Publish Codex Benchmark evaluation evidence

README.md

@@ -10,7 +10,7 @@ pinned: false
 
 # Codex Benchmark
 
-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.
+40/42 ordinary RoboDojo tasks published: 31 successes, 9 valid native failures, 2 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
 
-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.
+40/42 ordinary RoboDojo tasks published: 31 successes, 9 valid native failures, 2 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

@@ -1,9 +1,9 @@
 {
   "baseline_revision": "1a7f1c9f178ba7aeb659e5b527a77978e9136072",
   "summary": {
-    "completed": 39,
+    "completed": 40,
     "codex_successes": 31,
-    "codex_success_rate_completed_subset": 0.7948717948717948,
+    "codex_success_rate_completed_subset": 0.775,
     "kinex_successes_same_subset": 34,
     "kinex_successes_all42": 35,
     "all42_comparison_complete": false
@@ -12,8 +12,8 @@
     {
       "task_key": "task04/01",
       "native_id": "robodojo/make-toast",
-      "status": "pending",
-      "codex_success": null,
+      "status": "completed",
+      "codex_success": false,
       "kinex_success": false,
       "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": "2026-10-09T05:17:09.534508+00:00",
+  "updated_at": "2026-10-09T05:27:53.570652+00:00",
   "model": "gpt-6-astra",
   "effort": "high",
   "seed": 0,
@@ -17,38 +17,38 @@
   },
   "summary": {
     "planned_tasks": 42,
-    "published_results": 39,
-    "pending_tasks": 3,
+    "published_results": 40,
+    "pending_tasks": 2,
     "families": [
       {
         "id": "task04",
         "name": "RoboDojo",
         "total": 42,
-        "completed": 39,
-        "pending": 3,
+        "completed": 40,
+        "pending": 2,
         "successes": 31,
-        "valid_results": 39,
-        "success_rate": 0.7948717948717948,
-        "input_tokens": 229797708,
-        "cached_input_tokens": 225752320,
-        "output_tokens": 869279,
-        "usage_complete": 39,
+        "valid_results": 40,
+        "success_rate": 0.775,
+        "input_tokens": 243059990,
+        "cached_input_tokens": 238855680,
+        "output_tokens": 911574,
+        "usage_complete": 40,
         "control_frequency_hz": 25,
         "max_control_steps": 7500,
         "preflight_results": 0,
-        "formal_results": 39,
-        "modified_results": 31,
+        "formal_results": 40,
+        "modified_results": 32,
         "original_results": 8
       }
     ],
     "progress": {
-      "finished": 39,
-      "interrupted": 2,
-      "native_failures": 8,
+      "finished": 40,
+      "interrupted": 0,
+      "native_failures": 9,
       "native_successes": 31,
       "needs_review": 0,
       "queued": 0,
-      "running": 1
+      "running": 2
     },
     "interrupted_attempts": 4,
     "usage_incomplete_tasks": [],
@@ -59,20 +59,20 @@
       "id": "task04",
       "name": "RoboDojo",
       "total": 42,
-      "completed": 39,
-      "pending": 3,
+      "completed": 40,
+      "pending": 2,
       "successes": 31,
-      "valid_results": 39,
-      "success_rate": 0.7948717948717948,
-      "input_tokens": 229797708,
-      "cached_input_tokens": 225752320,
-      "output_tokens": 869279,
-      "usage_complete": 39,
+      "valid_results": 40,
+      "success_rate": 0.775,
+      "input_tokens": 243059990,
+      "cached_input_tokens": 238855680,
+      "output_tokens": 911574,
+      "usage_complete": 40,
       "control_frequency_hz": 25,
       "max_control_steps": 7500,
       "preflight_results": 0,
-      "formal_results": 39,
-      "modified_results": 31,
+      "formal_results": 40,
+      "modified_results": 32,
       "original_results": 8
     }
   ],
@@ -86,8 +86,8 @@
       "catalog_instruction": "Place two bread slices upright in the toaster, one per slot, leaving the other two on the rack. Press the lever down, then return both arms to their starting poses.",
       "native_instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.",
       "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.",
-      "status": "pending",
-      "episode_id": null,
+      "status": "completed",
+      "episode_id": "task04-01-seed0-formal",
       "planned_protocol": {
         "episodes": 1,
         "seed": 0,
@@ -175,8 +175,8 @@
       },
       "display_slot": "01",
       "display_key": "task04/01",
-      "run_status": "running",
-      "status_note": "Currently running.",
+      "run_status": "finished",
+      "status_note": "Queued for evaluation.",
       "attempt_history": [
         {
           "id": "01-robodojo-make-toast-codex-seed0-attempt01",
@@ -3752,8 +3752,8 @@
       },
       "display_slot": "41",
       "display_key": "task04/41",
-      "run_status": "interrupted",
-      "status_note": "Provider-interrupted attempt preserved; fresh replacement queued.",
+      "run_status": "running",
+      "status_note": "Currently running.",
       "attempt_history": [
         {
           "id": "52-robodojo-swap-blocks-codex-seed0-attempt01",
@@ -3853,8 +3853,8 @@
       },
       "display_slot": "42",
       "display_key": "task04/42",
-      "run_status": "interrupted",
-      "status_note": "Provider-interrupted attempt preserved; fresh replacement queued.",
+      "run_status": "running",
+      "status_note": "Currently running.",
       "attempt_history": [
         {
           "id": "53-robodojo-sweep-blocks-codex-seed0-attempt01",
@@ -4133,6 +4133,253 @@
       "selected_for_formal_metrics": true,
       "asset_base": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/05/seed-0/"
     },
+    {
+      "id": "task04-01-seed0-formal",
+      "task_key": "task04/01",
+      "family": "task04",
+      "slot": "01",
+      "seed": 0,
+      "episode": 1,
+      "phase": "formal",
+      "status": "completed",
+      "success": false,
+      "native_reward": 0.5,
+      "valid": true,
+      "execution": {
+        "reason": null,
+        "status": "finished"
+      },
+      "verdict": {
+        "evidence_valid": true,
+        "steps": 6884,
+        "success": false,
+        "termination": "stopped"
+      },
+      "steps": 6884,
+      "simulation_time_s": null,
+      "wall_time_s": 2979.228092,
+      "model": "gpt-6-astra",
+      "effort": "high",
+      "harness": "codex",
+      "codex_version": "0.160.0",
+      "native_instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.",
+      "instruction": "Place two bread slices upright in the toaster, one per slot, leaving the other two on the rack. Press the lever down, then return both arms to their starting poses.",
+      "instruction_policy": "modified",
+      "usage": {
+        "accounting": "reported-responses",
+        "audit_complete": true,
+        "cache_hit_rate": 0.9880169943603974,
+        "cache_reported_input_tokens": 13262282,
+        "cache_write_input_tokens": 0,
+        "cache_write_reported_input_tokens": 13262282,
+        "cached_input_tokens": 13103360,
+        "completed_turns": 1,
+        "cost_usd": null,
+        "failed_turns": 0,
+        "input_tokens": 13262282,
+        "known_cache_write_input_tokens": 0,
+        "known_cached_input_tokens": 13103360,
+        "known_input_tokens": 13262282,
+        "known_output_tokens": 42295,
+        "known_reasoning_output_tokens": 22555,
+        "output_tokens": 42295,
+        "reasoning_output_tokens": 22555,
+        "reasoning_reported_output_tokens": 42295,
+        "reported_responses": {
+          "cache_reported_input_tokens": 173,
+          "cache_write_input_tokens": 173,
+          "cache_write_reported_input_tokens": 173,
+          "cached_input_tokens": 173,
+          "input_tokens": 173,
+          "output_tokens": 173,
+          "reasoning_output_tokens": 173,
+          "reasoning_reported_output_tokens": 173
+        },
+        "response_count": 173,
+        "response_ids_complete": true,
+        "schema": "rlebench/token-usage/1",
+        "source": "Codex token_usage_record per response",
+        "uncached_input_tokens": 158922,
+        "unidentified_usage_records": 0
+      },
+      "call_activity": {
+        "model_tool_calls": 172,
+        "model_tool_calls_by_name": {
+          "exec": 172
+        },
+        "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": 68.85,
+        "speed": 4,
+        "source_fps": 10,
+        "output_fps": 20,
+        "recording": {
+          "accepted_samples": 2755,
+          "captured_samples": 2755,
+          "clock": "simulation",
+          "dropped_samples": 0,
+          "encoded_frames": 2754,
+          "end_time_s": 275.35999999999325,
+          "error": null,
+          "experimental": true,
+          "fps": 10,
+          "received_samples": 2755,
+          "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": "d41d9dfff8503e02484d73b64304f7f05b08f366156b969d5d4b32e55af35375",
+        "scope": "Native spectator recording postprocessed at 4x; no replay or rerender"
+      },
+      "analysis": {
+        "outcome": "\u539f\u751f\u5224\u5b9a\u672a\u6210\u529f\u3002",
+        "duration": "\u4f7f\u7528 6,884 / 7,500 \u4e2a\u52a8\u4f5c\u5e27\uff1b\u7ed3\u675f\u539f\u56e0\uff1astopped\u3002",
+        "execution": "\u6267\u884c\u6b63\u5e38\u5b8c\u6210\uff0c\u7528\u91cf\u8bb0\u5f55\u5b8c\u6574\u3002",
+        "cause": "\u539f\u751f\u5931\u8d25\u5df2\u7ecf\u786e\u8ba4\uff1b\u5177\u4f53\u5931\u8d25\u673a\u5236\u5c1a\u672a\u9010\u9879\u5b9a\u4f4d\uff0c\u8bf7\u7ed3\u5408\u7ec8\u6001\u8bc1\u636e\u548c\u5b8c\u6574 session \u67e5\u770b\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",
+            "revision": "5f487ee5121a775aa6ea90919c8f5e3d31318906",
+            "source": "/home/evaluator/PhyRSI/benchmark-v0.10.0/RoboEnv"
+          }
+        },
+        "job": "01-robodojo-make-toast-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": {
+          "agent": "sha256:25d96b00418501e325d0554afd10e5f882fa4f99ba3893ed8987eda62c648978",
+          "task": "sha256:055fd5f30401593e71395b11f73477b9bb004b010f08e2cd51add60e7bf58f1a"
+        },
+        "session_original_sha256": "44c8a75c20315659d3feda7076c1d792afbfb94f31f1521511ac8d21ae32e78e",
+        "protocol_sha256": "558b51d6786cd5ba0a989f7b2b872a3e37424dda668128a679113df86f67e43d"
+      },
+      "links": {
+        "native_session": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/native/agent/session.jsonl",
+        "trace": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/native/agent/trajectory.json",
+        "provider_usage": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/native/agent/provider-usage.jsonl",
+        "transcript": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/transcript.json",
+        "verdict": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/native/verifier/episode.json",
+        "protocol": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/native/verifier/protocol.json",
+        "native_goal": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/instructions.json",
+        "workspace": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/native/verifier/workspace.tar.gz",
+        "workspace_changes": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/native/verifier/workspace.json",
+        "owner_journal": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/native/evidence/episode/evidence/journal/actions.jsonl",
+        "recording_manifest": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/native/evidence/episode/evidence/recording/manifest.json",
+        "usage": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/usage.json",
+        "analysis": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/analysis.json",
+        "provenance": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/provenance.json",
+        "video": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/video.mp4",
+        "poster": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/poster.jpg",
+        "media_check": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/media-validation.json"
+      },
+      "resources": [
+        {
+          "name": "tools/arx.py",
+          "file": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/resources/tools/arx.py",
+          "kind": "Created during this episode; final workspace snapshot."
+        },
+        {
+          "name": "memos/robodojo-arx.md",
+          "file": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/resources/memos/robodojo-arx.md",
+          "kind": "Created during this episode; final workspace snapshot."
+        }
+      ],
+      "session_counts": {
+        "visible_events": 370,
+        "observed_images": 76,
+        "tool_errors": 6
+      },
+      "selected_for_formal_metrics": true,
+      "asset_base": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/01/seed-0/"
+    },
     {
       "id": "task04-02-seed0-formal",
       "task_key": "task04/02",

episodes.csv

@@ -1,5 +1,5 @@
 task_key,native_id,status,run_status,success,steps,input_tokens,cached_input_tokens,output_tokens
-task04/01,robodojo/make-toast,pending,running,,,,,
+task04/01,robodojo/make-toast,completed,finished,False,6884,13262282,13103360,42295
 task04/02,robodojo/classify-objects-by-language,completed,finished,True,1642,1667619,1598848,9371
 task04/03,robodojo/store-laptop-and-headphones,completed,finished,False,5696,18189657,17666048,45612
 task04/04,robodojo/cover-blocks,completed,finished,True,2184,2163308,2107392,9584
@@ -39,5 +39,5 @@ task04/45,robodojo/stack-blocks,completed,finished,True,843,1114064,1055104,6855
 task04/46,robodojo/stack-blocks-by-language,completed,finished,True,1265,1362092,1320064,9240
 task04/48,robodojo/stack-bowls,completed,finished,True,1209,972152,934144,6498
 task04/51,robodojo/swap-t,completed,finished,True,1046,2182726,2127488,11222
-task04/52,robodojo/swap-blocks,pending,interrupted,,,,,
-task04/53,robodojo/sweep-blocks,pending,interrupted,,,,,
+task04/52,robodojo/swap-blocks,pending,running,,,,,
+task04/53,robodojo/sweep-blocks,pending,running,,,,,

episodes.json

@@ -249,6 +249,253 @@
     "selected_for_formal_metrics": true,
     "asset_base": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/episodes/task04/05/seed-0/"
   },
+  {
+    "id": "task04-01-seed0-formal",
+    "task_key": "task04/01",
+    "family": "task04",
+    "slot": "01",
+    "seed": 0,
+    "episode": 1,
+    "phase": "formal",
+    "status": "completed",
+    "success": false,
+    "native_reward": 0.5,
+    "valid": true,
+    "execution": {
+      "reason": null,
+      "status": "finished"
+    },
+    "verdict": {
+      "evidence_valid": true,
+      "steps": 6884,
+      "success": false,
+      "termination": "stopped"
+    },
+    "steps": 6884,
+    "simulation_time_s": null,
+    "wall_time_s": 2979.228092,
+    "model": "gpt-6-astra",
+    "effort": "high",
+    "harness": "codex",
+    "codex_version": "0.160.0",
+    "native_instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.",
+    "instruction": "Place two bread slices upright in the toaster, one per slot, leaving the other two on the rack. Press the lever down, then return both arms to their starting poses.",
+    "instruction_policy": "modified",
+    "usage": {
+      "accounting": "reported-responses",
+      "audit_complete": true,
+      "cache_hit_rate": 0.9880169943603974,
+      "cache_reported_input_tokens": 13262282,
+      "cache_write_input_tokens": 0,
+      "cache_write_reported_input_tokens": 13262282,
+      "cached_input_tokens": 13103360,
+      "completed_turns": 1,
+      "cost_usd": null,
+      "failed_turns": 0,
+      "input_tokens": 13262282,
+      "known_cache_write_input_tokens": 0,
+      "known_cached_input_tokens": 13103360,
+      "known_input_tokens": 13262282,
+      "known_output_tokens": 42295,
+      "known_reasoning_output_tokens": 22555,
+      "output_tokens": 42295,
+      "reasoning_output_tokens": 22555,
+      "reasoning_reported_output_tokens": 42295,
+      "reported_responses": {
+        "cache_reported_input_tokens": 173,
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