Publish Codex Benchmark evaluation evidence

README.md

@@ -10,7 +10,7 @@ pinned: false
 
 # Codex Benchmark
 
-38/42 ordinary RoboDojo tasks published: 30 successes, 8 valid native failures, 4 pending. Pending and interrupted attempts are excluded from the success-rate denominator.
+39/42 ordinary RoboDojo tasks published: 31 successes, 8 valid native failures, 3 pending. Pending and interrupted attempts are excluded from the success-rate denominator.
 
 Stock Codex CLI 0.160.0, GPT-6 Astra / high / default, seed 0, fresh independent workspace, 7,500 action frames, stepped simulation, 8-hour safety limit. Instructions match the final reviewed benchmark definitions.
 

REPORT.md

@@ -1,6 +1,6 @@
 # Codex Benchmark
 
-38/42 ordinary RoboDojo tasks published: 30 successes, 8 valid native failures, 4 pending. Pending and interrupted attempts are excluded from the success-rate denominator.
+39/42 ordinary RoboDojo tasks published: 31 successes, 8 valid native failures, 3 pending. Pending and interrupted attempts are excluded from the success-rate denominator.
 
 Stock Codex CLI 0.160.0, GPT-6 Astra / high / default, seed 0, fresh independent workspace, 7,500 action frames, stepped simulation, 8-hour safety limit. Instructions match the final reviewed benchmark definitions.
 

comparison.json

@@ -1,10 +1,10 @@
 {
   "baseline_revision": "1a7f1c9f178ba7aeb659e5b527a77978e9136072",
   "summary": {
-    "completed": 38,
-    "codex_successes": 30,
-    "codex_success_rate_completed_subset": 0.7894736842105263,
-    "kinex_successes_same_subset": 33,
+    "completed": 39,
+    "codex_successes": 31,
+    "codex_success_rate_completed_subset": 0.7948717948717948,
+    "kinex_successes_same_subset": 34,
     "kinex_successes_all42": 35,
     "all42_comparison_complete": false
   },
@@ -60,8 +60,8 @@
     {
       "task_key": "task04/07",
       "native_id": "robodojo/insert-tubes",
-      "status": "pending",
-      "codex_success": null,
+      "status": "completed",
+      "codex_success": true,
       "kinex_success": true,
       "kinex_version": "0.10.3"
     },

data.json

@@ -6,7 +6,7 @@
   "benchmark_complete": false,
   "edition": "plain-codex-astra-high-seed0",
   "created_at": "2026-10-09T00:09:42.989838+00:00",
-  "updated_at": "2026-10-09T04:32:58.105489+00:00",
+  "updated_at": "2026-10-09T05:17:09.534508+00:00",
   "model": "gpt-6-astra",
   "effort": "high",
   "seed": 0,
@@ -17,38 +17,38 @@
   },
   "summary": {
     "planned_tasks": 42,
-    "published_results": 38,
-    "pending_tasks": 4,
+    "published_results": 39,
+    "pending_tasks": 3,
     "families": [
       {
         "id": "task04",
         "name": "RoboDojo",
         "total": 42,
-        "completed": 38,
-        "pending": 4,
-        "successes": 30,
-        "valid_results": 38,
-        "success_rate": 0.7894736842105263,
-        "input_tokens": 217872800,
-        "cached_input_tokens": 213964032,
-        "output_tokens": 824034,
-        "usage_complete": 38,
+        "completed": 39,
+        "pending": 3,
+        "successes": 31,
+        "valid_results": 39,
+        "success_rate": 0.7948717948717948,
+        "input_tokens": 229797708,
+        "cached_input_tokens": 225752320,
+        "output_tokens": 869279,
+        "usage_complete": 39,
         "control_frequency_hz": 25,
         "max_control_steps": 7500,
         "preflight_results": 0,
-        "formal_results": 38,
-        "modified_results": 30,
+        "formal_results": 39,
+        "modified_results": 31,
         "original_results": 8
       }
     ],
     "progress": {
-      "finished": 38,
+      "finished": 39,
       "interrupted": 2,
       "native_failures": 8,
-      "native_successes": 30,
+      "native_successes": 31,
       "needs_review": 0,
       "queued": 0,
-      "running": 2
+      "running": 1
     },
     "interrupted_attempts": 4,
     "usage_incomplete_tasks": [],
@@ -59,20 +59,20 @@
       "id": "task04",
       "name": "RoboDojo",
       "total": 42,
-      "completed": 38,
-      "pending": 4,
-      "successes": 30,
-      "valid_results": 38,
-      "success_rate": 0.7894736842105263,
-      "input_tokens": 217872800,
-      "cached_input_tokens": 213964032,
-      "output_tokens": 824034,
-      "usage_complete": 38,
+      "completed": 39,
+      "pending": 3,
+      "successes": 31,
+      "valid_results": 39,
+      "success_rate": 0.7948717948717948,
+      "input_tokens": 229797708,
+      "cached_input_tokens": 225752320,
+      "output_tokens": 869279,
+      "usage_complete": 39,
       "control_frequency_hz": 25,
       "max_control_steps": 7500,
       "preflight_results": 0,
-      "formal_results": 38,
-      "modified_results": 30,
+      "formal_results": 39,
+      "modified_results": 31,
       "original_results": 8
     }
   ],
@@ -670,8 +670,8 @@
       "catalog_instruction": "Insert the three tubes upright into the rack one by one, pointed ends down, until they are fully seated. Release them and return both arms to their starting poses.",
       "native_instruction": "Insert the three tubes into the rack one by one.",
       "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.",
-      "status": "pending",
-      "episode_id": null,
+      "status": "completed",
+      "episode_id": "task04-07-seed0-formal",
       "planned_protocol": {
         "episodes": 1,
         "seed": 0,
@@ -727,8 +727,8 @@
       },
       "display_slot": "07",
       "display_key": "task04/07",
-      "run_status": "running",
-      "status_note": "Currently running.",
+      "run_status": "finished",
+      "status_note": "Queued for evaluation.",
       "attempt_history": [
         {
           "id": "07-robodojo-insert-tubes-codex-seed0-attempt01",
@@ -5123,6 +5123,257 @@
       "selected_for_formal_metrics": true,
       "asset_base": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/06/seed-0/"
     },
+    {
+      "id": "task04-07-seed0-formal",
+      "task_key": "task04/07",
+      "family": "task04",
+      "slot": "07",
+      "seed": 0,
+      "episode": 1,
+      "phase": "formal",
+      "status": "completed",
+      "success": true,
+      "native_reward": 1.0,
+      "valid": true,
+      "execution": {
+        "reason": null,
+        "status": "finished"
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+      "verdict": {
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+        "steps": 4162,
+        "success": true,
+        "termination": "success"
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+      "simulation_time_s": null,
+      "wall_time_s": 2428.860172,
+      "model": "gpt-6-astra",
+      "effort": "high",
+      "harness": "codex",
+      "codex_version": "0.160.0",
+      "native_instruction": "Insert the three tubes into the rack one by one.",
+      "instruction": "Insert the three tubes upright into the rack one by one, pointed ends down, until they are fully seated. Release them and return both arms to their starting poses.",
+      "instruction_policy": "modified",
+      "usage": {
+        "accounting": "reported-responses",
+        "audit_complete": true,
+        "cache_hit_rate": 0.9885433078393561,
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+        "cache_write_input_tokens": 0,
+        "cache_write_reported_input_tokens": 11924908,
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+        "completed_turns": 1,
+        "cost_usd": null,
+        "failed_turns": 0,
+        "input_tokens": 11924908,
+        "known_cache_write_input_tokens": 0,
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+        "known_input_tokens": 11924908,
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+        "known_reasoning_output_tokens": 23793,
+        "output_tokens": 45245,
+        "reasoning_output_tokens": 23793,
+        "reasoning_reported_output_tokens": 45245,
+        "reported_responses": {
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+          "cache_write_input_tokens": 168,
+          "cache_write_reported_input_tokens": 168,
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+          "output_tokens": 168,
+          "reasoning_output_tokens": 168,
+          "reasoning_reported_output_tokens": 168
+        },
+        "response_count": 168,
+        "response_ids_complete": true,
+        "schema": "rlebench/token-usage/1",
+        "source": "Codex token_usage_record per response",
+        "uncached_input_tokens": 136620,
+        "unidentified_usage_records": 0
+      },
+      "call_activity": {
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+        "model_tool_calls_by_name": {
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+        "nested_python_tool_invocations": null,
+        "python_device_rpc_attempts": null,
+        "python_device_rpc_attempts_by_action": null,
+        "python_device_rpc_errors": null,
+        "python_instrumented_model_tool_calls": null,
+        "python_tool_invocations": null,
+        "python_tool_invocations_by_origin": null,
+        "schema": "rlebench/call-activity/1",
+        "source": "Codex native sessions"
+      },
+      "media": {
+        "passed": true,
+        "width": 2880,
+        "height": 720,
+        "duration_s": 41.6,
+        "speed": 4,
+        "source_fps": 10,
+        "output_fps": 20,
+        "recording": {
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+          "captured_samples": 1666,
+          "clock": "simulation",
+          "dropped_samples": 0,
+          "encoded_frames": 1665,
+          "end_time_s": 166.48000000000116,
+          "error": null,
+          "experimental": true,
+          "fps": 10,
+          "received_samples": 1666,
+          "schema": "roboenv/recording/1",
+          "state": "closed",
+          "status": "complete",
+          "views": [
+            {
+              "fov_y": 45.0,
+              "height": 720,
+              "name": "third_person",
+              "pose": null,
+              "source": "third_person",
+              "width": 960
+            },
+            {
+              "fov_y": 45.0,
+              "height": 720,
+              "name": "left_wrist",
+              "pose": null,
+              "source": "left_wrist",
+              "width": 960
+            },
+            {
+              "fov_y": 45.0,
+              "height": 720,
+              "name": "right_wrist",
+              "pose": null,
+              "source": "right_wrist",
+              "width": 960
+            }
+          ]
+        },
+        "view_names": [
+          "third_person",
+          "left_wrist",
+          "right_wrist"
+        ],
+        "sha256": "0eceba672ce4ecdeea98aa372cce1c4d7dd69cf118c2766b39ad4fee0204a3fb",
+        "scope": "Native spectator recording postprocessed at 4x; no replay or rerender"
+      },
+      "analysis": {
+        "outcome": "\u539f\u751f\u5224\u5b9a\u6210\u529f\u3002",
+        "duration": "\u4f7f\u7528 4,162 / 7,500 \u4e2a\u52a8\u4f5c\u5e27\uff1b\u7ed3\u675f\u539f\u56e0\uff1asuccess\u3002",
+        "execution": "\u6267\u884c\u6b63\u5e38\u5b8c\u6210\uff0c\u7528\u91cf\u8bb0\u5f55\u5b8c\u6574\u3002"
+      },
+      "provenance": {
+        "sources": {
+          "RLE-Bench-inhouse": {
+            "build_inputs": [
+              "pyproject.toml",
+              "src",
+              "tasks",
+              "README.md",
+              "Makefile",
+              "tests",
+              "docs"
+            ],
+            "content_sha256": "dce899056cc4d68057e15fc743e8853721d2c02a1ef051561d31607f7636bd10",
+            "revision": "6e75c8cdf4d737087d727c6627645d0aa7e2d1dd",
+            "source": "/home/evaluator/PhyRSI/benchmark-v0.10.0/RLE-Bench-inhouse"
+          },
+          "RoboEnv": {
+            "build_inputs": [
+              "pyproject.toml",
+              "README.md",
+              "src",
+              "runtime/pyproject.toml",
+              "runtime/README.md",
+              "runtime/src",
+              "runtime/environments.json",
+              "runtime/locks",
+              "catalog",
+              "upstreams.lock.json",
+              "third_party/patches",
+              "docs/validation"
+            ],
+            "content_sha256": "742ec96151dd0d5549d4febb7e091167a35d7886af224fa26d4c464197ea6050",
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+            "source": "/home/evaluator/PhyRSI/benchmark-v0.10.0/RoboEnv"
+          }
+        },
+        "job": "07-robodojo-insert-tubes-codex-seed0-attempt02",
+        "attempt": 2,
+        "harness": "stock Codex CLI",
+        "codex_version": "0.160.0",
+        "model": "gpt-6-astra",
+        "effort": "high",
+        "service_tier": "default",
+        "fresh_session": true,
+        "source_jobs": [],
+        "resume_trajectory": false,
+        "imported_skills": [],
+        "automatic_harbor_retries": 0,
+        "request_policy": {
+          "max_request_retries": 50,
+          "configuration": "explicit retry50 SSE",
+          "usage_accounting": "reported-responses"
+        },
+        "classification": "formal",
+        "measured_images": {
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+          "task": "sha256:055fd5f30401593e71395b11f73477b9bb004b010f08e2cd51add60e7bf58f1a"
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+        "protocol_sha256": "331cfc33f7aa656ce04ffa0d8e7927d625ea36dd825616041760649c239cee4b"
+      },
+      "links": {
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+        "trace": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/native/agent/trajectory.json",
+        "provider_usage": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/native/agent/provider-usage.jsonl",
+        "transcript": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/transcript.json",
+        "verdict": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/native/verifier/episode.json",
+        "protocol": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/native/verifier/protocol.json",
+        "native_goal": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/instructions.json",
+        "workspace": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/native/verifier/workspace.tar.gz",
+        "workspace_changes": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/native/verifier/workspace.json",
+        "owner_journal": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/native/evidence/episode/evidence/journal/actions.jsonl",
+        "recording_manifest": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/native/evidence/episode/evidence/recording/manifest.json",
+        "usage": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/usage.json",
+        "analysis": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/analysis.json",
+        "provenance": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/provenance.json",
+        "video": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/video.mp4",
+        "poster": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/poster.jpg",
+        "media_check": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/media-validation.json"
+      },
+      "resources": [
+        {
+          "name": "tools/robot.py",
+          "file": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/resources/tools/robot.py",
+          "kind": "Created during this episode; final workspace snapshot."
+        },
+        {
+          "name": "tools/tubes.py",
+          "file": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/resources/tools/tubes.py",
+          "kind": "Created during this episode; final workspace snapshot."
+        },
+        {
+          "name": "memos/insert-tubes.md",
+          "file": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/resources/memos/insert-tubes.md",
+          "kind": "Created during this episode; final workspace snapshot."
+        }
+      ],
+      "session_counts": {
+        "visible_events": 362,
+        "observed_images": 84,
+        "tool_errors": 4
+      },
+      "selected_for_formal_metrics": true,
+      "asset_base": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/07/seed-0/"
+    },
     {
       "id": "task04-08-seed0-formal",
       "task_key": "task04/08",

episodes.csv

@@ -5,7 +5,7 @@ task04/03,robodojo/store-laptop-and-headphones,completed,finished,False,5696,181
 task04/04,robodojo/cover-blocks,completed,finished,True,2184,2163308,2107392,9584
 task04/05,robodojo/play-xylophone,completed,finished,True,818,1397747,1321344,9368
 task04/06,robodojo/store-tools-in-toolbox,completed,finished,False,7421,15593052,15416704,57648
-task04/07,robodojo/insert-tubes,pending,running,,,,,
+task04/07,robodojo/insert-tubes,completed,finished,True,4162,11924908,11788288,45245
 task04/08,robodojo/deposit-coin,completed,finished,True,1432,2957393,2867840,15930
 task04/09,robodojo/fasten-screws,completed,finished,True,7340,5986459,5888000,23452
 task04/10,robodojo/play-stacking-toy,completed,finished,True,2460,4468354,4390912,20623

episodes.json

@@ -1239,6 +1239,257 @@
     "selected_for_formal_metrics": true,
     "asset_base": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/06/seed-0/"
   },
+  {
+    "id": "task04-07-seed0-formal",
+    "task_key": "task04/07",
+    "family": "task04",
+    "slot": "07",
+    "seed": 0,
+    "episode": 1,
+    "phase": "formal",
+    "status": "completed",
+    "success": true,
+    "native_reward": 1.0,
+    "valid": true,
+    "execution": {
+      "reason": null,
+      "status": "finished"
+    },
+    "verdict": {
+      "evidence_valid": true,
+      "steps": 4162,
+      "success": true,
+      "termination": "success"
+    },
+    "steps": 4162,
+    "simulation_time_s": null,
+    "wall_time_s": 2428.860172,
+    "model": "gpt-6-astra",
+    "effort": "high",
+    "harness": "codex",
+    "codex_version": "0.160.0",
+    "native_instruction": "Insert the three tubes into the rack one by one.",
+    "instruction": "Insert the three tubes upright into the rack one by one, pointed ends down, until they are fully seated. Release them and return both arms to their starting poses.",
+    "instruction_policy": "modified",
+    "usage": {
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+      "audit_complete": true,
+      "cache_hit_rate": 0.9885433078393561,
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+      "cache_write_input_tokens": 0,
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+      "cached_input_tokens": 11788288,
+      "completed_turns": 1,
+      "cost_usd": null,
+      "failed_turns": 0,
+      "input_tokens": 11924908,
+      "known_cache_write_input_tokens": 0,
+      "known_cached_input_tokens": 11788288,
+      "known_input_tokens": 11924908,
+      "known_output_tokens": 45245,
+      "known_reasoning_output_tokens": 23793,
+      "output_tokens": 45245,
+      "reasoning_output_tokens": 23793,
+      "reasoning_reported_output_tokens": 45245,
+      "reported_responses": {
+        "cache_reported_input_tokens": 168,
+        "cache_write_input_tokens": 168,
+        "cache_write_reported_input_tokens": 168,
+        "cached_input_tokens": 168,
+        "input_tokens": 168,
+        "output_tokens": 168,
+        "reasoning_output_tokens": 168,
+        "reasoning_reported_output_tokens": 168
+      },
+      "response_count": 168,
+      "response_ids_complete": true,
+      "schema": "rlebench/token-usage/1",
+      "source": "Codex token_usage_record per response",
+      "uncached_input_tokens": 136620,
+      "unidentified_usage_records": 0
+    },
+    "call_activity": {
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+      "model_tool_calls_by_name": {
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+      "nested_python_tool_invocations": null,
+      "python_device_rpc_attempts": null,
+      "python_device_rpc_attempts_by_action": null,
+      "python_device_rpc_errors": null,
+      "python_instrumented_model_tool_calls": null,
+      "python_tool_invocations": null,
+      "python_tool_invocations_by_origin": null,
+      "schema": "rlebench/call-activity/1",
+      "source": "Codex native sessions"
+    },
+    "media": {
+      "passed": true,
+      "width": 2880,
+      "height": 720,
+      "duration_s": 41.6,
+      "speed": 4,
+      "source_fps": 10,
+      "output_fps": 20,
+      "recording": {
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