0.6–1.5 s，机器人右手所持扫帚刷头推扫橙色包装碎片越过簸箕入口；局部刷毛接触点被蓝色刷头遮挡，无法据此确认逐件刷毛接触力历史。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频1.5–3.2 s，左侧机械臂所持绿色簸箕从下方承接橙色包装碎片，随后连同碎屑抬离地面；此处按工具与碎屑的接触链记录双工具协作，不重复计握柄。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s，红色瓶盖位于簸箕入口左侧的灰色地面上，尚未入箕。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频0.6–1.5 s，右侧机械臂所持扫帚向绿色簸箕扫动；视频1.5 s刷头撤开后，红色瓶盖已越过入口，完整位于绿色底板范围内，画面原生入箕计数由视频1.4 s的1/6变为6/6。视频1.6–3.2 s可见该件随簸箕共同移动并留在箕内，视频5.2 s末帧仍在；视频约3.3–5.2 s为仿真13.00 s的定格。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "推断：结合碎屑落在底板、随抬箕移动及原生入箕计数，判定入箕状态成立；首次时刻受刷头遮挡，采用视频1.5 s首次清楚显露时刻，误差约0.1–0.2视频秒。毫米级边界和接触力未作精确测量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频0.6–1.5 s，机器人右手所持扫帚刷头推扫红色瓶盖越过簸箕入口；局部刷毛接触点被蓝色刷头遮挡，无法据此确认逐件刷毛接触力历史。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频1.5–3.2 s，左侧机械臂所持绿色簸箕从下方承接红色瓶盖，随后连同碎屑抬离地面；此处按工具与碎屑的接触链记录双工具协作，不重复计握柄。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s，棕色细长木屑位于簸箕入口左侧的灰色地面上，尚未入箕。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频0.6–1.5 s，右侧机械臂所持扫帚向绿色簸箕扫动；视频1.5 s刷头撤开后，棕色细长木屑已越过入口，完整位于绿色底板范围内，画面原生入箕计数由视频1.4 s的1/6变为6/6。视频1.6–3.2 s可见该件随簸箕共同移动并留在箕内，视频5.2 s末帧仍在；视频约3.3–5.2 s为仿真13.00 s的定格。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "推断：结合碎屑落在底板、随抬箕移动及原生入箕计数，判定入箕状态成立；首次时刻受刷头遮挡，采用视频1.5 s首次清楚显露时刻，误差约0.1–0.2视频秒。毫米级边界和接触力未作精确测量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频0.6–1.5 s，机器人右手所持扫帚刷头推扫棕色细长木屑越过簸箕入口；局部刷毛接触点被蓝色刷头遮挡，无法据此确认逐件刷毛接触力历史。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频1.5–3.2 s，左侧机械臂所持绿色簸箕从下方承接棕色细长木屑，随后连同碎屑抬离地面；此处按工具与碎屑的接触链记录双工具协作，不重复计握柄。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s，浅蓝色包装碎片位于簸箕入口左侧的灰色地面上，尚未入箕。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频0.6–1.5 s，右侧机械臂所持扫帚向绿色簸箕扫动；视频1.5 s刷头撤开后，浅蓝色包装碎片已越过入口，完整位于绿色底板范围内，画面原生入箕计数由视频1.4 s的1/6变为6/6。视频1.6–3.2 s可见该件随簸箕共同移动并留在箕内，视频5.2 s末帧仍在；视频约3.3–5.2 s为仿真13.00 s的定格。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "推断：结合碎屑落在底板、随抬箕移动及原生入箕计数，判定入箕状态成立；首次时刻受刷头遮挡，采用视频1.5 s首次清楚显露时刻，误差约0.1–0.2视频秒。毫米级边界和接触力未作精确测量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频0.6–1.5 s，机器人右手所持扫帚刷头推扫浅蓝色包装碎片越过簸箕入口；局部刷毛接触点被蓝色刷头遮挡，无法据此确认逐件刷毛接触力历史。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频1.5–3.2 s，左侧机械臂所持绿色簸箕从下方承接浅蓝色包装碎片，随后连同碎屑抬离地面；此处按工具与碎屑的接触链记录双工具协作，不重复计握柄。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s，米白色纸球位于簸箕入口左侧的灰色地面上，尚未入箕。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频0.6–1.5 s，右侧机械臂所持扫帚向绿色簸箕扫动；视频1.5 s刷头撤开后，米白色纸球已越过入口，完整位于绿色底板范围内，画面原生入箕计数由视频1.4 s的1/6变为6/6。视频1.6–3.2 s可见该件随簸箕共同移动并留在箕内，视频5.2 s末帧仍在；视频约3.3–5.2 s为仿真13.00 s的定格。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "推断：结合碎屑落在底板、随抬箕移动及原生入箕计数，判定入箕状态成立；首次时刻受刷头遮挡，采用视频1.5 s首次清楚显露时刻，误差约0.1–0.2视频秒。毫米级边界和接触力未作精确测量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频0.6–1.5 s，机器人右手所持扫帚刷头推扫米白色纸球越过簸箕入口；局部刷毛接触点被蓝色刷头遮挡，无法据此确认逐件刷毛接触力历史。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频1.5–3.2 s，左侧机械臂所持绿色簸箕从下方承接米白色纸球，随后连同碎屑抬离地面；此处按工具与碎屑的接触链记录双工具协作，不重复计握柄。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s，黄色瓶盖位于簸箕入口左侧的灰色地面上，尚未入箕。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频0.6–1.5 s，右侧机械臂所持扫帚向绿色簸箕扫动；视频1.5 s刷头撤开后，黄色瓶盖已越过入口，完整位于绿色底板范围内，画面原生入箕计数由视频1.4 s的1/6变为6/6。视频1.6–3.2 s可见该件随簸箕共同移动并留在箕内，视频5.2 s末帧仍在；视频约3.3–5.2 s为仿真13.00 s的定格。" + }, + { + "t": 1.5, + "log_step": null, + "text_zh": "推断：结合碎屑落在底板、随抬箕移动及原生入箕计数，判定入箕状态成立；首次时刻受刷头遮挡，采用视频1.5 s首次清楚显露时刻，误差约0.1–0.2视频秒。毫米级边界和接触力未作精确测量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频0.6–1.5 s，机器人右手所持扫帚刷头推扫黄色瓶盖越过簸箕入口；局部刷毛接触点被蓝色刷头遮挡，无法据此确认逐件刷毛接触力历史。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频1.5–3.2 s，左侧机械臂所持绿色簸箕从下方承接黄色瓶盖，随后连同碎屑抬离地面；此处按工具与碎屑的接触链记录双工具协作，不重复计握柄。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [ + [ + 2.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s绿色簸箕入口贴着地面，尚未抬起；视频2.0–2.8 s左侧机械臂带动簸箕上升，入口、底板及所载六件共同离地。视频2.6–3.2 s已明显抬起，视频5.2 s末帧保持此姿态。" + }, + { + "t": 2.6, + "log_step": 431, + "text_zh": "推断：视频约2.6 s的离地间距、底板投影变化与成功参考的抬箕画面一致，判定达到约50毫米抬高阈值，时刻误差约0.2视频秒；log step 431提交的最终控制器载入v8轨迹，log step 186的该轨迹目标为竖直上移65毫米，仅作为动作背景，节点时刻依据视频。原生pan_lift_m未报告，不能精确复核高度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：log step 166的任务初态为左手握簸箕柄；视频2.0–3.2 s簸箕通过其长柄受左臂控制升起并保持，未见脱手。工作相机未直接呈现手指包络细节，结合初始握持与连续持柄运动判断为左手抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_raised", + "t": 3.2, + "log_step": 447, + "where": "终态验收", + "evidence_zh": "观察：视频1.5 s原生入箕计数已为6/6，视频2.6–3.2 s簸箕已抬起且六件保留在箕内，但到视频5.2 s末帧（画面仿真13.00 s，末尾约2视频秒定格）仍显示IN PROGRESS，未显示成功；inputs/run.json的success与live_success均为0。推断：七个即时几何节点已经达到，未通过的是装载后抬箕的联合终态验收，故断点归抬起簸箕；视频3.2 s只是最后有效动作附近的导航锚点，不能定位具体哪项验收量首先不足。" + }, + "unmet": { + "orange_package_in_pan": true, + "red_cap_in_pan": true, + "wood_chip_in_pan": true, + "blue_package_in_pan": true, + "paper_ball_in_pan": true, + "yellow_cap_in_pan": true, + "pan_raised": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次没有状态日志；已检查全部53帧、扫入与抬箕处的放大图及末尾一秒，并比较成功参考。入箕和抬高的可见结果均达到，但reward未提供pan_lift_m、linear_speed_m_s、angular_speed_rad_s、terminal_run，也没有逐件刷毛接触及簸箕支承力诊断。刷头遮挡部分扫入接触点，无法分辨是刷毛历史、力阈值、速度、精确高度或联合连续保持条件未满足，故物理失败现象留空；不把IN PROGRESS或success=0改写为某个接触失败。末尾约2视频秒为仿真13.00 s定格，不能计作额外保持。会话其他重置局的诊断不作为本局节点值。 根因证据亦不足：inputs/run.json log step 443只报告Episode 20第二阶段正在执行，log step 446仅余49.9 s；log step 447的“solved”和速度合格属于agent自述，没有记录证明该完成信念导致放弃可执行的检查或补救，也无法解释联合验收失败。故根因留空，不据最终宣称改标认知或控制；具体失败原因无法由现有视频或日志判定。" + }, + "summary_zh": "本次评分Episode 20在视频约1.5 s将六件碎屑扫入绿色簸箕，视频约2.6 s抬起簸箕并保持到末帧，七个即时状态节点最终均成立。装载后抬箕的联合终态验收仍未通过：视频末帧为IN PROGRESS且live_success=0。没有逐件接触、速度和terminal_run诊断，无法确定具体物理失效条件；最终完成宣称也不足以证明错误信念导致停止，故失败现象和根因均留空，末尾约2视频秒为定格。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值与时间经帧核对基本成立（视频约1.5 s六件入箕，约2.2–2.6 s簸箕抬起并保持到末帧，末尾定格对应仿真13.00 s）；终态验收断点合理。问题在根因：认知·误以为完成缺乏“预算尚有而停止”的支撑，且不能解释评分器为何未通过。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值与时间经帧核对成立（视频约1.4–1.6 s入箕计数1/6→6/6，约2.6 s簸箕已抬起，末帧仍IN PROGRESS）；断点归终态验收、现象与根因因证据不足留空并附gap_zh，符合规则。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:37:55Z", + "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-sweep-dustpan-i00-standard--jkrqvwq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--jkrqvwq/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--jkrqvwq/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--jkrqvwq/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "570a0da1c4569c2b4fd456c5b68a6255a9805adb790828d2388887ea3a1f62a2", + "video_sha256": "87682e7a57697a7ab0a385eddcbc97f24e11784fad6dc32184752f83ea48a3b6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--q3xcyzx.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--q3xcyzx.json new file mode 100644 index 0000000000000000000000000000000000000000..c4fcfa5a46a90372251172c431d90e0df03f22b1 --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--q3xcyzx.json @@ -0,0 +1,330 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-standard--q3xcyzx", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 127, + "control_steps_total": 140574, + "elapsed_s": 3646.44, + "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": 13007, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 13, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 13007, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.395, + "peak_processes": 10, + "peak_disk_gb": 0.867, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-sweep-dustpan-i00-standard--q3xcyzx/replay.mp4", + "duration_s": 3.7, + "fps": 10.0, + "frames": 37, + "sha256": "406167500c2f91ef8bed30924dc2a6754a3f420f20185d120046804f8c7f6027" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0.0–1.7 s 中橙色包装一直位于簸箕入口左侧；视频 1.7 s 仍在扫帚右缘旁的地面上，未越过入口。视频 1.7–3.6 s 为相同终止画面的定格，屏幕评分状态为 in pan 0/6。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 0.3–1.2 s，机器人右手所持扫帚向包含橙色包装的碎屑排作同一次推扫；刷头行程止于碎屑排左部，未见刷毛把该物推入簸箕。此项记录实际推扫尝试，不宣称已建立该物的刷毛接触。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红色瓶盖在入口外；视频 0.9–1.7 s 扫帚推进至瓶盖处并遮住其左侧，但瓶盖右缘仍留在地面，未进入簸箕。视频 1.7–3.6 s 为相同终止画面的定格，屏幕评分状态为 in pan 0/6。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 0.9–1.7 s，机器人右手所持扫帚的刷毛边缘推进至红色瓶盖左侧，瓶盖部分被刷头遮挡，仍未入箕；推断：发生了工具边缘的推扫接触。没有碎屑被簸箕托住的证据。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0.0–1.7 s 棕色细长木屑始终在黄色瓶盖右侧、簸箕入口外的地面，未被扫到入口内。视频 1.7–3.6 s 为相同终止画面的定格，屏幕评分状态为 in pan 0/6。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 0.3–1.2 s，机器人右手所持扫帚向包含棕色木屑的碎屑排作同一次推扫；刷头行程止于碎屑排左部，未见刷毛把该物推入簸箕。此项记录实际推扫尝试，不宣称已建立该物的刷毛接触。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0.0–1.7 s 浅蓝色包装始终在簸箕入口左侧的地面；簸箕移动后它仍在入口外，未随簸箕承载。视频 1.7–3.6 s 为相同终止画面的定格，屏幕评分状态为 in pan 0/6。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 0.3–1.2 s，机器人右手所持扫帚向包含浅蓝色包装的碎屑排作同一次推扫；刷头行程止于碎屑排左部，未见刷毛把该物推入簸箕。此项记录实际推扫尝试，不宣称已建立该物的刷毛接触。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0.0–1.7 s 米白纸球一直位于扫帚与入口之间的地面，未越过入口。视频 1.7–3.6 s 为相同终止画面的定格，屏幕评分状态为 in pan 0/6。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 0.3–1.2 s，机器人右手所持扫帚向包含米白纸球的碎屑排作同一次推扫；刷头行程止于碎屑排左部，未见刷毛把该物推入簸箕。此项记录实际推扫尝试，不宣称已建立该物的刷毛接触。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黄色瓶盖在入口外；视频 1.1–1.7 s 扫帚右下端抵近瓶盖左侧，但瓶盖仍在入口外的地面。视频 1.7–3.6 s 为相同终止画面的定格，屏幕评分状态为 in pan 0/6。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 0.9–1.7 s，机器人右手所持扫帚的刷毛边缘推进至黄色瓶盖左侧，瓶盖部分被刷头遮挡，仍未入箕；推断：发生了工具边缘的推扫接触。没有碎屑被簸箕托住的证据。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 簸箕入口斜坡贴地，起始未抬起。" + }, + { + "t": 1.7, + "log_step": 7, + "text_zh": "推断：视频 1.3–1.7 s 簸箕上移并倾斜，但未达到原点抬高 50 mm；以视频 0.0 s、1.7 s 可见的簸箕壁上缘四角，结合 log step 7 工作相机内外参及任务簸箕尺寸作粗略平面位姿比较，中心高度增量约 40 mm（透视与选点有误差），故未计入抬箕达成。视频 1.7 s 起显示 FAIL: robot_self_collision，之后至视频 3.6 s 为定格。" + }, + { + "t": 1.1, + "log_step": 165, + "text_zh": "观察：最终 episode 14 的服务输出在 log step 165 报 sweep control_steps=8800、settle=9800；log step 167 报 lift control_steps=13007、done=true、task_failure。推断：按文本给出的 2000 Hz 和画面 native replay 4x，8800/2000/4=视频 1.10 s；已与视频 1.1 s 屏幕仿真 4.40 s 的扫帚停靠核对，终止仿真 6.50 s 对应视频约 1.7 s，不能把末尾定格算作继续抬升或保持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频 0.0–1.7 s 左手保持握持簸箕柄，簸箕随左臂重定位和抬升动作移动；依据初始握持条件及 log step 159、163 的左臂动作与可见工具运动相符。手与柄的接触点位于工作相机画面上方。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "red_cap_in_pan", + "t": 1.1, + "log_step": 165, + "where": "操作中", + "evidence_zh": "观察：视频 0.9–1.2 s，机器人右手的扫帚停在红瓶盖处，瓶盖仍在入口外，簸箕内为空；随后视频 1.3–1.7 s 左侧工具臂开始抬空簸箕，未再补扫。推断：红瓶盖与黄瓶盖的本轮扫入均未完成且从未修复，取较早抵达刷毛边缘的红瓶盖节点作断点导航，不表示任务要求先扫红瓶盖。后续视频 1.7 s 的 robot_self_collision 是抬箕期间的终止事件，未修复之前的扫入失败。" + }, + "unmet": { + "orange_package_in_pan": false, + "red_cap_in_pan": false, + "wood_chip_in_pan": false, + "blue_package_in_pan": false, + "paper_ball_in_pan": false, + "yellow_cap_in_pan": false, + "pan_raised": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 1.1, + "log_step": 165, + "evidence_zh": "观察：视频 0.3–1.1 s 机器人扫帚向入口方向移动，但刷头停在红瓶盖左侧附近，至视频 1.7 s 红瓶盖仍未越过入口；屏幕始终显示 in pan 0/6。推断：有效扫动行程未覆盖从碎屑所在位置至簸箕内的路径，扫入目标未到位。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：扫帚的运动与接触执行未实现扫入目标。log step 159 的最终控制脚本只为右掌求世界 +y 方向 0.28 m 的关节目标并插值执行，扫动与静置后仅检查服务 done 标志，不检查碎屑是否入箕就执行抬升；log step 163 修改左手重定位后重跑该脚本，log step 165 确认扫动阶段返回。视频 1.1–1.7 s 刷头却仍停在碎屑排左部且六件均在箕外，控制器没有补偿该结果。现有证据不足以区分夹持传递、轨迹跟踪或接触受力的具体贡献，停在控制大类。" + } + ], + "gap_zh": "没有状态日志；原生抬高量、速度、保持计数及工具接触力未在评分字段中报告。簸箕抬高节点根据可见几何与相机标定粗估，约 40 mm 的高度增量有选点误差；红黄瓶盖的刷毛接触由前后帧及遮挡关系推断，其他四件只确认受到同一轮推扫尝试，不能确认刷毛接触。自碰撞的具体机器人连杆在画面外，终止原因来自视频屏幕原生状态。" + }, + "summary_zh": "评分轨迹中机器人完成工具重定位并作一次扫动，但六件碎屑全部仍在入口外，七个节点最终均未达成；红瓶盖扫入在视频约 1.1 s 停滞后未被修复，机器人随后抬空簸箕，视频约 1.7 s 因原生状态所报 robot_self_collision 终止。扫动控制未把碎屑推进簸箕且没有根据实际入箕结果补扫；无状态日志，抬高不足阈值的判断依赖画面几何粗估，具体接触和自碰撞连杆不能精确定位。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "七个节点均未达成、无区间，与视频一致：整段画面 in pan 0/6，六件碎屑始终在簸箕外；时钟换算（8800 控制步÷2000÷4=视频 1.1 s，对应屏幕仿真 4.40 s）与画面吻合；断点取红瓶盖入箕、操作中，扫动停滞后未补扫即抬箕、1.7 s 自碰撞终止，合理；现象“位姿不准”和根因停在“控制”证据有限但未过度声称。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:34:07Z", + "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-sweep-dustpan-i00-standard--q3xcyzx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--q3xcyzx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1a810d810dd54e5c00ec92dd487c8df59a62b72ce21a5a38b36e7252b6c5ad79", + "video_sha256": "406167500c2f91ef8bed30924dc2a6754a3f420f20185d120046804f8c7f6027", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--ue86jue.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--ue86jue.json new file mode 100644 index 0000000000000000000000000000000000000000..0fc4da367948b647d8bd514d8d00f3c064ab40be --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--ue86jue.json @@ -0,0 +1,342 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-standard--ue86jue", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 114, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 22903, + "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": 22903, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.378, + "peak_processes": 10, + "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-sweep-dustpan-i00-standard--ue86jue/replay.mp4", + "duration_s": 4.9, + "fps": 10.0, + "frames": 49, + "sha256": "881a194741a4bf02eaedb7ca56c60db00cfbdac674120aaca8e4eb5c8cc5b12a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频 1.4–1.8 s，橙色包装由刷毛前方原位置向入口移动，随后被刷头遮住。" + }, + { + "t": 2.9, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–4.8 s 的全部帧；原生画面叠字 in pan（评分器的完整入箕件数）始终为 0/6，视频 2.9 s 已显示 FAIL，之后至视频 4.8 s 为同一终态定格。因此橙色包装碎片没有达到 DAG 要求的完整容纳并与簸箕接触，尽管部分物体在画面投影中已落在绿色入口上。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.2–2.9 s，右手持扫帚，刷毛沿地面把橙色包装碎片向簸箕入口推扫；左手持簸箕保持接料位置。推断：局部被刷头遮住的接触由接近前及随后位移判断，不据此声称簸箕已托住该物。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频 1.2–1.9 s，红色瓶盖最先随刷毛向簸箕移动；视频 2.0–2.9 s，它停在入口、紧邻刷头。" + }, + { + "t": 2.9, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–4.8 s 的全部帧；原生画面叠字 in pan（评分器的完整入箕件数）始终为 0/6，视频 2.9 s 已显示 FAIL，之后至视频 4.8 s 为同一终态定格。因此红色瓶盖没有达到 DAG 要求的完整容纳并与簸箕接触，尽管部分物体在画面投影中已落在绿色入口上。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.2–2.9 s，右手持扫帚，刷毛沿地面把红色瓶盖向簸箕入口推扫；左手持簸箕保持接料位置。推断：局部被刷头遮住的接触由接近前及随后位移判断，不据此声称簸箕已托住该物。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频 1.7 s，木屑尚在灰色地面；视频 1.8–2.0 s，刷毛到达木屑并把它向入口推移，末段在刷头下方部分露出。" + }, + { + "t": 2.9, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–4.8 s 的全部帧；原生画面叠字 in pan（评分器的完整入箕件数）始终为 0/6，视频 2.9 s 已显示 FAIL，之后至视频 4.8 s 为同一终态定格。因此棕色木屑没有达到 DAG 要求的完整容纳并与簸箕接触，尽管部分物体在画面投影中已落在绿色入口上。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.2–2.9 s，右手持扫帚，刷毛沿地面把棕色木屑向簸箕入口推扫；左手持簸箕保持接料位置。推断：局部被刷头遮住的接触由接近前及随后位移判断，不据此声称簸箕已托住该物。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频 0.0–1.7 s，浅蓝色包装仍在入口外的地面；视频 1.8–1.9 s，刷头前进到其原位置并遮住该碎片。" + }, + { + "t": 2.9, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–4.8 s 的全部帧；原生画面叠字 in pan（评分器的完整入箕件数）始终为 0/6，视频 2.9 s 已显示 FAIL，之后至视频 4.8 s 为同一终态定格。因此浅蓝色包装碎片没有达到 DAG 要求的完整容纳并与簸箕接触，尽管部分物体在画面投影中已落在绿色入口上。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.2–2.9 s，右手持扫帚，刷毛沿地面把浅蓝色包装碎片向簸箕入口推扫；左手持簸箕保持接料位置。推断：局部被刷头遮住的接触由接近前及随后位移判断，不据此声称簸箕已托住该物。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频 1.7–1.9 s，刷毛把纸球从灰色地面推到绿色入口区域；视频 2.0–2.7 s，纸球仍紧靠入口及刷头，没有深入簸箕。" + }, + { + "t": 2.9, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–4.8 s 的全部帧；原生画面叠字 in pan（评分器的完整入箕件数）始终为 0/6，视频 2.9 s 已显示 FAIL，之后至视频 4.8 s 为同一终态定格。因此米白色纸球没有达到 DAG 要求的完整容纳并与簸箕接触，尽管部分物体在画面投影中已落在绿色入口上。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.2–2.9 s，右手持扫帚，刷毛沿地面把米白色纸球向簸箕入口推扫；左手持簸箕保持接料位置。推断：局部被刷头遮住的接触由接近前及随后位移判断，不据此声称簸箕已托住该物。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频 1.5–1.9 s，黄色瓶盖随刷毛向入口移动；视频 2.0–2.9 s，它在刷头下端附近、入口边缘停住。" + }, + { + "t": 2.9, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–4.8 s 的全部帧；原生画面叠字 in pan（评分器的完整入箕件数）始终为 0/6，视频 2.9 s 已显示 FAIL，之后至视频 4.8 s 为同一终态定格。因此黄色瓶盖没有达到 DAG 要求的完整容纳并与簸箕接触，尽管部分物体在画面投影中已落在绿色入口上。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 1.2–2.9 s，右手持扫帚，刷毛沿地面把黄色瓶盖向簸箕入口推扫；左手持簸箕保持接料位置。推断：局部被刷头遮住的接触由接近前及随后位移判断，不据此声称簸箕已托住该物。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，绿色簸箕入口贴在灰色地面，六件碎屑均在入口外。" + }, + { + "t": 2.9, + "log_step": 62, + "text_zh": "观察：视频 0.0–2.9 s，簸箕位置和大小基本不变，入口始终贴地；视频 2.9–4.8 s 为失败终态定格，没有抬箕动作。log step 62 的最后一局记录在 follow 推扫阶段 DONE task_failure，未执行后面的 pan 抬箕阶段。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "red_cap_in_pan", + "t": 2.9, + "log_step": 62, + "where": "操作中", + "evidence_zh": "观察：视频 1.2 s 起，刷毛先推动红色瓶盖，随后同一次推扫逐步覆盖其余五件；视频 2.0–2.8 s，红瓶盖仍紧贴刷头停在入口，原生入箕计数始终 0/6。视频 2.9 s 的评分器叠字变为 FAIL: robot_self_collision（机器人自身部件碰撞），此时仍在推扫而非抬箕；log step 62 也记录最后一局 follow 阶段 DONE task_failure。推断：六件属于并行推扫，选最先开始且此后一直未完成的红瓶盖入箕为断点，其他五件同样未完成。" + }, + "unmet": { + "orange_package_in_pan": false, + "red_cap_in_pan": false, + "wood_chip_in_pan": false, + "blue_package_in_pan": false, + "paper_ball_in_pan": false, + "yellow_cap_in_pan": false, + "pan_raised": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 2.9, + "log_step": 62, + "evidence_zh": "观察：视频 2.8 s 仍为 IN PROGRESS，视频 2.9 s 明确显示评分器 FAIL: robot_self_collision，画面模拟时钟为仿真 11.45 s；簸箕未抬起，刷头仍停在入口。机器人自身碰撞是原生判定，发生碰撞的具体机器人部件在该视角之外。log step 62 记录的是推扫 follow 阶段终止。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志、视频", + "evidence_zh": "推断：本次扫入控制没有保持无自碰的机器人运动。log step 11 的自编 IK 仅以手掌位置与姿态误差更新七个臂关节，没有自身碰撞检查；log step 57、60 的最终控制器沿预设手掌路径求解关节目标，仅以手掌位置误差作补偿。视频 2.9 s 在该推扫过程中原生判定 robot_self_collision，log step 62 确认 follow 阶段终止。现有证据支持控制层失败，不能进一步确定具体碰撞部位或其与入口处接触负载的关系。" + } + ], + "gap_zh": "没有状态日志，单一俯视视频看不到手部及大部分机械臂，无法定位自身碰撞的具体部件，也无法测得接触力、毫米级容纳边界或工具相对手掌的滑移。入箕状态由已检查的几何过程和逐帧原生 0/6 计数共同判定；四项 native_metrics 在 run.json 评分字段均未报告，故 value 为 null。agent 在 log step 65 自述工具滑移及猜测入口碰撞形状有台阶，但视频 2.9 s 原生判负为 robot_self_collision，不能据该自述改成工具脱手或任务设计问题。六件在一次推扫中并行尝试，断点按最先被推动且始终未完成的红瓶盖选取；其他件与该断点共享失败过程。D16(b) 接触按 DAG 的工具链读法记录刷毛推扫；没有证据补记簸箕托住碎屑。" + }, + "summary_zh": "机器人用右手扫帚把六件碎屑推到簸箕入口附近，但视频原生完整入箕计数始终为 0/6，左手簸箕始终未抬起，七个节点均未达到。红瓶盖入箕是最先开始而始终未完成的步骤；视频约 2.9 s 在继续推扫时因机器人自身碰撞终止，自编手掌 IK 与位置补偿控制未维持无自碰运动。视频末尾约两秒为失败定格，手臂碰撞部位不可见；agent 对工具滑移及入口几何的解释缺乏本次评分轨迹的直接支持。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "七个节点均未达成（原生 in pan 始终 0/6，视频 2.9 s 起 FAIL: robot_self_collision，其后定格），断点、被挡/碰撞现象与停在“控制”的根因均有视频叠字和 log 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": "2026-10-30T19:34:47Z", + "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-sweep-dustpan-i00-standard--ue86jue/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--ue86jue/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a8d9bbf05d7b4f9ccb2b7aa5d46f76bf74dd6d4b33d1db394347114f7d502f79", + "video_sha256": "881a194741a4bf02eaedb7ca56c60db00cfbdac674120aaca8e4eb5c8cc5b12a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--vkcepus.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--vkcepus.json new file mode 100644 index 0000000000000000000000000000000000000000..fa30b21dc4b3bb61d88b6fe9c3e4ab5fe528c38b --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--vkcepus.json @@ -0,0 +1,412 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-standard--vkcepus", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 19, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 42073, + "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": 42073, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.431, + "peak_processes": 9, + "peak_disk_gb": 0.299, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-sweep-dustpan-i00-standard--vkcepus/replay.mp4", + "duration_s": 7.3, + "fps": 10.0, + "frames": 73, + "sha256": "64274002a72a566bfe03214d4dccc9260cec47ae26a3cf03cfd4fb0c69cb3991" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 6, + "final": 5, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频1.9 s，橙色包装已在刷头后方的绿色簸箕内；视频2.2 s画面原生计数为in pan 5/6。" + }, + { + "t": 3.4, + "log_step": null, + "text_zh": "推断：逐帧检查视频3.2–4.3 s，补扫期间橙色包装被刷头遮住后在更靠内处重新显露；其余四件已入箕碎屑保持原处。视频3.4 s、视频3.6 s和视频4.1 s原生计数各短暂降为4/6，下一帧即回到5/6，依不足约0.3 s的短暂波动不拆开状态区间。" + }, + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频4.5 s刷头已撤至簸箕外，橙色包装留在箕底；视频5.3 s及视频6.2–7.2 s末尾定格中仍在箕内。画面显示in pan 5/6，未完成的是刷头旁的黄瓶盖。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚的刷毛接触并推动橙色包装越过入口；扫帚撤回时仍有补扫。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手所持簸箕的斜坡和底板承接橙色包装，之后橙色包装留在绿色底板上；不另重复工具握持接触。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 2.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "推断：视频1.8–2.2 s，刷头遮住部分碎屑，原生入箕计数从2/6增至5/6；结合视频2.7–3.0 s刷头撤开后可见红瓶盖完整留在箕内、黄瓶盖仍在入口处，保守将红瓶盖的首达锚点取为视频2.2 s，实际首达可能早约0.4 s。" + }, + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频4.5 s刷头已撤至簸箕外，红瓶盖留在箕底；视频5.3 s及视频6.2–7.2 s末尾定格中仍在箕内。画面显示in pan 5/6，未完成的是刷头旁的黄瓶盖。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚的刷毛接触并推动红瓶盖越过入口；扫帚撤回时仍有补扫。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手所持簸箕的斜坡和底板承接红瓶盖，之后红瓶盖留在绿色底板上；不另重复工具握持接触。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [ + [ + 2.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "推断：视频1.8–2.2 s，刷头遮住部分碎屑，原生入箕计数从2/6增至5/6；结合视频2.7–3.0 s刷头撤开后可见棕色木屑完整留在箕内、黄瓶盖仍在入口处，保守将棕色木屑的首达锚点取为视频2.2 s，实际首达可能早约0.4 s。" + }, + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频4.5 s刷头已撤至簸箕外，棕色木屑留在箕底；视频5.3 s及视频6.2–7.2 s末尾定格中仍在箕内。画面显示in pan 5/6，未完成的是刷头旁的黄瓶盖。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚的刷毛接触并推动棕色木屑越过入口；扫帚撤回时仍有补扫。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手所持簸箕的斜坡和底板承接棕色木屑，之后棕色木屑留在绿色底板上；不另重复工具握持接触。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 2.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "推断：视频1.8–2.2 s，刷头遮住部分碎屑，原生入箕计数从2/6增至5/6；结合视频2.7–3.0 s刷头撤开后可见浅蓝包装完整留在箕内、黄瓶盖仍在入口处，保守将浅蓝包装的首达锚点取为视频2.2 s，实际首达可能早约0.4 s。" + }, + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频4.5 s刷头已撤至簸箕外，浅蓝包装留在箕底；视频5.3 s及视频6.2–7.2 s末尾定格中仍在箕内。画面显示in pan 5/6，未完成的是刷头旁的黄瓶盖。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚的刷毛接触并推动浅蓝包装越过入口；扫帚撤回时仍有补扫。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手所持簸箕的斜坡和底板承接浅蓝包装，之后浅蓝包装留在绿色底板上；不另重复工具握持接触。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [ + [ + 1.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.8, + "log_step": null, + "text_zh": "观察：视频1.8 s，米白纸球在刷头右侧越过入口、落入绿色簸箕，画面原生计数为in pan 2/6。" + }, + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频4.5 s刷头已撤至簸箕外，米白纸球留在箕底；视频5.3 s及视频6.2–7.2 s末尾定格中仍在箕内。画面显示in pan 5/6，未完成的是刷头旁的黄瓶盖。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚的刷毛接触并推动米白纸球越过入口；扫帚撤回时仍有补扫。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手所持簸箕的斜坡和底板承接米白纸球，之后米白纸球留在绿色底板上；不另重复工具握持接触。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 5.2, + 5.3 + ] + ], + "final": false, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频1.9–4.9 s，黄瓶盖多次被扫动，仍主要停在簸箕左侧入口附近；视频4.5 s刷头撤开，其他五件明显更靠内，原生计数为in pan 5/6。" + }, + { + "t": 5.2, + "log_step": null, + "text_zh": "推断：视频5.1 s原生入箕计数为5/6，视频5.2 s升到6/6，视频5.3 s判负时回到5/6；其余五件位置稳定，黄瓶盖正在刷头下移动，故将黄瓶盖短暂满足入箕及承接条件记为视频5.2–5.3 s。其失去状态持续到结束，不能按短暂下降平滑掉；区间端点误差约0.1 s。" + }, + { + "t": 5.3, + "log_step": 94, + "text_zh": "观察：视频5.3 s刷头下端旁露出黄瓶盖，画面显示in pan 5/6及FAIL: tool_slipped_in_hand；视频6.2–7.2 s均为同一终止定格。推断：结合其他五件仍在箕底，黄瓶盖终态没有满足完整入箕并由簸箕承接的联合判据。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚刷毛反复推扫黄瓶盖，视频5.0–5.3 s黄瓶盖随刷头向箕内移动，末尾仍贴近刷头下端。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手所持簸箕入口斜坡承接黄瓶盖；视频5.2 s原生计数6/6支持一次短暂的完整入箕与簸箕承接，视频5.3 s未保持。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频0–5.3 s簸箕一直贴在灰色地面原位置，视频6.2–7.2 s终止定格也未抬高；参考成功视频4.0–5.5 s可见簸箕抬离地面的明显位移，本次没有该动作。" + }, + { + "t": null, + "log_step": 128, + "text_zh": "观察：log step 76、82、88、93的本局控制脚本保持左臂目标，只修改右臂扫帚轨迹；log step 128仅计算左臂抬箕逆解，没有提交执行，且log step 94服务已返回done=true、reason=task_failure。因此会话中的抬箕计算不计本局动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "yellow_cap_in_pan", + "t": 5.3, + "log_step": 94, + "where": "操作中", + "evidence_zh": "观察：视频4.9–5.3 s机器人仍用扫帚补扫黄瓶盖，视频5.2 s入箕计数短暂达到6/6，视频5.3 s变为5/6并显示FAIL: tool_slipped_in_hand，之后不再运动。log step 93提交的正是黄瓶盖补扫及撤帚动作，log step 94服务返回episode=3、done=true、task_failure。推断：最先未修复的步骤是黄瓶盖入簸箕，工具在手中滑移是该操作中的失败事件。" + }, + "unmet": { + "orange_package_in_pan": true, + "red_cap_in_pan": true, + "wood_chip_in_pan": true, + "blue_package_in_pan": true, + "paper_ball_in_pan": true, + "yellow_cap_in_pan": false, + "pan_raised": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 5.3, + "log_step": 94, + "evidence_zh": "观察：视频5.3 s原生回放明确报FAIL: tool_slipped_in_hand（工具在手中滑移），并冻结于仿真21.04 s；扫帚此前一直随右臂扫动，未发生计划松手。log step 94服务也返回本局task_failure。推断：原有工具握持未能维持所需的相对位姿，属于没保持住；不是从零奖励推断接触失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 76、82、88、93的本局脚本均先复制整手臂目标，随后只更新rows的右臂7:14列，手指目标固定；每批轨迹按预先计算的位姿执行。视频5.3 s的原生判负为工具相对手掌滑移；log step 121、123事后图像估计也显示扫帚相对手掌转角逐步累积，而log step 122掌部自身朝向变化较小。这支持工具握持与扫动控制未能维持相对位姿；事后图像估计不是原生测量，不据此声称精确越阈值量，也不足以细分握持设计或反馈控制。" + } + ], + "gap_zh": "没有状态日志，画面只给入箕总数，不给逐件接触力或全形状边界；刷头遮挡使部分碎屑的首次入箕时间有约0.4 s误差，黄瓶盖在终止时究竟失去支承接触还是完整包含条件不能再细分。手部握持区域不在视频视野，原生滑移判负可以确认失败现象，但具体滑移量、转角及是否由碰壁引发没有独立诊断；log step 117的碰壁分析只是agent事后判断，故不另标被挡/碰撞。四项原生连续指标均未在reward报告，保留null。" + }, + "summary_zh": "评分视频中五件碎屑在视频约1.8–2.2 s陆续入箕并最终保持，黄瓶盖在视频5.2 s短暂达成、视频5.3 s失去入箕状态，簸箕始终未抬起，最终为5/7。黄瓶盖补扫期间原生回放以tool_slipped_in_hand判负，现象为工具没保持住，根因仅支持到控制层；log step 129的模型过滤发生在log step 94本局已判负之后，不改变这次物理失败。视频为四倍速且视频5.3–7.2 s为终止定格；缺少逐件接触与握持状态，部分首达时间和滑移机制只能结合总计数及日志推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点、时间、断点（黄瓶盖入箕，视频5.3 s原生FAIL: tool_slipped_in_hand）、现象（没保持住）与根因（控制，仅到层级）与画面一致，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:27:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--vkcepus/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--vkcepus/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7f3b527de010af17fcc635f74fc4f480756064d88741aaa8557b9d2fccb99c7e", + "video_sha256": "64274002a72a566bfe03214d4dccc9260cec47ae26a3cf03cfd4fb0c69cb3991", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--ymjjvbw.json b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--ymjjvbw.json new file mode 100644 index 0000000000000000000000000000000000000000..26ce1a95d383dfb5c25d6fb078bc62c5dab5084f --- /dev/null +++ b/phase2/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--ymjjvbw.json @@ -0,0 +1,404 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-standard--ymjjvbw", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 63, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 89000, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 89000, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.621, + "peak_processes": 10, + "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-sweep-dustpan-i00-standard--ymjjvbw/replay.mp4", + "duration_s": 13.2, + "fps": 10.0, + "frames": 132, + "sha256": "1f6efaadf5dbb0d1232ea67c509dc6442c8496b06ec1c00aa32cdcae789bb239" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 7, + "final": 7, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 4.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.9, + "log_step": null, + "text_zh": "观察：视频 3.4–4.6 s，橙色包装仍在簸箕入口斜坡附近；视频 4.7–4.9 s 机器人右手扫帚补扫后，碎屑向内部移动，画面原生 in pan 计数从2/6经4/6升至6/6。推断：橙色包装在视频约4.9 s完整入箕，逐件越界时刻部分被扫帚挡住，误差约0.2 s。" + }, + { + "t": 13.1, + "log_step": 143, + "text_zh": "观察：视频 5.0–11.1 s，橙色包装随簸箕抬高和调平，未见被扫出或掉落；视频 12.2–13.1 s逐帧检查仍是原生 in pan 6/6，画面模拟时钟固定在仿真44.50 s。推断：结合抬起前后位置与该计数，橙色包装终态仍完整入箕并由簸箕承接；末尾定格不计作保持时长。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚推进橙色包装所在碎屑组，并在入口处补扫；左手同时持簸箕接料。接触按扫帚至碎屑的工具链记录，不据此断言刷毛接触力达到评分阈值。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接橙色包装，随后随箕抬起；不重复标握工具的接触。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 4.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.9, + "log_step": null, + "text_zh": "观察：视频 3.4–4.6 s，红色瓶盖仍在簸箕入口斜坡附近；视频 4.7–4.9 s 机器人右手扫帚补扫后，碎屑向内部移动，画面原生 in pan 计数从2/6经4/6升至6/6。推断：红色瓶盖在视频约4.9 s完整入箕，逐件越界时刻部分被扫帚挡住，误差约0.2 s。" + }, + { + "t": 13.1, + "log_step": 143, + "text_zh": "观察：视频 5.0–11.1 s，红色瓶盖随簸箕抬高和调平，未见被扫出或掉落；视频 12.2–13.1 s逐帧检查仍是原生 in pan 6/6，画面模拟时钟固定在仿真44.50 s。推断：结合抬起前后位置与该计数，红色瓶盖终态仍完整入箕并由簸箕承接；末尾定格不计作保持时长。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚推进红色瓶盖所在碎屑组，并在入口处补扫；左手同时持簸箕接料。接触按扫帚至碎屑的工具链记录，不据此断言刷毛接触力达到评分阈值。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接红色瓶盖，随后随箕抬起；不重复标握工具的接触。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [ + [ + 3.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.4, + "log_step": null, + "text_zh": "观察：视频 3.2–3.5 s，棕色木屑随扫帚推进越过入口，视频 3.5–4.6 s 可见其停在簸箕内部底板上，而橙包装、蓝包装和两只瓶盖仍靠入口；画面原生 in pan 计数在视频 3.2 s 为1/6、视频 3.4 s 为2/6。推断：这两件先完成入箕，分别跨界的瞬间受扫帚遮挡，统一以视频约3.4 s标注，误差约0.3 s。" + }, + { + "t": 13.1, + "log_step": 143, + "text_zh": "观察：视频 5.0–11.1 s，棕色木屑随簸箕抬高和调平，未见被扫出或掉落；视频 12.2–13.1 s逐帧检查仍是原生 in pan 6/6，画面模拟时钟固定在仿真44.50 s。推断：结合抬起前后位置与该计数，棕色木屑终态仍完整入箕并由簸箕承接；末尾定格不计作保持时长。" + }, + { + "t": 3.4, + "log_step": 132, + "text_zh": "观察：视频 3.0–3.5 s木屑与黄瓶盖紧邻移动并进入簸箕，视频 8.0–9.2 s扫帚又掠过已装载碎屑；agent在log step 132自述木屑可能由相邻瓶盖推动。推断：簸箕承接木屑可确认，但无法分辨木屑被刷毛直接推动还是经瓶盖传力，故不额外断言木屑与刷毛的直接接触。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接棕色木屑，随后随箕抬起；不重复标握工具的接触。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 4.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.9, + "log_step": null, + "text_zh": "观察：视频 3.4–4.6 s，浅蓝色包装仍在簸箕入口斜坡附近；视频 4.7–4.9 s 机器人右手扫帚补扫后，碎屑向内部移动，画面原生 in pan 计数从2/6经4/6升至6/6。推断：浅蓝色包装在视频约4.9 s完整入箕，逐件越界时刻部分被扫帚挡住，误差约0.2 s。" + }, + { + "t": 13.1, + "log_step": 143, + "text_zh": "观察：视频 5.0–11.1 s，浅蓝色包装随簸箕抬高和调平，未见被扫出或掉落；视频 12.2–13.1 s逐帧检查仍是原生 in pan 6/6，画面模拟时钟固定在仿真44.50 s。推断：结合抬起前后位置与该计数，浅蓝色包装终态仍完整入箕并由簸箕承接；末尾定格不计作保持时长。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚推进浅蓝色包装所在碎屑组，并在入口处补扫；左手同时持簸箕接料。接触按扫帚至碎屑的工具链记录，不据此断言刷毛接触力达到评分阈值。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接浅蓝色包装，随后随箕抬起；不重复标握工具的接触。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [ + [ + 3.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.4, + "log_step": null, + "text_zh": "观察：视频 3.2–3.5 s，米白色纸球随扫帚推进越过入口，视频 3.5–4.6 s 可见其停在簸箕内部底板上，而橙包装、蓝包装和两只瓶盖仍靠入口；画面原生 in pan 计数在视频 3.2 s 为1/6、视频 3.4 s 为2/6。推断：这两件先完成入箕，分别跨界的瞬间受扫帚遮挡，统一以视频约3.4 s标注，误差约0.3 s。" + }, + { + "t": 13.1, + "log_step": 143, + "text_zh": "观察：视频 5.0–11.1 s，米白色纸球随簸箕抬高和调平，未见被扫出或掉落；视频 12.2–13.1 s逐帧检查仍是原生 in pan 6/6，画面模拟时钟固定在仿真44.50 s。推断：结合抬起前后位置与该计数，米白色纸球终态仍完整入箕并由簸箕承接；末尾定格不计作保持时长。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚推进米白色纸球所在碎屑组，并在入口处补扫；左手同时持簸箕接料。接触按扫帚至碎屑的工具链记录，不据此断言刷毛接触力达到评分阈值。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接米白色纸球，随后随箕抬起；不重复标握工具的接触。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 4.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.9, + "log_step": null, + "text_zh": "观察：视频 3.4–4.6 s，黄色瓶盖仍在簸箕入口斜坡附近；视频 4.7–4.9 s 机器人右手扫帚补扫后，碎屑向内部移动，画面原生 in pan 计数从2/6经4/6升至6/6。推断：黄色瓶盖在视频约4.9 s完整入箕，逐件越界时刻部分被扫帚挡住，误差约0.2 s。" + }, + { + "t": 13.1, + "log_step": 143, + "text_zh": "观察：视频 5.0–11.1 s，黄色瓶盖随簸箕抬高和调平，未见被扫出或掉落；视频 12.2–13.1 s逐帧检查仍是原生 in pan 6/6，画面模拟时钟固定在仿真44.50 s。推断：结合抬起前后位置与该计数，黄色瓶盖终态仍完整入箕并由簸箕承接；末尾定格不计作保持时长。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手所持扫帚推进黄色瓶盖所在碎屑组，并在入口处补扫；左手同时持簸箕接料。接触按扫帚至碎屑的工具链记录，不据此断言刷毛接触力达到评分阈值。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手持绿色簸箕，入口斜坡和底板承接黄色瓶盖，随后随箕抬起；不重复标握工具的接触。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [ + [ + 6.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.4, + "log_step": 123, + "text_zh": "观察：视频 5.9–6.6 s绿色簸箕离开原地面位置，底部与投影明显分开，碎屑随之上升；log step 123中agent脚本令左臂向上平移0.085 m。推断：结合簸箕实际上升幅度及参考成功视频中相同视角的抬箕表现，视频约6.4 s达到离地至少0.05 m，时刻误差约0.2 s；没有原生pan_lift_m读数，不能精确量测毫米边界。" + }, + { + "t": 10.4, + "log_step": 143, + "text_zh": "观察：视频 6.6–9.8 s簸箕保持离地，视频约10.0–10.4 s又上升并调平，直到视频11.1 s实际运动结束均未落回地面；视频12.2–13.1 s是仿真44.50 s的定格。推断：抬箕节点终态成立，但联合成功窗口未被评分器接受。" + }, + { + "t": 6.4, + "log_step": 121, + "text_zh": "观察：log step 121中agent脚本收紧左手手指，log step 123随后通过左臂运动抬箕；视频5.9–6.6 s簸箕及其柄同步上升。推断：左手保持抓握簸箕柄完成抬起，手指接触点在此工作视角画面外。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左手灵巧手握住簸箕柄，左臂抬起并再次调平、升高簸箕；抓握由日志动作与簸箕随臂运动推断。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "unit": "m", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better", + "value": null + }, + { + "name": "terminal_run", + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_raised", + "t": 7.2, + "log_step": 125, + "where": "终态验收", + "evidence_zh": "观察：视频约6.4 s簸箕已经抬起，视频7.2 s仍显示in pan 6/6与IN PROGRESS；log step 125的第6局服务在抬箕及等待后仍返回done=False、reason=None。视频8.0–10.4 s机器人又用扫帚接近已装载碎屑并抬高调平簸箕，视频11.1 s实际运动结束仍无PASS，reward.success=0且live_matches_replay=1。推断：六件入箕与抬箕状态均达到，失败定位于抬箕后的联合终态验收，不能把总失败倒推成某件未入箕。" + }, + "unmet": { + "orange_package_in_pan": true, + "red_cap_in_pan": true, + "wood_chip_in_pan": true, + "blue_package_in_pan": true, + "paper_ball_in_pan": true, + "yellow_cap_in_pan": true, + "pan_raised": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs中没有状态日志；reward未报告逐件刷毛接触历史、簸箕接触力、原生pan_lift_m、碎屑线/角速度或terminal_run，也未给出具体未通过项。视频原生in pan为6/6，但只能辅助确认装载，不能证明全部联合阈值；扫帚遮住部分碎屑，手与工具柄的抓握区域在画面外。视频约11.2–13.1 s模拟时钟停在仿真44.50 s，属于末尾定格，不能当作两秒静置。推断：尚不能区分刷毛历史、微小运动、支承力或其他联合验收条件，现象和根因均留空；agent在log step 132对木屑接触的猜测不是已证实原因，也没有证据支持任务设计问题。" + }, + "summary_zh": "观察：第6局评分视频中，机器人右手持扫帚将六件碎屑推入左手所持簸箕，视频约4.9 s原生计数达到6/6，视频约6.4 s抬箕，七个节点终态均成立。推断：断点在抬箕后的联合终态验收；后续补刷、升高和调平仍未获得成功，不能从总失败分数认定某件未入箕。观察：缺少逐件接触力、速度、刷毛历史及terminal_run诊断，具体失败现象和根因无法确定；视频末尾定格不算保持窗口。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "七个节点的时间与取值与视频一致（画面原生 in pan 计数在视频 4.9 s 达 6/6，簸箕在视频约 6.0–6.4 s 抬起），断点定在“终态验收”、现象与根因留空并附 gap_zh，符合证据：缺少逐件速度、接触力、terminal_run，无法唯一区分失败原因；运行在 3607 s 超时时仍为 IN PROGRESS，超时不计作现象。未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T19:16:28Z", + "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-sweep-dustpan-i00-standard--ymjjvbw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--ymjjvbw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ced09f728101d81700cc682f6904b1437e5a3ca041bee3fbc2ea5e007f83f16f", + "video_sha256": "1f6efaadf5dbb0d1232ea67c509dc6442c8496b06ec1c00aa32cdcae789bb239", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +}