Add 36 trajectories (phaseR, unlabelled counted attempts of seven agents; batch R05; writer Claude Sonnet 5.5)

phaseR/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--yuddgwu.json

@@ -0,0 +1,339 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-make-rose-centerpieces-i00-standard--yuddgwu",
+ "taskKey": "behavior-1k/make_rose_centerpieces",
+ "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 23976,
+   "sim_steps": 24126,
+   "physics_steps": 96504,
+   "steps": 10981,
+   "elapsed_s": 5560.8,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:behavior-make-rose-centerpieces-i00-standard--yuddgwu.mp4",
+  "duration_s": 804.3,
+  "fps": 10.0,
+  "frames": 8043,
+  "sha256": "8ce8ab422067d3724262901e18a7c7ff1a5a48104902989d3eb29bc55aeb7a53"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "roses_in_vase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      335,
+      395
+     ],
+     [
+      700,
+      790
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 340,
+      "log_step": null,
+      "text_zh": "观察：视频 340 s 腕部视角可见花瓶内有玫瑰，约 395 s 花瓶翻倒后瓶内无玫瑰，散落在桌面/地面；推断：入瓶约在视频 335 s，翻倒时失去，q_score=0 且终帧花瓶在地上。"
+     },
+     {
+      "t": 715,
+      "log_step": null,
+      "text_zh": "观察：视频 715 s 腕部视角瓶内可见多支红玫瑰（第三支是否合格无法确认）；约 796 s 花瓶倒地，终值仍为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "夹爪夹住玫瑰花茎放入花瓶；底盘移动供转场"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘移动到花与花瓶之间"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "一手扶住花瓶、另一手放入玫瑰（腕部视角 338-350 s、700 s 后）"
+     }
+    ]
+   },
+   "roses_in_vase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      345,
+      395
+     ],
+     [
+      700,
+      790
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 345,
+      "log_step": null,
+      "text_zh": "观察：视频 340-372 s 腕部视角和头部视角可见瓶内至少两支红玫瑰；约 395 s 花瓶翻倒。"
+     },
+     {
+      "t": 715,
+      "log_step": null,
+      "text_zh": "观察：视频 715 s 腕部视角瓶内可见多支红玫瑰（第三支是否合格无法确认）；约 796 s 花瓶倒地，终值仍为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "夹爪夹住玫瑰花茎放入花瓶；底盘移动供转场"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘移动到花与花瓶之间"
+     }
+    ]
+   },
+   "roses_in_vase_3": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 760,
+      "log_step": null,
+      "text_zh": "观察：视频 700-790 s 花瓶被夹住置于茶几附近，瓶内有深色花茎，无法确认三支均合格；agent 自述曾三支入瓶（log step 304），但终局 q_score=0，视频 796 s 起花瓶倒在地上。推断：未持续达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "夹爪夹住玫瑰花茎放入花瓶；底盘移动供转场"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘移动到花与花瓶之间"
+     }
+    ]
+   },
+   "vase_on_coffee_table": {
+    "method": "visual",
+    "intervals": [
+     [
+      160,
+      392
+     ],
+     [
+      650,
+      790
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 360,
+      "log_step": null,
+      "text_zh": "观察：视频 350-390 s 与 650-790 s 花瓶被抓着在茶几上方/茶几上；视频 796 s 起花瓶倒在茶几旁地面，终局未满足（q_score=0）。区间为粗略估计。"
+     },
+     {
+      "t": 250,
+      "log_step": null,
+      "text_zh": "观察：视频 180 s 头部视角花瓶倾倒在茶几上，250 s 起直立在茶几台面，330 s 仍在台面；区间起点前移至约 160 s（起点为粗略估计，160 s 之前是否已在茶几上未核实）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "夹爪抓住花瓶口沿搬运、扶正；多次碰倒"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘移动时携带花瓶"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "roses_in_vase_3",
+   "where": "操作中",
+   "t": 396,
+   "log_step": 304,
+   "evidence_zh": "观察：视频约 396 s 花瓶在茶几上被碰倒，之后反复扶起又碰倒；视频 796 s 起花瓶倒在茶几旁地面，玫瑰散落。agent 自述五次碰倒花瓶（log step 304）。推断：终态始终没有稳定的三支入瓶且花瓶在茶几上的状态。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 396,
+    "log_step": 304,
+    "evidence_zh": "观察：视频约 396 s 及终段，机器人手臂/头部/所持玫瑰碰倒花瓶（agent 自述，log step 304），视频终帧花瓶倒在地上。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "evidence_zh": "推断：视频只显示花瓶被机器人手臂/所持玫瑰碰倒，未显示位置估计偏差；agent 自述（log step 302/304）称 ik 躯干摆动与持花搬运撞瓶，仅作推断。",
+    "source_zh": "推断（agent 自述作参考，非证据）",
+    "note_zh": "待核实"
+   }
+  ],
+  "gap_zh": "无状态日志；第三支玫瑰是否曾合格无法从视频确认；根因无法由视频确认（仅为轨迹方向的推断）；时间点为粗略估计。",
+  "unmet": {
+   "roses_in_vase_1": false,
+   "roses_in_vase_2": false,
+   "roses_in_vase_3": false,
+   "vase_on_coffee_table": false
+  }
+ },
+ "summary_zh": "观察：视频约 335-395 s 与 700-790 s 瓶内至少有两支玫瑰，随后花瓶被碰倒，之后多次扶起又碰倒，视频 796 s 起花瓶倒在地上，终局 q_score=0。推断：卡在第3支入瓶/花瓶稳定放置，原因为反复碰倒花瓶（根因为轨迹方向推断，视频无法确认）。缺口：无状态日志，节点区间为粗略视觉估计。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "无状态日志，只能凭视频。vase_on_coffee_table 的区间明显漏掉视频约160–340 s（花瓶早已在茶几上）；roses_in_vase_1/2 在约700–790 s 的重新入瓶也没有记入区间；根因『感知』仅出自 agent 自述。",
+    "n_issues": 4,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第1轮问题已修正：茶几区间、700-790 s 重新入瓶、根因改为推断的轨迹方向。视频 715 s 瓶内多支玫瑰、400 s 花瓶倒地、800 s 花瓶在茶几旁地面，与标注一致；q_score=0 约束终值 false。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": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:07:48Z",
+  "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/behavior-make-rose-centerpieces-i00-standard--yuddgwu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-rose-centerpieces-i00-standard--yuddgwu/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-rose-centerpieces-i00-standard--yuddgwu/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-make-rose-centerpieces-i00-standard--yuddgwu/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f752694844f455204af6bc973938ff49eedb59eb947e8f5d97490cbf4b13cd01",
+   "video_sha256": "8ce8ab422067d3724262901e18a7c7ff1a5a48104902989d3eb29bc55aeb7a53",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--zcgbtkj.json

@@ -0,0 +1,352 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-standard--zcgbtkj",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 103,
+   "control_steps_total": 14578,
+   "elapsed_s": 3625.191,
+   "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": 2710,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 6,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 2710,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.469,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.272,
+   "peak_cpus": 1.38,
+   "peak_pids": 75,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-assemble-hamburger-i00-standard--zcgbtkj.mp4",
+  "duration_s": 56.4,
+  "fps": 5.0,
+  "frames": 282,
+  "sha256": "a4d785e42231ce928fe0d5beb098a1e95c9789b3c051ccda3e687bca7c1b452c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 5,
+  "final": 5,
+  "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 s 起底包即在盘中央，HUD 显示 Aligned 1/6，全程未被碰动。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 3.5 s 起 HUD Aligned 2/6，肉饼已叠在底包上，其后一直在叠上。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 15.5 s HUD 升为 Aligned 3/6，芝士在肉饼上。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [
+     [
+      30,
+      32
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30,
+      "log_step": null,
+      "text_zh": "观察：视频 30 s HUD 4/6，番茄刚放在芝士上；32-38 s HUD 回落到 3/6，34 s 帧番茄偏向芝士右侧，结束帧（56 s）叠中番茄仍偏出，之后 HUD 未恢复该层。推断：番茄放置偏差超过 12 mm/0.22 rad 容差（偏移为观察，超容差为推断）。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [
+     [
+      42,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 42,
+      "log_step": null,
+      "text_zh": "推断（依据 HUD 总数）：42 s 起叠中 5 层、HUD Aligned 4/6，仅一层未对齐，该层已由番茄偏移判定，故生菜对齐；结束 6 层 HUD 5/6，同理。逐层结果非直接观察。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [
+     [
+      48.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 48.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 49 s 顶包放到叠上，HUD 升为 5/6、邻接 5/5；结束帧顶包居中在叠顶。"
+     }
+    ]
+   }
+  },
+  "constraints": {},
+  "contact_actual": {
+   "patty_on_bottom_bun": [
+    {
+     "who": "手指/夹爪",
+     "how": "抓握",
+     "note_zh": "右灵巧手用手指夹起肉饼放到底包上（视频 0-4 s）"
+    }
+   ],
+   "cheese_on_patty": [
+    {
+     "who": "手指/夹爪",
+     "how": "抓握",
+     "note_zh": "右灵巧手夹起芝士片放到肉饼上"
+    }
+   ],
+   "tomato_on_cheese": [
+    {
+     "who": "手指/夹爪",
+     "how": "抓握",
+     "note_zh": "右灵巧手夹起番茄片放到芝士上，放置偏向右侧（观察），约 32 s 起未对齐"
+    }
+   ],
+   "lettuce_on_tomato": [
+    {
+     "who": "手指/夹爪",
+     "how": "抓握",
+     "note_zh": "右灵巧手夹起生菜叶放到番茄上"
+    }
+   ],
+   "top_bun_on_lettuce": [
+    {
+     "who": "手指/夹爪",
+     "how": "抓握",
+     "note_zh": "右灵巧手夹起顶包放到叠顶"
+    }
+   ]
+  }
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "tomato_on_cheese",
+   "where": "操作中",
+   "t": 32,
+   "evidence_zh": "观察：番茄放下后 HUD 由 30 s 的 4/6 回落到 32 s 起的 3/6，34 s 帧番茄偏向芝士右侧，直到结束帧仍偏出、未被修复；其后生菜、顶包照常叠上。推断：番茄放置偏差超过容差。",
+   "log_step": null
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 32,
+    "log_step": null,
+    "evidence_zh": "观察：视频 32-34 s 番茄放下后偏向叠的右侧，HUD 回落 3/6，结束帧仍偏。推断：放置偏差超过 12 mm 容差。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "HUD 只给对齐总数，不给逐层结果；番茄偏移为帧观察，生菜对齐由 HUD 总数（5层4/6、6层5/6，仅番茄未对齐）推断；无状态日志；agent 日志未用作根因，故根因留空。",
+  "unmet": {
+   "bottom_bun_on_plate": true,
+   "patty_on_bottom_bun": true,
+   "cheese_on_patty": true,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": true,
+   "top_bun_on_lettuce": true
+  }
+ },
+ "summary_zh": "观察：单手逐层叠起肉饼、芝士、番茄、生菜、顶包，结束时六层都在盘上但 HUD 为 Aligned 5/6、Released hold 0/100，评分器判失败。断点在番茄放置（约 32 s 起偏向右侧、HUD 回落且未恢复）；生菜对齐由 HUD 总数推断（仅一层未对齐即番茄）；未得到根因证据。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "断点节点判错：视频帧显示番茄在 32-34 s 起明显偏向叠的右侧并一直如此（HUD 30 s 4/6 → 32 s 起 3/6），结束帧番茄仍偏出；文件却认为番茄全程达成、把生菜当未对齐层。生菜是否对齐帧和 HUD 都无法单独判定。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "断点（番茄，约32 s）、位姿不准、根因留空均有帧和HUD支持。唯一问题：HUD 5/6 对应 6 层中恰好一层未对齐，番茄已被判未对齐，则生菜应可由 HUD 总数界定为达成，不应 unknown，final 应为 5。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 接受的改动已完整应用：生菜 [42,null]、final true，peak/final=5，unmet 与 gap/summary 同步，并标明为 HUD 总数推断。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 接受的改动已完整应用：生菜 [42,null]、final true，peak/final=5，unmet 与 gap/summary 同步，并标明为 HUD 总数推断。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:07:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--zcgbtkj/03_label"
+   },
+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--zcgbtkj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
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+   {
+    "stage": "traj_review",
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+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--zcgbtkj/04_review_r2"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--zcgbtkj/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--zcgbtkj/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f3d82b0771883718dbd7b44e10216b240789efe3ca4b4efaa4768a7c4152cd27",
+   "video_sha256": "a4d785e42231ce928fe0d5beb098a1e95c9789b3c051ccda3e687bca7c1b452c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--bhf7kjj.json

@@ -0,0 +1,243 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-privileged--bhf7kjj",
+ "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": 96,
+   "sim_steps": 96,
+   "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": 3.772,
+   "peak_processes": 14,
+   "peak_disk_gb": 0.984,
+   "peak_cpus": 2.04,
+   "peak_pids": 25,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-jar-lid-open-i00-privileged--bhf7kjj.mp4",
+  "duration_s": 4.1,
+  "fps": 10.0,
+  "frames": 41,
+  "sha256": "50e2c3fae5fcc52314053ba1079fe31ec02e876a4040740e38d7dc6eb87a872b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0-4.1 s 顶栏始终为 Stage 0/3，lid turn 在 0 到 -0.05 rad 之间（要求 +1.05 rad），红盖白色标记未转动；视频 2.0 s 起顶栏变为 FAIL: jar_tipped。右手从上方压到盖顶，从未形成捏住盖缘的抓握。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手（Sharpa）手指朝下压在红盖顶面和罐肩上（视频约 1.4-2.0 s），没有包住盖缘的抓握；压力使盖倾斜、整罐倒下。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.1,
+      "log_step": null,
+      "text_zh": "观察：全程盖仍在罐口（顶栏 Stage 0/3，clearance -11 至 -19 mm），视频末帧 4.1 s 盖歪斜在倒下的罐上，没有被抬离或放到台面。前置节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_seated_turn_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 1.049342105263158,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_spin_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_slide_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "lid_unscrewed",
+   "t": 2.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 1.4-2.0 s 右手下压到红盖和罐肩，2.0 s 顶栏变 FAIL: jar_tipped，罐倒下，盖始终没有被抓住拧转（lid turn ≈ -0.04 rad）。评分器据此结束回合。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 2.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1.6-2.0 s 手指向下压在盖顶与罐肩上，盖歪斜、clearance 由 -11 变 -19 mm，罐倒下（FAIL: jar_tipped）。agent 自述（log step 125）：食指末端垫比捏点低约 5.5 cm，下降时压住盖顶并卡在罐肩。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述（log step 119、125）：设计的捏取手型中食指远端伸出过低，下压时先碰到盖和罐肩；它启动的修正（食指收起）未收敛，交付的是未修正的 96 行轨迹。视频与此一致：手指压在盖顶而非夹住盖缘。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，罐倾倒的精确时刻和各接触对只能由视频与顶栏读数判断；native_metrics 的具体数值评分器记录未给出。根因主要依据 agent 自述，视频只支持“手指压在盖顶”。",
+  "unmet": {
+   "lid_unscrewed": false,
+   "lid_on_worktop": false
+  }
+ },
+ "summary_zh": "观察：右手在 96 步开环轨迹中从上方下压，视频约 2.0 s 手指压到红盖与罐肩，罐倒下（FAIL: jar_tipped），盖始终未被抓住或拧转（lid turn ≈ -0.04 rad，Stage 0/3），0/2 节点达成。断点是拧开罐盖（操作中）；现象为被挡/碰撞，根因推断为抓取手型设计不当（食指过低，来自 agent 自述）。证据缺口：无状态日志。",
+ "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 0-4.1 s 顶栏全程 Stage 0/3、lid turn≈0，2.0 s 起 FAIL: jar_tipped，与标注一致；两个节点未达成、断点 lid_unscrewed/操作中、被挡/碰撞与抓取和接触设计根因均有视频和 log step 119/125 支持，证据缺口已如实写明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:05:13Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+  "calls": [
+   {
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--bhf7kjj/03_label"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--bhf7kjj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e08aa15af35c55ecf6dde14f12880a619849373e2a8b2f6ca8b1921f31e2f722",
+   "video_sha256": "50e2c3fae5fcc52314053ba1079fe31ec02e876a4040740e38d7dc6eb87a872b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--crfleps.json

@@ -0,0 +1,217 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-privileged--crfleps",
+ "taskKey": "dexhand/jar_lid_open",
+ "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522",
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+   "success": 1,
+   "resource_enforced": 0,
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+   "peak_processes": 11,
+   "peak_disk_gb": 0.835,
+   "peak_cpus": 2.02,
+   "peak_pids": 151,
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+   "resource_monitor_kills": 0,
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+   "resource_limit_exceeded": 0,
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+  "sha256": "12f149e3a234f150cdee3a90dc8c5c8bb3f260abb4eeaf20d2541fa14affd1bc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.2,
+      "log_step": 52,
+      "text_zh": "观察：视频 11 s 顶栏 Stage 0/3、lid turn 0.91 rad，12.0 s 仍为 Stage 0/3、1.00 rad，约 12.2 s 变为 Stage 1/3（1.05 rad，达解锁角），右手拇指与手指夹住红盖拧转；agent 自述 log step 52 盖已到解锁阶段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与两指夹住红盖外缘逆时针拧转（视频 7-12 s）"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.6,
+      "log_step": 59,
+      "text_zh": "观察：视频约 16 s 盖被抬起 Stage 2/3（clearance 34 mm），随后移到罐旁；约 25.1 s hold 开始计数，25.4 s 为 19/50，26 s 起 PASS、hold 50/50、Stage 3/3，盖平放在罐旁台面，手未接触盖。评分器 success=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "托/舀",
+      "note_zh": "右手指腹托住盖抬离并移到罐旁（视频 13-23 s），放到台面后手离盖"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：视频约 12.2 s 盖拧过解锁角进入 Stage 1/3，约 16 s 抬离罐口，视频约 25.6 s 起盖放在罐旁并保持，26 s PASS（hold 50/50）。两节点均达成；无状态日志，时间来自视频顶栏读数，精度约 1 s。接触方式（抓握/托）由抽帧判断，部分被手遮挡。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值与最终结果（两节点达成，PASS）正确，时间在 1 s 内；但 evidence 里引用的顶栏读数有两处与帧不符，需改正。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值、时间、PASS 结果正确；仅 summary_zh 仍写“11.8 s 进入 Stage 1/3”，与已修正的证据（12.2 s）不一致。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按所述修改：summary_zh 现为“视频约 12.2 s”，与节点区间起点及证据一致。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按所述修改：summary_zh 现为“视频约 12.2 s”，与节点区间起点及证据一致。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:06:49Z",
+  "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-privileged--crfleps/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--crfleps/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--crfleps/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--crfleps/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--crfleps/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--crfleps/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "329501e383c0dbbaedbef1bedd82a307700d10d85c784e6d4b665856f727f419",
+   "video_sha256": "12f149e3a234f150cdee3a90dc8c5c8bb3f260abb4eeaf20d2541fa14affd1bc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--gmumecz.json

@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-privileged--gmumecz",
+ "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": 676,
+   "sim_steps": 676,
+   "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": 2.125,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.249,
+   "peak_cpus": 1.06,
+   "peak_pids": 45,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-jar-lid-open-i00-privileged--gmumecz.mp4",
+  "duration_s": 15.7,
+  "fps": 10.0,
+  "frames": 157,
+  "sha256": "b0f61fe1830cf3c7b6df05608a82dc039ac77f52fd9249d81856ac070e8b8aa5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 Stage 在视频 6.3-6.6 s 由 0/3 变为 1/3，lid turn 达 1.11-1.14 rad（解锁角 1.05），期间右手指尖捏住红盖逆时针转动；此后保留完成记录。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手拇指与其余指尖夹住红盖外缘，反复逆时针拧转（视频约 1-6.5 s）。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.6,
+      "log_step": null,
+      "text_zh": "观察：视频约 8.0 s 顶栏 clearance 40 mm（>30 mm，Stage 2/3）；右手把盖拿到罐旁桌面，约 12.5 s hold 开始计数，12.9 s 为 19/50，13.4 s 为 44/50，约 13.6 s 起 Stage 3/3、hold 50/50、顶栏 PASS，盖平放在罐旁，手指在附近但离盖，直到视频结束 15.7 s 保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手指尖夹住红盖把它抬离罐口（视频约 6.5-8 s）并搬到罐旁（约 8-11.5 s），随后松开放在台面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_seated_turn_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 1.049342105263158,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_spin_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_slide_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "成功：右手在视频约 6.5 s 把红盖逆时针拧过解锁角（Stage 1/3），抬离罐口后搬到罐旁桌面放下，视频约 13.6 s 起 Stage 3/3、hold 50/50、顶栏 PASS，两个节点最终均达成。无状态日志，节点时间来自视频顶栏读数；原生指标数值评分器未给出，故为 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "两个节点达成与整体成功判断正确；但 lid_on_worktop 的时间与证据文字中的顶栏读数有误：视频 12.9 s 顶栏仍为 Stage 2/3、hold 19/50，Stage 3/3 / hold 50/50 / PASS 约在 13.6 s 才���现。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两个节点时间与顶栏读数一致（6.5 s Stage 1/3，13.6 s Stage 3/3 PASS），整体成功，接触标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:06:45Z",
+  "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-jar-lid-open-i00-privileged--gmumecz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--gmumecz/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--gmumecz/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--gmumecz/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9dd61e5f6db4e05e9b09de5feef676dfc369d260f7e42316e7873c97ca9e39b3",
+   "video_sha256": "b0f61fe1830cf3c7b6df05608a82dc039ac77f52fd9249d81856ac070e8b8aa5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--mbwf4jb.json

@@ -0,0 +1,228 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-privileged--mbwf4jb",
+ "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": 400,
+   "sim_steps": 400,
+   "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": 2.573,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.245,
+   "peak_cpus": 1.48,
+   "peak_pids": 94,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-jar-lid-open-i00-privileged--mbwf4jb.mp4",
+  "duration_s": 10.1,
+  "fps": 10.0,
+  "frames": 101,
+  "sha256": "36593197c245b34116adfdfa3a3c0f44d9ad1394bb2b18871fb5c931b904fa98"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": 73,
+      "text_zh": "观察：视频 0-10.1 s 右手始终平张停在罐上方，红盖白色标记不转，顶栏 Stage 0/3、lid turn -0.00 rad；agent 最终自述交付的是“保持初始姿态、罐与盖未动”的轨迹（log step 73）。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": 73,
+      "text_zh": "观察：视频最后一帧（约 10.0 s）红盖仍在罐口，顶栏 Stage 0/3、hold 0/50；前置节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_seated_turn_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 1.049342105263158,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_spin_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_slide_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "lid_unscrewed",
+   "where": "首步前",
+   "t": 0.0,
+   "log_step": 73,
+   "evidence_zh": "观察：视频 0-10.1 s 机械手静止不动，罐盖未被触碰（顶栏 lid turn -0.00 rad，Stage 0/3）。观察：agent 的会话内尝试曾到 stage 2，但最终只交付了保持初始姿态的轨迹（log step 63、73：“robot holds its initial pose; jar and lid untouched”），所以被评分的是空动作基线。"
+  },
+  "phenomena": [
+   {
+    "t": 5.0,
+    "log_step": 73,
+    "evidence_zh": "观察：被评分的视频中右手全程未接触罐盖；交付的轨迹是 400 步保持姿态（log step 63、73）。",
+    "cat": "没尝试",
+    "item": "没尝试"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "交付为 agent 自行保留的空动作基线（会话内抓盖尝试因落盖失败而未交付，agent 自述“时间用完”类原因仅为其说法，log step 70-73）；按规则不由没尝试推导根因，故根因留空。无状态日志，原生指标值评分器未报告。",
+  "unmet": {
+   "lid_unscrewed": false,
+   "lid_on_worktop": false
+  }
+ },
+ "summary_zh": "观察：被评分的视频中右手始终静止，罐盖未转（Stage 0/3），2 个节点均未达成。推断：agent 会话内虽曾做到拧开并抬起（log step 62-72），但最终交付的是保持初始姿态的轨迹，断点在“拧开罐盖”首步前，现象为没尝试。无状态日志，根因无证据留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "视频 0-10.1 s 右手静止、罐盖未转（Stage 0/3），两个节点 false、断点首步前/没尝试、根因留空加 gap_zh，均与证据及 D23 一致；agent 会话内的 stage 2 尝试未被当作被评分回合的事实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:04:44Z",
+  "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-jar-lid-open-i00-privileged--mbwf4jb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--mbwf4jb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "89f9ac81ba92830da46f2356195148e6b2c62f96310240f218337101f94103a3",
+   "video_sha256": "36593197c245b34116adfdfa3a3c0f44d9ad1394bb2b18871fb5c931b904fa98",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--v8bhjvy.json

@@ -0,0 +1,187 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-privileged--v8bhjvy",
+ "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": 623,
+   "sim_steps": 623,
+   "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": 2.814,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.241,
+   "peak_cpus": 1.99,
+   "peak_pids": 83,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-jar-lid-open-i00-privileged--v8bhjvy.mp4",
+  "duration_s": 14.6,
+  "fps": 10.0,
+  "frames": 146,
+  "sha256": "1f5d01dd5a39aefae7ef180e664309e8605b7f34f53486aaf102e562fb35d461"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5.8 s 顶栏由 Stage 0/3 变为 1/3，lid turn 1.06 rad 超过 1.05 rad 解锁角（此前 5.0 s 为 0.74 rad）；红盖顶面标记相对罐身转动，右手拇指与其余指尖夹住盖缘逆时针拧。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手拇指与指尖夹住红盖外缘，整手逆时针转动拧盖。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：约 6.5–7.0 s 起 Stage 2/3（7.0 s clearance 51 mm），盖被抬离；12.0 s hold 27/50，12.5 s 顶栏 PASS、Stage 3/3、hold 50/50，红盖正面朝上放在罐旁台面，手已离盖，其后至视频结束（14.6 s）保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手夹住红盖抬离罐口并移到罐旁台面后松开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "观察：右手在视频约 5.8 s 拧开盖（Stage 1），约 6–7 s 抬盖，约 12.5 s 盖放在罐旁并保持满 50 步（Stage 3/3 PASS），两节点均达成，成功。无状态日志，时间来自视频顶栏与画面，精度约 0.5 s。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "两节点均达成、final 与成功结果一致；但 lid_unscrewed 的时间和证据文字与顶栏不符：Stage 1/3 出现在约 5.8 s 而非 5.0 s（5.0 s 时仍 Stage 0/3、turn 0.74 rad），且“6.0 s 起 Stage 2/3”也是错的（6.0 s 仍 1/3，Stage 2/3 约 6.5–7.0 s）。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两节点（拧开约5.8 s、盖放台面约12.5 s PASS 3/3）与顶栏和画面一致，成功、failure 为 null，第1轮问题已修正。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:06:35Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--v8bhjvy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--v8bhjvy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--v8bhjvy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--v8bhjvy/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "73db7a15481ed39d73719ff359ea2c1ba78c444c8ff04fadff990a87a48f1370",
+   "video_sha256": "1f5d01dd5a39aefae7ef180e664309e8605b7f34f53486aaf102e562fb35d461",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--vicngcq.json

@@ -0,0 +1,169 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-privileged--vicngcq",
+ "taskKey": "dexhand/jar_lid_open",
+ "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 0,
+   "infra_error": 0,
+   "missing_trajectory": 1,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.494,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.258,
+   "peak_cpus": 1.1,
+   "peak_pids": 47,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0、success=0，没有交付轨迹，无视频。推断：未交付轨迹，故该节点在评分回合中未达成（final false，由评分器总结果逻辑推出）；无视频时间轴，intervals 为 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹，评分回合中没有任何接触。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0、success=0，没有交付轨迹，无视频。推断：未交付轨迹，故该节点在评分回合中未达成（final false，由评分器总结果逻辑推出）；无视频时间轴，intervals 为 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹，评分回合中没有任何接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "lid_unscrewed",
+   "t": null,
+   "log_step": null,
+   "where": "首步前",
+   "evidence_zh": "观察：run.json reward 中 missing_trajectory=1、n_actions=0、sim_steps=0；agent 在 3604 s 的限时内（agent 时间 3585 s，log step 347）仍在做自己的抓取测试，日志中没有提交/保存轨迹的调用。推断：评分回合里机器人从未动作，第一步“拧开罐盖”未开始。"
+  },
+  "unmet": {
+   "lid_unscrewed": false,
+   "lid_on_worktop": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志；没有交付轨迹，评分回合中没有机器人动作可观察，因此不给失败现象；agent 只在会话中做测试（log step 1-347），会话证据不作为现象。未交付的原因只有会话内的反复调试和时限用尽，时限不是根因，也无证据指向某一具体根因，故现象与根因均留空。"
+ },
+ "summary_zh": "观察：agent 在 3600 s 限时内（agent 时间 3585 s）一直在会话里读代码、做 IK 与抓握测试，没有交付轨迹（missing_trajectory=1，n_actions=0）。推断：两个节点（拧开罐盖、盖放桌面）均未达成，断点在首步前；无视频，现象与根因留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频；评分器 missing_trajectory=1、n_actions=0、sim_steps=0，agent 日志 sim submit/reset 均为 0，未交付轨迹。两个节点 final false、断点首步前、现象与根因留空并写 gap_zh，均有依据；校验通过。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
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+  "effort": "high",
+  "created": "2026-11-08T22:05:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--vicngcq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--vicngcq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--am6jb5r.json

@@ -0,0 +1,202 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-standard--am6jb5r",
+ "taskKey": "dexhand/jar_lid_open",
+ "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 435,
+   "control_steps_total": 5294,
+   "elapsed_s": 3489.901,
+   "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": 1218,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 3,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1218,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.354,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.279,
+   "peak_cpus": 0.94,
+   "peak_pids": 90,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-jar-lid-open-i00-standard--am6jb5r.mp4",
+  "duration_s": 26.4,
+  "fps": 5.0,
+  "frames": 132,
+  "sha256": "312b30a5023046cec0da846857dfb608e28f3170cac22142154e0dd6597ed03e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": 87,
+      "text_zh": "观察：视频 0-8 s 顶栏 lid turn 0.00 rad；约 8.8 s 起变为 0.33 rad（目标 1.05），Stage 始终 0/3，直到视频 26.4 s 结束。右手握成拳压在红盖/罐身附近，盖只转了约三分之一，未达解锁角。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 2-14 s 右手握拳姿态，指垫压在红盖顶面/罐身上，摩擦带动盖转约 0.33 rad，未形成夹住盖裙的抓握。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.4,
+      "log_step": 87,
+      "text_zh": "观察：全程盖仍在罐口（顶栏 clearance -11 mm，hold 0/50，Stage 0/3），末帧红盖仍套在罐上，未抬起，上一步未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "lid_unscrewed",
+   "t": 9.0,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 9-26.4 s 盖转角停在 0.33/1.05 rad，Stage 0/3；末段手臂移开，盖仍在罐上。",
+   "log_step": 87
+  },
+  "phenomena": [
+   {
+    "t": 9.0,
+    "log_step": 84,
+    "evidence_zh": "观察：视频 2-14 s 手指压在盖顶面/罐身，没有夹住盖裙；agent 自述“pads press the lid's top surface”（log step 84），后又“wrap the jar body below the lid”（log step 88）。推断：需要的盖裙抓握未建立。",
+    "cat": "接触",
+    "item": "没建立接触"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "evidence_zh": "agent 多次因握拳/手腕偏移把指垫放在盖顶面或罐身而不是 13 mm 盖裙（log step 51, 61, 84, 88）；用拳形固定构型开环重放，未验证有可行替代。",
+    "source_zh": "agent 自述",
+    "alt_feasible": "未知"
+   }
+  ],
+  "gap_zh": "无状态日志，盖与指垫的精确接触靠视频帧和 agent 自述判断；agent 因 20 分钟预算用完停止，时间限制不计为原因。",
+  "unmet": {
+   "lid_unscrewed": false,
+   "lid_on_worktop": false
+  }
+ },
+ "summary_zh": "观察：视频 26.4 s 内盖只转到 0.33/1.05 rad，Stage 0/3，两个节点均未达成。断点在拧开罐盖，右手拳形指垫压在盖顶面/罐身而没有夹住盖裙。证据缺口：无状态日志，接触细节靠视频与 agent 自述。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频顶栏 lid turn 0.33/1.05 rad、Stage 0/3 全程到 26.4 s，两节点未达成、断点在 lid_unscrewed、接触（压/擦、未夹盖裙）均与帧一致；时间钟均为视频时间，agent 时间未换算。现象/根因有帧证据支持，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": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:05:52Z",
+  "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-jar-lid-open-i00-standard--am6jb5r/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-standard--am6jb5r/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "47f99bc0e10f0c2a47e5e8bc2bc1525674a9135034c520783fc74e13cdea84a8",
+   "video_sha256": "312b30a5023046cec0da846857dfb608e28f3170cac22142154e0dd6597ed03e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--bemfyio.json

@@ -0,0 +1,203 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-standard--bemfyio",
+ "taskKey": "dexhand/jar_lid_open",
+ "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 169,
+   "control_steps_total": 4029,
+   "elapsed_s": 3564.194,
+   "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": 206,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 206,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.619,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.272,
+   "peak_cpus": 1.97,
+   "peak_pids": 109,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-jar-lid-open-i00-standard--bemfyio.mp4",
+  "duration_s": 6.4,
+  "fps": 5.0,
+  "frames": 32,
+  "sha256": "c97149e01015b41c300b1a0dd4746d25a8fb35d922b744e3b75699098ecd7f71"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": 508,
+      "text_zh": "观察：视频 0-6.4 s 顶栏 Stage 始终 0/3，lid turn 在 -0.02～+0.02 rad 之间（需 1.05 rad），视频 4.4 s 起顶栏变为 FAIL: jar_tipped；红盖顶面白标记相对罐身几乎未转。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手（agent 脚本控制）手指从视频约 1.2 s 起压在红盖顶面/侧缘，指尖（绿色标记）抵住盖沿，未能使盖相对罐身转动。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 508,
+      "text_zh": "观察：盖始终套在罐口，clearance 为负（-11～-19 mm），hold 0/50，未抬离；前置节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：该步未开始，手仅仍压在盖上，没有抬盖或托盖。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "lid_unscrewed",
+   "where": "操作中",
+   "t": 4.0,
+   "evidence_zh": "观察：视频 1.2-4.4 s 右手压住红盖，lid turn 始终约 0 rad，罐身略倾，视频 4.4 s 起顶栏显示 FAIL: jar_tipped（评分器因罐倾倒结束回合，log step 508 reason task_failure）。",
+   "log_step": 508
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 4.0,
+    "log_step": 508,
+    "evidence_zh": "观察：手指压拧盖时罐身被一起推歪，视频 4.0-4.4 s 罐身倾斜后出现 FAIL: jar_tipped，盖相对罐身转角约 0（-0.02～0.02 rad），未达 1.05 rad。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "evidence_zh": "推断：手指只是压在盖沿而非夹住盖外缘，施力主要推动整罐而非旋转盖；盖与罐之间未产生相对转动。是否存在可行替代：未知（oracle 成功案例的盖由手拧开，说明任务本身可行）。",
+    "source_zh": "视频",
+    "alt_feasible": "未知"
+   }
+  ],
+  "gap_zh": "视频仅 6.4 s、无状态日志，罐倾角数值未读到，罐倾倒时刻根据顶栏文字变化定位（约视频 4.4 s）；根因为由接触画面推断。",
+  "unmet": {
+   "lid_unscrewed": false,
+   "lid_on_worktop": false
+  }
+ },
+ "summary_zh": "观察：视频 6.4 s 内顶栏 Stage 始终 0/3，右手压在红盖上未能拧转（lid turn 约 0 rad），约视频 4.4 s 起评分器判 FAIL: jar_tipped，两个节点均未达成（0/2）。断点为拧开罐盖（操作中），现象为带动本体（罐被推歪），根因推断为接触设计不当；无状态日志，倾角仅由顶栏推断。",
+ "conf": 6,
+ "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：Stage 全程 0/3、lid turn 约 0、4.4 s 起顶栏 FAIL: jar_tipped，两节点未达成、断点与现象、根因均与视频一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:05:52Z",
+  "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-jar-lid-open-i00-standard--bemfyio/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-standard--bemfyio/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "755d2f3a69558381187f64ff71ee8318f2d6c7339fe5743d795eca3368632565",
+   "video_sha256": "c97149e01015b41c300b1a0dd4746d25a8fb35d922b744e3b75699098ecd7f71",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--dwhzfwr.json

@@ -0,0 +1,218 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-standard--dwhzfwr",
+ "taskKey": "dexhand/jar_lid_open",
+ "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 169,
+   "control_steps_total": 2175,
+   "elapsed_s": 3474.915,
+   "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": 1054,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 9,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1054,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.429,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.997,
+   "peak_cpus": 2.0,
+   "peak_pids": 85,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-jar-lid-open-i00-standard--dwhzfwr.mp4",
+  "duration_s": 23.2,
+  "fps": 5.0,
+  "frames": 116,
+  "sha256": "e9f965ff695ec8d927db44efbc02c01fc5fbec655f04cac076345ecd8492e023"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": 134,
+      "text_zh": "观察：视频 14 s 右手指尖贴近红盖一侧，但顶栏全程显示 Stage 0/3、lid turn -0.00 rad，红盖顶面白色标记朝向未变；视频 23 s 末帧仍 Stage 0/3。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手指尖/手侧在视频约 9-15 s 靠近并触及红盖侧缘，未见盖转动；无法确认是否形成抓握。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.2,
+      "log_step": 134,
+      "text_zh": "观察：盖始终拧在罐上，全程 hold 0/50、Stage 0/3，盖从未抬离。前置节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "lid_unscrewed",
+   "where": "操作中",
+   "t": 14.0,
+   "evidence_zh": "观察：视频 4-23 s 右手多次移到罐盖附近又移开，lid turn 始终 -0.00 rad、Stage 0/3，盖未被拧动。",
+   "log_step": 134
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 14.0,
+    "log_step": 134,
+    "evidence_zh": "观察：视频全程红盖无任何转动；手指仅在盖侧擦过，未见手指夹住盖裙形成可传递扭矩的接触。agent 自述（log step 140）称摩擦抓握从未能带动盖，旋转后手指滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "evidence_zh": "仅推断（来源为 agent 自述 log step 140，不作采信证据）：手掌平板约6 cm、手指展开约6.1 cm，与高 1.8 cm 的盖裙不匹配，单侧笼式抓握。视频只见手在盖旁擦过、盖未转动，不能区分手形/抓取设计不匹配与轨迹/反馈控制问题。",
+    "source_zh": "仅推断（agent 自述；视频不能区分设计与轨迹/反馈控制）",
+    "alt_feasible": "未知"
+   }
+  ],
+  "gap_zh": "无状态日志；手指与盖的接触细节在视频中视角较远，现象与根因的细分类别依赖 agent 自述，仅部分由视频支持。",
+  "unmet": {
+   "lid_unscrewed": false,
+   "lid_on_worktop": false
+  }
+ },
+ "summary_zh": "观察：视频 23.2 s 内顶栏始终 Stage 0/3、lid turn -0.00 rad、hold 0/50，两个节点均未达成。推断：断点在拧开罐盖，右手未能抓住盖裙带动其转动（agent 自述接触/抓握设计不当）。证据缺口：无状态日志，接触细节视角较远。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（两节点未达成、断点 lid_unscrewed、Stage 0/3 全程）与视频一致；问题只在根因：仅凭 agent 自述（手掌 6 cm、无对向夹持），视频只见手在盖旁徘徊/擦过，没��独立证据区分「抓取和接触设计」与「轨迹/反馈控制」。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点未达成、断点 lid_unscrewed、Stage 0/3 全程与视频一致；根因已标为仅推断，alt_feasible 未知。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:09:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work_rerun1/runs/dexhand-jar-lid-open-i00-standard--dwhzfwr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/dexhand-jar-lid-open-i00-standard--dwhzfwr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/dexhand-jar-lid-open-i00-standard--dwhzfwr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work_rerun1/runs/dexhand-jar-lid-open-i00-standard--dwhzfwr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "aba82641bfe589f6cbe86e5d6b8e0e74f37166dfdec029d4953afd5005ff44c7",
+   "video_sha256": "e9f965ff695ec8d927db44efbc02c01fc5fbec655f04cac076345ecd8492e023",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--jivhuxt.json

@@ -0,0 +1,183 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-standard--jivhuxt",
+ "taskKey": "dexhand/jar_lid_open",
+ "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 43,
+   "control_steps_total": 1730,
+   "elapsed_s": 3618.852,
+   "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": 923,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 2,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 923,
+   "success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.778,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.268,
+   "peak_cpus": 2.61,
+   "peak_pids": 108,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-jar-lid-open-i00-standard--jivhuxt.mp4",
+  "duration_s": 20.8,
+  "fps": 5.0,
+  "frames": 104,
+  "sha256": "1fe35d97348137649e593520c10bc9f7e3c137e06ad01c95a2a87a6a41336083"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.8,
+      "log_step": null,
+      "text_zh": "观察：视频 8.8 s 顶栏由 Stage 0/3 变为 1/3（lid turn 1.08 rad），右手夹住红盖拧转；之后 1.25 rad 保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手指尖夹住红盖外缘逆时针拧转（视频 1-9 s）"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.6,
+      "log_step": null,
+      "text_zh": "观察：视频约 12 s 起 Stage 2/3（clearance -110 mm，盖被右手提离并移到罐旁）；视频 18.6 s 顶栏 hold 50/50、Stage 3/3、PASS，盖红面朝上放在罐旁桌面，手离盖。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手抓握红盖抬起并移到罐旁桌面后松开（视频 11-18 s）"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：视频 8.8 s 拧开罐盖（Stage 1/3），随后抬盖移到罐旁，视频 18.6 s hold 50/50、Stage 3/3 PASS，2/2 节点完成。无状态日志，节点时间来自视频顶栏与画面。agent 先前一次试验（log step 45）失败，与分级回合无关。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功回合，2/2 节点时间与接触标注与视频顶栏和画面一致（Stage 1/3 约 8.8-9.0 s，Stage 3/3 hold 50/50 约 18.6 s）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:05:38Z",
+  "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-jar-lid-open-i00-standard--jivhuxt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-standard--jivhuxt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "596c003c6785c5f6ffbd67029b74ac099f4008960b59bd16aa675a93f9598e03",
+   "video_sha256": "1fe35d97348137649e593520c10bc9f7e3c137e06ad01c95a2a87a6a41336083",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--lzjwlpl.json

@@ -0,0 +1,218 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-standard--lzjwlpl",
+ "taskKey": "dexhand/jar_lid_open",
+ "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 316,
+   "control_steps_total": 4296,
+   "elapsed_s": 2189.87,
+   "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": 924,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 6,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 924,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.346,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.242,
+   "peak_cpus": 1.73,
+   "peak_pids": 89,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-jar-lid-open-i00-standard--lzjwlpl.mp4",
+  "duration_s": 20.8,
+  "fps": 5.0,
+  "frames": 104,
+  "sha256": "c726eef99d0f40b85e180191aca5aaf881ea2a89d3682a1328653e7db25d1feb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": 59,
+      "text_zh": "观察：视频 5-18 s 右手拇指与中指从上方捏住红盖并转动，顶栏盖转角 lid turn 仅 0.00→约 0.09 rad（解锁需 1.05 rad），Stage 始终 0/3；视频约 14.5-16 s 起罐随捏持的盖被带离台面（罐底与台面影子分离），顶栏约 18.5 s 显示 FAIL: jar_lifted。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与中指从上方夹住红盖两侧拧转（视频约 5-18 s），同时（约 14.5-16 s 起）整罐被一起带离台面"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.8,
+      "log_step": 59,
+      "text_zh": "观察：全程 Stage 0/3，盖从未脱离罐口；视频末帧罐被手带离台面，顶栏 FAIL jar_lifted。agent 自述（log step 59）抬盖后的放置步骤从未编写或运行。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "lid_unscrewed",
+   "t": 18.0,
+   "log_step": 59,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 14.5-16 s 起罐随捏持的盖被带离台面（罐底与台面影子分离），顶栏约 18.5 s 显示 FAIL: jar_lifted（final state）；此前盖转角只到约 0.09 rad，未到 1.05 rad。"
+  },
+  "unmet": {
+   "lid_unscrewed": false,
+   "lid_on_worktop": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 18.0,
+    "log_step": 59,
+    "evidence_zh": "观察：视频 5-18 s 手捏盖转动但盖相对罐身转角仅约 0.09 rad，约 14.5-16 s 起罐身随捏持的盖被带离台面（顶栏 jar_lifted 约 18.5 s 才出现）；agent 自述罐随盖共转、盖在捏持中倾斜（log step 59，仅为其判断）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：双指（拇指+中指）从上方捏盖，捏持力使盖与罐身共转/一起被提起，螺纹相对转角没积累；agent 自述 6 次 reset、多种姿态均未解决，是否存在可行替代未验证。",
+    "source_zh": "视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志；罐身是否共转只由视频顶栏数值和 agent 自述支持，未单独量化。"
+ },
+ "summary_zh": "观察：视频 20.8 s 内右手捏盖转动，盖相对罐身只转约 0.09 rad（需 1.05 rad），Stage 始终 0/3，2 个节点均未达成。断点为拧开罐盖（操作中）：抬手时整罐随盖被带起，评分 FAIL jar_lifted；归为带动本体，根因倾向抓取和接触设计（证据有限）。放置步骤从未尝试。",
+ "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、断点、现象和根因基本与视频一致（盖转角仅约0.09 rad，Stage 0/3，2个节点未达成，带动本体合理）。唯一需改：罐子离台的时间——视频中罐从约14.5-15.6 s起就在捏持中被慢慢带离台面（影子与罐底分离），并非18 s'抬手时'才起，顶栏FAIL jar_lifted约18.5 s才出现。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点未达成、转角仅约0.09 rad、罐被带离台面（顶栏FAIL jar_lifted）均与帧一致；断点、带动本体现象与抓取和接触设计根因（alt_feasible 未知）有据，第1轮意见已采纳。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:06:41Z",
+  "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-jar-lid-open-i00-standard--lzjwlpl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-standard--lzjwlpl/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-standard--lzjwlpl/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-standard--lzjwlpl/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "afb17a00de76ec8fcf83c76d51ac1f0c7d5fee740ca6b3f0b6e0ad500e18e7d7",
+   "video_sha256": "c726eef99d0f40b85e180191aca5aaf881ea2a89d3682a1328653e7db25d1feb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-privileged--7ihtyqj.json

@@ -0,0 +1,814 @@
+{
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+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-privileged--7ihtyqj",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
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+   "agent_cost_self_reported": 1,
+   "agent_traces": 300,
+   "agent_trace_videos": 6,
+   "resource_enforced": 0,
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+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dextoolbench_spatula_flat_spatula_flip_over-privileged--7ihtyqj.mp4",
+  "duration_s": 12.034,
+  "fps": 30.0,
+  "frames": 361,
+  "sha256": "dfa83ed65bc0f50f755c4942eb85d041cb92ffd84a4d28de8eb1ccf04dc3170e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：视频 0–4 s 手在平铲上方接近，约 5 s 起手臂抬起离开，6–12 s 手远离；平铲始终静止在盘上，画面看不出手指是否接触铲柄。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观���：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.9,
+      "log_step": 196,
+      "text_zh": "观察：视频 11.9 s 四视角中绿色目标铲仍在原位，灰色平铲躺在盘上，未移动；评分器 goals_reached=0/45。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goals_reached",
+   "value": 0,
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_01_reached",
+   "t": 3.0,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0–4 s 手在平铲上方接近；约 5 s 起手臂抬起离开，6–12 s 手远离且平铲仍躺在盘上，绿色目标未推进，goals_reached=0。",
+   "log_step": 196
+  },
+  "phenomena": [
+   {
+    "t": 3.0,
+    "log_step": 196,
+    "evidence_zh": "观察：视频 0–12 s 平铲从未离开盘面，没有被手抓起；5 s 后手已远离。agent 自述（log step 196）手只形成松散笼状、铲柄离桌仅数毫米，手指无法伸到柄下。",
+    "cat": "接触",
+    "item": "没建立接触"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：依据 agent 会话测试自述（log step 196：抓握窗口窄、握力不足、物体滑出），交付回放中未见物体被笼住；视频只显示平铲始终未被提起、手随后抬走，无法区分抓取设计与轨迹/反馈问题。",
+    "source_zh": "agent 自述（会话测试）/ 推断"
+   }
+  ],
+  "gap_zh": "无状态日志，抓握细节只来自视频与 agent 自述，视频中手指是否接触铲柄未能逐帧确认。",
+  "unmet": {
+   "goal_pose_01_reached": false,
+   "goal_pose_02_reached": false,
+   "goal_pose_03_reached": false,
+   "goal_pose_04_reached": false,
+   "goal_pose_05_reached": false,
+   "goal_pose_06_reached": false,
+   "goal_pose_07_reached": false,
+   "goal_pose_08_reached": false,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  }
+ },
+ "summary_zh": "观察：视频 12 s 内平铲始终留在盘上，45 个目标一个也未达到（评分器 0/45，超时）。断点在第1个目标的抓取移动；推断为抓握设计不足。证据缺口：无状态日志，接触细节依据有限。 根因依据仅为 agent 会话自述，回放无法区分抓取设计与轨迹问题。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（全部未达成）与断点锚点基本正确，但证据文字对视频的描述不实：手只在约0–4 s 靠近平铲，约5 s 起已抬离并退到盘子上方远处，并非 1–12 s 一直在铲柄附近；根因完全依赖 agent 自述（会话测试），未用视频区分。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点全 false、断点 goal_pose_01 与现象基本正确；但 goal_pose_01 的 contact_actual 仍保留第1轮已指出的错误描述（手 1–12 s 在铲柄附近移动，how=压/擦），与画面不符。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的修改已完整应用：contact_actual 改为 how=未知，说明文字与审稿建议一致，与画面相符。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的修改已完整应用：contact_actual 改为 how=未知，说明文字与审稿建议一致，与画面相符。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:07:11Z",
+  "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/dextoolbench_spatula_flat_spatula_flip_over-privileged--7ihtyqj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--7ihtyqj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--7ihtyqj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--7ihtyqj/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--7ihtyqj/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--7ihtyqj/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5552beb784a2344e45d13b2ad0bc11b10a0dede312e5abf5d98ab568772648ee",
+   "video_sha256": "dfa83ed65bc0f50f755c4942eb85d041cb92ffd84a4d28de8eb1ccf04dc3170e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-privileged--h2gteng.json

@@ -0,0 +1,929 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-privileged--h2gteng",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "progress": 0.2,
+   "goals_reached": 9,
+   "n_goals": 45,
+   "failed_on_timeout": 0,
+   "deterministic": 1,
+   "n_actions": 1234,
+   "control_steps_used": 1234,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 46,
+   "agent_resets": 49,
+   "agent_control_steps": 173815,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 38,
+   "agent_trace_videos": 6,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.545,
+   "peak_memory_gb": 1.032,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.983,
+   "peak_cpus": 3.03,
+   "peak_pids": 67,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dextoolbench_spatula_flat_spatula_flip_over-privileged--h2gteng.mp4",
+  "duration_s": 10.3,
+  "fps": 30.0,
+  "frames": 309,
+  "sha256": "777cb659b3b9b50ee460774a53692f27167b44060ef325a1ac4bf656616429f0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": 0,
+  "peak": 9,
+  "final": 9,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.6,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放共达成 9/45 个目标（log step 127），本节点早于第7个目标（视频 8.7 s）已达成；具体时刻日志未给出，此时间是据视频绿色目标铲跳变（约 1.6、6.9、8.37 s 等）推断的粗略估计，不确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手握持平铲并随机械臂沿轨迹移动（视频 4–10 s 平铲随手移动）；推断：握持细节在小视图中不够清晰。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放共达成 9/45 个目标（log step 127），本节点早于第7个目标（视频 8.7 s）已达成；具体时刻日志未给出，此时间是据视频绿色目标铲跳变（约 1.6、6.9、8.37 s 等）推断的粗略估计，不确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手握持平铲并随机械臂沿轨迹移动（视频 4–10 s 平铲随手移动）；推断：握持细节在小视图中不够清晰。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放共达成 9/45 个目标（log step 127），本节点早于第7个目标（视频 8.7 s）已达成；具体时刻日志未给出，此时间是据视频绿色目标铲跳变（约 1.6、6.9、8.37 s 等）推断的粗略估计，不确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手握持平铲并随机械臂沿轨迹移动（视频 4–10 s 平铲随手移动）；推断：握持细节在小视图中不够清晰。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放共达成 9/45 个目标（log step 127），本节点早于第7个目标（视频 8.7 s）已达成；具体时刻日志未给出，此时间是据视频绿色目标铲跳变（约 1.6、6.9、8.37 s 等）推断的粗略估计，不确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手握持平铲并随机械臂沿轨迹移动（视频 4–10 s 平铲随手移动）；推断：握持细节在小视图中不够清晰。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.9,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放共达成 9/45 个目标（log step 127），本节点早于第7个目标（视频 8.7 s）已达成；具体时刻日志未给出，此时间是据视频绿色目标铲跳变（约 1.6、6.9、8.37 s 等）推断的粗略估计，不确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手握持平铲并随机械臂沿轨迹移动（视频 4–10 s 平铲随手移动）；推断：握持细节在小视图中不够清晰。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.37,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.37,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放共达成 9/45 个目标（log step 127），本节点早于第7个目标（视频 8.7 s）已达成；具体时刻日志未给出，此时间是据视频绿色目标铲跳变（约 1.6、6.9、8.37 s 等）推断的粗略估计，不确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手握持平铲并随机械臂沿轨迹移动（视频 4–10 s 平铲随手移动）；推断：握持细节在小视图中不够清晰。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.7,
+      "log_step": 127,
+      "text_zh": "观察：log step 127 的最终重放日志给出“REACHED 7 step 1044”，控制步 1044 → 视频 1044/120 = 8.70 s（1234 控制步对应 10.3 s 视频，即 2 倍速）；已在视频 8.7 s、9.03 s 绿色目标铲跳到下一位姿处核对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手握持平铲并随机械臂沿轨迹移动（视频 4–10 s 平铲随手移动）；推断：握持细节在小视图中不够清晰。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.03,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.03,
+      "log_step": 127,
+      "text_zh": "观察：log step 127 的最终重放日志给出“REACHED 8 step 1081”，控制步 1081 → 视频 1081/120 = 9.01 s（1234 控制步对应 10.3 s 视频，即 2 倍速）；已在视频 8.7 s、9.03 s 绿色目标铲跳到下一位姿处核对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手握持平铲并随机械臂沿轨迹移动（视频 4–10 s 平铲随手移动）；推断：握持细节在小视图中不够清晰。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.28,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：log step 127 的最终重放日志给出“REACHED 9 step 1234”，控制步 1234 → 视频 1234/120 = 10.28 s（1234 控制步对应 10.3 s 视频，即 2 倍速）；已在视频 8.7 s、9.03 s 绿色目标铲跳到下一位姿处核对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手握持平铲并随机械臂沿轨迹移动（视频 4–10 s 平铲随手移动）；推断：握持细节在小视图中不够清晰。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：手仍持铲向第10个目标运动但未到位（目标距离 0.047 m，log step 127）。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127）��视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标��未重合。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.28,
+      "log_step": 127,
+      "text_zh": "观察：评分器最终重放仅达成 9/45（log step 127），视频末帧绿色目标铲仍为第10个目标，未重合。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": 0.04672,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goals_reached",
+   "value": 9,
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better"
+  },
+  {
+   "name": "progress",
+   "value": 0.2,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_10_reached",
+   "where": "操作中",
+   "t": 10.28,
+   "log_step": 127,
+   "evidence_zh": "观察：视频末帧手持铲离第10个绿色目标仍有约 0.047 m（log step 127 重放字段 goal_distance_m）；轨迹共 1234 控制步（视频 10.3 s）后结束，第9个目标在最后一刻才达成。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 10.28,
+    "log_step": 127,
+    "evidence_zh": "观察：第10个目标处铲的位置/朝向与目标偏差约 0.047 m（阈值 0.015 m）；推断：agent 在 log step 121-125 多次尝试再抓取/调整，距离仍 0.03-0.16 m。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "evidence_zh": "观察：交付轨迹（1234 控制步）止于第9个目标，graded 重放距离 0.04672 m（log step 127/131）；agent 在 session 中对第10个目标的跟踪（step 127/129）距离升至约 0.11 m，求逆解脚本 firstplan.py 在 step 129 IndexError（sols 为空）——这是 session 试验结果，不属于交付轨迹；推断：解不出轨迹/逆解，未排除抓握/手内姿态够不到目标10（step 125 手型随机搜索最小距离仍约 0.033 m）；agent 自述（step 63）关节限位仅作旁证。阶段不明，故停在 控制。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "小视图下握持细节不清；第1-6个目标的达成时刻日志未给出，为视频绿色目标铲跳变推断。根因归轨迹或逆解：step 129 IndexError 是 session 试验而非交付轨迹的观察，抓握几何不适配未排除，故根因不确定。",
+  "unmet": {
+   "goal_pose_01_reached": true,
+   "goal_pose_02_reached": true,
+   "goal_pose_03_reached": true,
+   "goal_pose_04_reached": true,
+   "goal_pose_05_reached": true,
+   "goal_pose_06_reached": true,
+   "goal_pose_07_reached": true,
+   "goal_pose_08_reached": true,
+   "goal_pose_09_reached": true,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  }
+ },
+ "summary_zh": "观察：graded 轨迹（1234 控制步，视频 10.3 s）达成 9/45 个目标，第7、8、9个目标在视频 8.7、9.03、10.28 s 达成（由日志控制步映射并已核对）；第1-6个目标时刻为粗略估计。断点在第10个目标：手持铲到目标仍差约 0.047 m。agent 自述多次遇到关节限位（log step 63），根因记为 ���制（子类型不明）。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点时间（控制步1044/1081/1234→视频8.7/9.03/10.28 s）、final=9、断点 goal_pose_10 与 位姿不准 均与日志和视频一致；唯一问题是根因的证据依赖 agent 自述，而日志 step 123 有更直接的证据。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点时间（控制步1044/1081/1234→视频8.7/9.03/10.28 s）、final=9、断点 goal_pose_10、位姿不准均与日志和视频一致。唯一问题：根因 evidence 把 log step 129 的 firstplan.py IndexError 写成对交付轨迹的“观察”，但那是交付之后的 session 试验，不是 graded 轨迹。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按建议完整采纳:evidence_zh 区分观察与推断,明确 step 129 IndexError 为 session 试验,保留 控制·轨迹或逆解,gap_zh 同步,conf 降为 4 并加 conf_reason_zh;与日志一致。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按建议完整采纳:evidence_zh 区分观察与推断,明确 step 129 IndexError 为 session 试验,保留 控制·轨迹或逆解,gap_zh 同步,conf 降为 4 并加 conf_reason_zh;与日志一致。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:07:30Z",
+  "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/dextoolbench_spatula_flat_spatula_flip_over-privileged--h2gteng/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--h2gteng/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--h2gteng/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--h2gteng/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--h2gteng/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--h2gteng/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5e65fda47667ac5a52c126dbf082a2751e7a8bb0cb6afca1c410687f358b531e",
+   "video_sha256": "777cb659b3b9b50ee460774a53692f27167b44060ef325a1ac4bf656616429f0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ },
+ "conf_reason_zh": "根因（逆解 vs 抓握几何）证据仅为 session 试验，无法确定。"
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-privileged--jzhynyp.json

@@ -0,0 +1,739 @@
+{
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+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-privileged--jzhynyp",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "progress": 0.0,
+   "deterministic": 0,
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+   "grader_error": 0,
+   "agent_sessions": 98,
+   "agent_resets": 206,
+   "agent_control_steps": 34820,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.21,
+   "peak_memory_gb": 0.538,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.274,
+   "peak_cpus": 1.24,
+   "peak_pids": 32,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 45,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 progress=0.0、missing_trajectory=1（未交付可回放轨迹），按评分器总分判定该目标未计数，intervals 无法给出（null）。agent 会话内的自测（如 log step 130 自称 reached=9）只是会话证据，不作节点值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goals_reached",
+   "value": 0,
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better"
+  },
+  {
+   "name": "progress",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 141,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 141 的 agent 输出为 Gemini 内容过滤拦截信息（“This request was blocked by Gemini's filters”），其后无任何步骤；评分器 missing_trajectory=1，没有交付轨迹，无视频。推断：运行在交付结果固定前被模型提供方过滤器中断，属外部因素，不是 agent 失败。"
+  },
+  "unmet": {
+   "goal_pose_01_reached": false,
+   "goal_pose_02_reached": false,
+   "goal_pose_03_reached": false,
+   "goal_pose_04_reached": false,
+   "goal_pose_05_reached": false,
+   "goal_pose_06_reached": false,
+   "goal_pose_07_reached": false,
+   "goal_pose_08_reached": false,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "外部因素：模型提供方（Gemini）过滤器在 log step 141 中断运行，未交付任何轨迹（missing_trajectory=1），无视频、无状态日志；故不给现象与根因，也不标没尝试。"
+ },
+ "summary_zh": "观察：无视频与状态日志，评分器 progress=0.0、missing_trajectory=1，45 个目标节点均按评分器总分记为未达成。agent 在 log step 141 被 Gemini 过滤器拦截而中断，未交付轨迹（agent 会话内曾自测到 reached=9，仅为会话证据）；属外部因素，不做失败现象与根因归因。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频/状态日志；评分器 progress=0、missing_trajectory=1，45 个节点按评分器总分记 false 合理；log step 141 为 Gemini 过滤器拦截且为最后一步，未交付轨迹，按外部因素空层并写 gap_zh 符合 FAIL-5/D37，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": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:04:35Z",
+  "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/dextoolbench_spatula_flat_spatula_flip_over-privileged--jzhynyp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--jzhynyp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3e9d6d3059e523db8756a5158f9ba87949b1f0dee4a50b4cdb814137e2d0fcef",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-privileged--un3ggwu.json

@@ -0,0 +1,852 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-privileged--un3ggwu",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.1778,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "progress": 0.1778,
+   "goals_reached": 8,
+   "n_goals": 45,
+   "failed_on_timeout": 0,
+   "deterministic": 1,
+   "n_actions": 1310,
+   "control_steps_used": 1310,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 93,
+   "agent_resets": 103,
+   "agent_control_steps": 83510,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 75,
+   "agent_trace_videos": 6,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dextoolbench_spatula_flat_spatula_flip_over-privileged--un3ggwu.mp4",
+  "duration_s": 10.934,
+  "fps": 30.0,
+  "frames": 328,
+  "sha256": "1fc28ed9487a6ea6c227b11d9cfa6724e1d05d1d04a908f4e9aafb8356175688"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": null,
+  "peak": null,
+  "final": 8,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": 64,
+      "text_zh": "推断：评分器 goals_reached=8/45，目标顺序推进，故第1个目标已在第9个目标开始前达成（上界约 9.6 s）；具体达成时刻无状态日志、帧间无法区分，未知（不再使用均分的估计时间）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3-6 s 灵巧手把平铲柄夹住并随目标移动；推断：手指在柄上方、拇指在下方夹持（agent 自述，log step 65）。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": 64,
+      "text_zh": "推断：评分器 goals_reached=8/45，目标顺序推进，故第2个目标已在第9个目标开始前达成（上界约 9.6 s）；具体达成时刻无状态日志、帧间无法区分，未知（不再使用均分的估计时间）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3-6 s 灵巧手把平铲柄夹住并随目标移动；推断：手指在柄上方、拇指在下方夹持（agent 自述，log step 65）。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": 64,
+      "text_zh": "推断：评分器 goals_reached=8/45，目标顺序推进，故第3个目标已在第9个目标开始前达成（上界约 9.6 s）；具体达成时刻无状态日志、帧间无法区分，未知（不再使用均分的估计时间）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3-6 s 灵巧手把平铲柄夹住并随目标移动；推断：手指在柄上方、拇指在下方夹持（agent 自述，log step 65）。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": 64,
+      "text_zh": "推断：评分器 goals_reached=8/45，目标顺序推进，故第4个目标已在第9个目标开始前达成（上界约 9.6 s）；具体达成时刻无状态日志、帧间无法区分，未知（不再使用均分的估计时间）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3-6 s 灵巧手把平铲柄夹住并随目标移动；推断：手指在柄上方、拇指在下方夹持（agent 自述，log step 65）。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": 64,
+      "text_zh": "推断：评分器 goals_reached=8/45，目标顺序推进，故第5个目标已在第9个目标开始前达成（上界约 9.6 s）；具体���成时刻无状态日志、帧间无法区分，未知（不再使用均分的估计时间）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3-6 s 灵巧手把平铲柄夹住并随目标移动；推断：手指在柄上方、拇指在下方夹持（agent 自述，log step 65）。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": 64,
+      "text_zh": "推断：评分器 goals_reached=8/45，目标顺序推进，故第6个目标已在第9个目标开始前达成（上界约 9.6 s）；具体达成时刻无状态日志、帧间无法区分，未知（不再使用均分的估计时间）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3-6 s 灵巧手把平铲柄夹住并随目标移动；推断：手指在柄上方、拇指在下方夹持（agent 自述，log step 65）。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": 64,
+      "text_zh": "推断：评分器 goals_reached=8/45，目标顺序推进，故第7个目标已在第9个目标开始前达成（上界约 9.6 s）；具体达成时刻无状态日志、帧间无法区分，未知（不再使用均分的估计时间）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3-6 s 灵巧手把平铲柄夹住并随目标移动；推断：手指在柄上方、拇指在下方夹持（agent 自述，log step 65）。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": 64,
+      "text_zh": "推断：log step 64 重放读数 reached=8、steps_on_goal=161、steps=1310（视频 10.934 s），故第9个目标自控制步约 1149 起被跟踪，第8个目标约在 1149/1310×10.934≈9.6 s 达成（steps_on_goal 以第9个目标起算的假设；步到视频时间按线性映射，约 120 步/s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3-6 s 灵巧手把平铲柄夹住并随目标移动；推断：手指在柄上方、拇指在下方夹持（agent 自述，log step 65）。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，第9个目标未计数（log step 64：steps_on_goal=161，goal_distance 0.425 m，未达标）；观察：视频末段铲与绿色目标铲未重合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频末段手仍在铲附近、铲偏离绿色目标；推断：agent 自述固定抓握下尝试绕长轴翻转（log step 65）。是否脱手无法从帧或日志确认。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第10个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第11个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第12个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第13个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第14个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第15个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第16个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第17个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第18个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第19个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第20个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第21个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第22个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第23个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第24个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第25个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第26个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第27个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第28个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第29个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第30个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第31个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第32个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第33个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第34个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第35个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第36个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第37个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第38个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第39个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第40个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第41个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合��"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第42个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第43个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第44个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.9,
+      "log_step": 65,
+      "text_zh": "推断：评分器 goals_reached=8，目标顺序推进，第45个目标未计数；观察：视频末帧（约 10.9 s）铲被甩离，未与绿色目标重合。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goals_reached",
+   "value": 8,
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better"
+  },
+  {
+   "name": "progress",
+   "value": 0.1778,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_09_reached",
+   "t": 9.6,
+   "log_step": 65,
+   "where": "操作中",
+   "evidence_zh": "观察：评分器 goals_reached=8/45；推断：由 log step 64 重放读数 steps_on_goal=161（steps=1310）推出第9个目标自约视频 9.6 s 起尝试，此后至 10.9 s 未达成（goal_distance 0.425 m）。agent 自述目标8起开始约180°绕长轴翻转，固定抓握无法继续跟随（log step 65，未独立验证）。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 10.5,
+    "log_step": 64,
+    "evidence_zh": "观察：视频末段（约 9.6-10.9 s）铲偏离绿色目标铲的位姿；评分器 goal_distance=0.425 m，steps_on_goal=161 仍未达第9个目标的8角点<1.5 cm。铲是否脱手帧与日志均不能确认，不作判断。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述：单一固定抓握（手指在柄上、拇指在下）下，翻转时手朝向需转回指向机器人，400个随机相对手姿搜索也找不到能覆盖中段目标的抓握（log step 65）；视频未能独立验证。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志，目标1-7的达成时刻未知（仅知≤约9.6 s），目标8约 9.6 s（由 log step 64 steps_on_goal 推得）；与第9个目标尝试的细节仅靠视频粗估；根因来自 agent 自述，未独立验证。视频为 640×480 多视角拼接，分辨率低。",
+  "unmet": {
+   "goal_pose_01_reached": true,
+   "goal_pose_02_reached": true,
+   "goal_pose_03_reached": true,
+   "goal_pose_04_reached": true,
+   "goal_pose_05_reached": true,
+   "goal_pose_06_reached": true,
+   "goal_pose_07_reached": true,
+   "goal_pose_08_reached": true,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  }
+ },
+ "summary_zh": "观察：评分器计数 8/45 个目标，成功=0。推断：平铲被灵巧手夹住并按序跟随前8个目标，第8个目标约在视频 9.6 s 达成（由 log step 64 steps_on_goal=161 推得），其后第9个目标（约180°绕长轴翻转起点）未达成，goal_distance 0.425 m。目标1-7的达成时刻未知；根因来自 agent 自述（固定抓握无法跟随翻转，未独立验证）；铲是否脱手无法确认。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "目标1-8的达成时刻（3.0–5.8 s，每个间隔0.4 s）是凭空均分的估计，且与 log step 64 的重放读数矛盾；断点 t=6.5 s 同样缺乏依据。节点 final 值和断点 ref（第9个目标）与评分器 8/45 一致，予以保留。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "评分器 8/45、第8个目标≈9.6 s（控制步1149，1310步=328帧即4步/帧线性映射，steps_on_goal 161+steps_left 1639=1800 支持以第9个目标起算）、断点 ref 第9个目标、位姿不准+抓取和接触设计（来源标明agent自述、未验证）与证据一致；第一轮意见已采纳，未发现新的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:06:58Z",
+  "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/dextoolbench_spatula_flat_spatula_flip_over-privileged--un3ggwu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--un3ggwu/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--un3ggwu/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--un3ggwu/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ac173343e5cb3968cba7a1e486afc35401f38d3ba0a5e1af8257a1c46f8a5ebd",
+   "video_sha256": "1fc28ed9487a6ea6c227b11d9cfa6724e1d05d1d04a908f4e9aafb8356175688",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-privileged--whcodpn.json

@@ -0,0 +1,739 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-privileged--whcodpn",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 45,
+   "failed_on_timeout": 1,
+   "deterministic": 1,
+   "n_actions": 330000,
+   "control_steps_used": 1800,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 143,
+   "agent_resets": 228,
+   "agent_control_steps": 387811,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 46,
+   "agent_trace_videos": 6,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.182,
+   "peak_memory_gb": 2.56,
+   "peak_processes": 18,
+   "peak_disk_gb": 0.313,
+   "peak_cpus": 1.5,
+   "peak_pids": 121,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dextoolbench_spatula_flat_spatula_flip_over-privileged--whcodpn.mp4",
+  "duration_s": 0.134,
+  "fps": 30.0,
+  "frames": 4,
+  "sha256": "8e502baca3bf6d25a247fa7fb78b1a35fad33e48ca16bbccd4892c710dfa0e5b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频仅 0.134 s，手靠近铲子但帧中无法判断是否接触；agent 自述（log step 107）拇指/手指只能让物体旋转跟随，平移不跟随。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.13,
+      "log_step": null,
+      "text_zh": "观察：视频仅 0.134 s（4 帧），铲子仍在桌面盘上、灰手在其旁，未见抬起或与绿色目标重合；评分器字段 goals_reached=0/45、progress=0。推断：前序目标未计数，本节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_01_reached",
+   "t": 0.1,
+   "log_step": 107,
+   "where": "操作中",
+   "evidence_zh": "观察：视频仅 0.134 s，铲子仍在原处；评分器 goals_reached=0/45。agent 自述（log step 107）无法建立能带动物体平移的抓握，故第 1 个目标即未达成。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述（log step 107）：掌心与指尖间口袋仅约 4–8 mm，小于 19 mm 柄，72 种闭合配置中物体只旋转跟随、平移不跟随；视频无法验证。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "视频只有 0.134 s（4 帧），看不到抓取尝试过程，无状态日志；故不给失败现象，根因仅来自 agent 自述（待核实）。",
+  "unmet": {
+   "goal_pose_01_reached": false,
+   "goal_pose_02_reached": false,
+   "goal_pose_03_reached": false,
+   "goal_pose_04_reached": false,
+   "goal_pose_05_reached": false,
+   "goal_pose_06_reached": false,
+   "goal_pose_07_reached": false,
+   "goal_pose_08_reached": false,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  }
+ },
+ "summary_zh": "观察：提交的 330000 步轨迹在评分器中 0/45 目标达成；视频仅 0.134 s，铲子仍在桌面。第 1 个目标即未达成，agent 自述无法建立能带动物体平移的抓握（待核实）。主要证据缺口：视频过短、无状态日志，现象无法从画面确认。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频仅 0.134 s（4 帧），无状态日志；全部节点 false、断点在首个目标、现象为空并有 gap_zh、根因明确标注来自 agent 自述，均与评分器 0/45 和证据一致，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": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:05:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--whcodpn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--whcodpn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0eb129d61533ddb0f7669126572d9e9cfa240e893399668ea99943d24a3d6a17",
+   "video_sha256": "8e502baca3bf6d25a247fa7fb78b1a35fad33e48ca16bbccd4892c710dfa0e5b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-privileged--wzfqx3n.json

@@ -0,0 +1,863 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-privileged--wzfqx3n",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2444,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "progress": 0.2444,
+   "goals_reached": 11,
+   "n_goals": 45,
+   "failed_on_timeout": 0,
+   "deterministic": 1,
+   "n_actions": 587,
+   "control_steps_used": 587,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "agent_sessions": 181,
+   "agent_resets": 348,
+   "agent_control_steps": 299322,
+   "agent_cost_self_reported": 1,
+   "agent_traces": 171,
+   "agent_trace_videos": 6,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.21,
+   "peak_memory_gb": 0.765,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.263,
+   "peak_cpus": 3.85,
+   "peak_pids": 34,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dextoolbench_spatula_flat_spatula_flip_over-privileged--wzfqx3n.mp4",
+  "duration_s": 9.8,
+  "fps": 30.0,
+  "frames": 294,
+  "sha256": "0819bb00b1e5db761de2a01996af51ecd9ca5c6b4a913126a277447b3b62f0e6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": 0,
+  "peak": 11,
+  "final": 11,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.38,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.38,
+      "log_step": 361,
+      "text_zh": "观察：视频中机械臂左手握住平铲，绿色目标铲移向下一个目标。推断：到达时间由评分重放的控制步计数换算（控制步/60 s，587步≈视频9.8 s；log step 361 的593步版本给出第1个目标的步号，最终587步版本的精确步号日志未给出，时间约±0.5 s以上不确定）；评分器 goals_reached=11/45 支持前11个目标已计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手的手指握住平铲柄并带动铲移动（视频末段各视角均可见手持铲）。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.05,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.05,
+      "log_step": 361,
+      "text_zh": "观察：视频中机械臂左手握住平铲，绿色目标铲移向下一个目标。推断：到达时间由评分重放的控制步计数换算（控制步/60 s，587步≈视频9.8 s；log step 361 的593步版本给出第2个目标的步号，最终587步版本的精确步号日志未给出，时间约±0.5 s以上不确定）；评分器 goals_reached=11/45 支持前11个目标已计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手的手指握住平铲柄并带动铲移动（视频末段各视角均可见手持铲）。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.42,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.42,
+      "log_step": 361,
+      "text_zh": "观察：视频中机械臂左手握住平铲，绿色目标铲移向下一个目标。推断：到达时间由评分重放的控制步计数换算（控制步/60 s，587步≈视频9.8 s；log step 361 的593步版本给出第3个目标的步号，最终587步版本的精确步号日志未给出，时间约±0.5 s以上不确定）；评分器 goals_reached=11/45 支持前11个目标已计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手的手指握住平铲柄并带动铲移动（视频末段各视角均可见手持铲）。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.57,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.57,
+      "log_step": 361,
+      "text_zh": "观察：视频中机械臂左手握住平铲，绿色目标铲移向下一个目标。推断：到达时间由评分重放的控制步计数换算（控制步/60 s，587步≈视频9.8 s；log step 361 的593步版本给出第4个目标的步号，最终587步版本的精确步号日志未给出，时间约±0.5 s以上不确定）；评分��� goals_reached=11/45 支持前11个目标已计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手的手指握住平铲柄并带动铲移动（视频末段各视角均可见手持铲）。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.62,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.62,
+      "log_step": 361,
+      "text_zh": "观察：视频中机械臂左手握住平铲，绿色目标铲移向下一个目标。推断：到达时间由评分重放的控制步计数换算（控制步/60 s，587步≈视频9.8 s；log step 361 的593步版本给出第5个目标的步号，最终587步版本的精确步号日志未给出，时间约±0.5 s以上不确定）；评分器 goals_reached=11/45 支持前11个目标已计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手的手指握住平铲柄并带动铲移动（视频末段各视角均可见手持铲）。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.75,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.75,
+      "log_step": 361,
+      "text_zh": "观察：视频中机械臂左手握住平铲，绿色目标铲移向下一个目标。推断：到达时间由评分重放的控制步计数换算（控制步/60 s，587步≈视频9.8 s；log step 361 的593步版本给出第6个目标的步号，最终587步版本的精确步号日志未给出，时间约±0.5 s以上不确定）；评分器 goals_reached=11/45 支持前11个目标已计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手的手指握住平铲柄并带动铲移动（视频末段各视角均可见手持铲）。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.15,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.15,
+      "log_step": 361,
+      "text_zh": "观察：视频中机械臂左手握住平铲，绿色目标铲移向下一个目标。推断：到达时间由评分重放的控制步计数换算（控制步/60 s，587步≈视频9.8 s；log step 361 的593步版本给出第7个目标的步号，最终587步版本的精确步号日志未给出，时间约±0.5 s以上不确定）；评分器 goals_reached=11/45 支持前11个目标已计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手的手指握住平铲柄并带动铲移动（视频末段各视角均可见手持铲）。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.37,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.37,
+      "log_step": 361,
+      "text_zh": "观察：视频中机械臂左手握住平铲，绿色目标铲移向下一个目标。推断：到达时间由评分重放的控制步计数换算（控制步/60 s，587步≈视频9.8 s；log step 361 的593步版本给出第8个目标的步号，最终587步版本的精确步号日志未给出，时间约±0.5 s以上不确定）；评分器 goals_reached=11/45 支持前11个目标已计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手的手指握住平铲柄并带动铲移动（视频末段各视角均可见手持铲）。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.3,
+      "log_step": 361,
+      "text_zh": "观察：视频中机械臂左手握住平铲，绿色目标铲移向下一个目标。推断：到达时间由评分重放的控制步计数换算（控制步/60 s，587步≈视频9.8 s；log step 361 的593步版本给出第9个目标的步号，最终587步版本的精确步号日志未给出，时间约±0.5 s以上不确定）；评分器 goals_reached=11/45 支持前11个目标已计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手的手指握住平铲柄并带动铲移动（视频末段各视角均可见手持铲）。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.67,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.67,
+      "log_step": 311,
+      "text_zh": "观察：视频中机械臂左手握住平铲，绿色目标铲移向下一个目标。推断：到达时间由评分重放的控制步计数换算（控制步/60 s，587步≈视频9.8 s；log step 361 的593步版本给出第10个目标的步号，最终587步版本的精确步号日志未给出，时间约±0.5 s以上不确定）；评分器 goals_reached=11/45 支持前11个目标已计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手的手指握住平铲柄并带动铲移动（视频末段各视角均可见手持铲）。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.77,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 311,
+      "text_zh": "观察：视频中机械臂左手握住平铲，绿色目标铲移向下一个目标。推断：到达时间由评分重放的控制步计数换算（控制步/60 s，587步≈视频9.8 s；log step 361 的593步版本给出第11个目标的步号，最终587步版本的精确步号日志未给出，时间约±0.5 s以上不确定）；评分器 goals_reached=11/45 支持前11个目标已计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左Sharpa手的手指握住平铲柄并带动铲移动（视频末段各视角均可见手持铲）。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：手仍握铲柄，正朝第12个目标移动，视频结束时未到达。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.77,
+      "log_step": 396,
+      "text_zh": "观察：视频末帧（视频 9.77 s）铲仍滞后于绿色目标铲；评分器 goals_reached=11，该目标未计数。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_12_reached",
+   "where": "操作中",
+   "t": 9.4,
+   "evidence_zh": "观察：视频 9.77 s 结束时手仍握着平铲，铲尚未到达第12个目标；评分器 goals_reached=11/45，控制步用尽（587步，log step 397 自述轨迹长587）。第12个目标是机器人正在推进、未完成的步骤。",
+   "log_step": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志，无法判断铲为何没能继续按轨迹跟随（目标序列后段需大幅翻转）。交付的轨迹仅587个控制步（约9.8 s），agent 自述最后几步用关节插值硬凑目标9、10（log step 397），没有证据说明是抓握滑脱还是轨迹不足，故现象与根因留空。节点时间由log推算，精度较低。",
+  "unmet": {
+   "goal_pose_01_reached": true,
+   "goal_pose_02_reached": true,
+   "goal_pose_03_reached": true,
+   "goal_pose_04_reached": true,
+   "goal_pose_05_reached": true,
+   "goal_pose_06_reached": true,
+   "goal_pose_07_reached": true,
+   "goal_pose_08_reached": true,
+   "goal_pose_09_reached": true,
+   "goal_pose_10_reached": true,
+   "goal_pose_11_reached": true,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  }
+ },
+ "summary_zh": "观察：机械臂用左手握住平铲，按顺序通过前11个目标（评分器 goals_reached=11/45，progress 0.2444），到视频 9.8 s 结束时仍在追第12个目标。节点时间由 agent 重放日志的控制步号（593步版本，log step 361）换算，非最终587步版本，误差较大；无状态日志，失败现象和根因缺证据，留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "前11个目标由评分器 goals_reached=11/45 支持，控制步换算（60步/s，587步≈9.8 s）与 log step 361 的步号一致（263步→4.38 s，558步→9.3 s）；手持铲在视频4 s、9.7 s可见；断点第12目标、现象与根因留空并有 gap_zh，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:05:10Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--wzfqx3n/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--wzfqx3n/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "573e34cdc738475fcb4643119fc0c3422f9888056a5a204be7028d82e8e304b3",
+   "video_sha256": "0819bb00b1e5db761de2a01996af51ecd9ca5c6b4a913126a277447b3b62f0e6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-standard--es6svti.json

@@ -0,0 +1,768 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-standard--es6svti",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "control_steps": 247587,
+   "calls": 7675,
+   "elapsed_s": 3313.1,
+   "video_rendered": 1,
+   "no_verdict": 0,
+   "instance_mismatch": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "resets": 20,
+   "reset_budget": 20,
+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 45,
+   "failed_on_timeout": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.479,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.534,
+   "peak_cpus": 0.93,
+   "peak_pids": 34,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dextoolbench_spatula_flat_spatula_flip_over-standard--es6svti.mp4",
+  "duration_s": 24.04,
+  "fps": 25.0,
+  "frames": 601,
+  "sha256": "3e1900173ac30bfd4cd073652fd9bac037f941b1c62a589ba7b799888e53693c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频 1/5/10/15/20/23.9 s 的四视角画面几乎一致，机械臂手停在平铲上方附近，绿色目标铲始终未换到下一个目标；评分器 goals_reached=0/45（评分器字段）。故该节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：手在铲柄附近，画面分辨率下看不出是否形成抓握，铲体未被带动。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程目标铲未前进；评分器 goals_reached=0/45，前序目标1未计数，本节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goals_reached",
+   "value": 0,
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better"
+  },
+  {
+   "name": "progress",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_01_reached",
+   "where": "操作中",
+   "t": 5.0,
+   "evidence_zh": "观察：视频 1-23.9 s 机械手停在平铲附近，铲被带到目标1的迹象没有，绿色目标始终不变；评分器 goals_reached=0。",
+   "log_step": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 10.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1-23.9 s 各视角手与铲无位移变化，铲未被抬起或移动；推断：未形成有效抓握（视频分辨率有限）。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "视频无状态日志；agent 会话共 21 个 episode，未据此判断图像之外的根因；手-铲接触细节在视频中看不清，根因证据不足故留空。",
+  "unmet": {
+   "goal_pose_01_reached": false,
+   "goal_pose_02_reached": false,
+   "goal_pose_03_reached": false,
+   "goal_pose_04_reached": false,
+   "goal_pose_05_reached": false,
+   "goal_pose_06_reached": false,
+   "goal_pose_07_reached": false,
+   "goal_pose_08_reached": false,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  }
+ },
+ "summary_zh": "观察：graded 视频 24 s 内机械手停在平铲旁基本不动，目标铲未前进，goals_reached 0/45，0 个节点达成。断点在目标1（操作中），现象推断为没建立有效抓握；agent 自述（log step 407）已建立抓握并追踪轨迹，但视频未显示，该自述不作为证据。无状态日志，根因证据不足。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频24 s内手停在铲旁、绿色目标不动，评分器goals_reached=0/45，45个节点全未达成、断点在目标1、根因留空并给出gap_zh，均与证据一致；现象“没建立接触”已标明为推断。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": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:06:06Z",
+  "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/dextoolbench_spatula_flat_spatula_flip_over-standard--es6svti/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--es6svti/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "80a6af22953c29e6634f23757d9db7d4d76e0c6e07e22cbe00f77f74a4e7b587",
+   "video_sha256": "3e1900173ac30bfd4cd073652fd9bac037f941b1c62a589ba7b799888e53693c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-standard--jvjwzrs.json

@@ -0,0 +1,723 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-standard--jvjwzrs",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
+  "success": 0,
+  "reward": null,
+  "source": "run.json state",
+  "raw": {}
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dextoolbench_spatula_flat_spatula_flip_over-standard--jvjwzrs.mp4",
+  "duration_s": 5.44,
+  "fps": 25.0,
+  "frames": 136,
+  "sha256": "1ceb16700d13d129cea6cccf5ad6e49e3f6121f3f269af8bed6ce2616e4f71d6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0-5.44 s 四个视角中，灰色平铲始终平放在盘上（视频 5.3 s 仍在原处），绿色目标铲未被带走/更新到下一目标，手只在铲附近小幅移动；未见铲被抓起并与目标重合，目标1未计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 0-5.44 s 手靠近铲柄但画面小且被手遮挡，看不出是否夹住；铲未离开原位。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：前序目标1未达成，视频 5.3 s 平铲仍在盘上，本节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goals_reached",
+   "value": null,
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better"
+  },
+  {
+   "name": "progress",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_01_reached",
+   "t": 5.3,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0-5.44 s 手在平铲上方/旁边动作，但平铲始终留在盘上，从未被举向绿色目标位姿；第一个目标即未完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 5.3,
+    "log_step": null,
+    "evidence_zh": "观察：视频 0-5.44 s 平铲位置不变，手没有带动铲移动；推断：未形成有效抓握。画面较小、手遮挡铲柄，故为推断。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因证据不足：agent 在 session 中试了多次抓取（log step 39-137）但这些是 session 证据；log step 138 起 agent 的请求被 Gemini 过滤器拦截（agent 工作约 3392 s，预算 3600 s），不清楚最终交付的是哪一段轨迹，视频是否正是交付物未能核实。run.json 的 reward 为空，native_metrics 无值。",
+  "unmet": {
+   "goal_pose_01_reached": false,
+   "goal_pose_02_reached": false,
+   "goal_pose_03_reached": false,
+   "goal_pose_04_reached": false,
+   "goal_pose_05_reached": false,
+   "goal_pose_06_reached": false,
+   "goal_pose_07_reached": false,
+   "goal_pose_08_reached": false,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  }
+ },
+ "summary_zh": "观察：5.44 s 的评分视频中平铲始终留在盘上，45 个目标一个也未达成（0/45），断在第1个目标（操作中）。推断：手未能抓起平铲；根因无足够证据。注意：agent 在 log step 138 起被模型过滤器拦截，交付内容不明，任务本身无成功先例。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "评分视频 0-5.44 s 中灰色平铲始终留在盘上，45 个目标均未达成，第1个目标即断点；接触未知、根因留空并给出 gap_zh，均有依据，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:05:37Z",
+  "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/dextoolbench_spatula_flat_spatula_flip_over-standard--jvjwzrs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--jvjwzrs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "29116e84bc638ae468e455d80c177d0fae4060302fd8112f44efdd1e536a44f4",
+   "video_sha256": "1ceb16700d13d129cea6cccf5ad6e49e3f6121f3f269af8bed6ce2616e4f71d6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-standard--kybkvhy.json

@@ -0,0 +1,888 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-standard--kybkvhy",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2222,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "control_steps": 17184,
+   "calls": 474,
+   "elapsed_s": 3647.8,
+   "video_rendered": 1,
+   "no_verdict": 0,
+   "instance_mismatch": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "resets": 8,
+   "reset_budget": 20,
+   "progress": 0.2222,
+   "goals_reached": 10,
+   "n_goals": 45,
+   "failed_on_timeout": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.338,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.333,
+   "peak_cpus": 1.97,
+   "peak_pids": 150,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dextoolbench_spatula_flat_spatula_flip_over-standard--kybkvhy.mp4",
+  "duration_s": 24.56,
+  "fps": 25.0,
+  "frames": 614,
+  "sha256": "aee56fc53e69d04e28586b3821634ac2ef2a5ceee84abed943870e56abcb5e66"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "final": 10,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "推断：评分器总计 goals_reached=10/45（reward 字段），目标按序计数，故第1个目标已计数；观察：视频 0-12 s 绿色目标铲随灰色铲在多个姿态间推进，但帧采样无法逐个目标定位，该时间 1.0 s 只是粗略估计（±3 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Sharpa 左手握住铲柄并带动铲本体移动（视频 0-12 s 各帧）。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.9,
+      "log_step": null,
+      "text_zh": "推断：评分器总计 goals_reached=10/45（reward 字段），目标按序计数，故第2个目标已计数；观察：视频 0-12 s 绿色目标铲随灰色铲在多个姿态间推进，但帧采样无法逐个目标定位，该时间 1.9 s 只是粗略估计（±3 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Sharpa 左手握住铲柄并带动铲本体移动（视频 0-12 s 各帧）。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": null,
+      "text_zh": "推断：评分器总计 goals_reached=10/45（reward 字段），目标按序计数，故第3个目标已计数；观察：视频 0-12 s 绿色目标铲随灰色铲在多个姿态间推进，但帧采样无法逐个目标定位，该时间 2.8 s 只是粗略估计（±3 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Sharpa 左手握住铲柄并带动铲本体移动（视频 0-12 s 各帧）。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.7,
+      "log_step": null,
+      "text_zh": "推断：评分器总计 goals_reached=10/45（reward 字段），目标按序计数，故第4个目标已计数；观察：视频 0-12 s 绿色目标铲随灰色铲在多个姿态间推进，但帧采样无法逐个目标定位，该时间 3.7 s 只是粗略估计（±3 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Sharpa 左手握住铲柄并带动铲本体移动（视频 0-12 s 各帧）。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.6,
+      "log_step": null,
+      "text_zh": "推断：评分器总计 goals_reached=10/45（reward 字段），目标按序计数，故第5个目标已计数；观察：视频 0-12 s 绿色目标铲随灰色铲在多个姿态间推进，但帧采样无法逐个目标定位，该时间 4.6 s 只是粗略估计（±3 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Sharpa 左手握住铲柄并带动铲本体移动（视频 0-12 s 各帧）。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "推断：评分器总计 goals_reached=10/45（reward 字段），目标按序计数，故第6个目标已计数；观察：视频 0-12 s 绿色目标铲随灰色铲在多个姿态间推进，但帧采样无法逐个目标定位，该时间 5.5 s 只是粗略估计（±3 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Sharpa 左手握住铲柄并带动铲本体移动（视频 0-12 s 各帧）。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "推断：评分器总计 goals_reached=10/45（reward 字段），目标按序计数，故第7个目标已计数；观察：视频 0-12 s 绿色目标铲随灰色铲在多个姿态间推进，但帧采样无法逐个目标定位，该时间 6.4 s 只是粗略估计（±3 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Sharpa 左手握住铲柄并带动铲本体移动（视频 0-12 s 各帧）。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.3,
+      "log_step": null,
+      "text_zh": "推断：评分器总计 goals_reached=10/45（reward 字段），目标按序计数，故第8个目标已计数；观察：视频 0-12 s 绿色目标铲随灰色铲在多个姿态间推进，但帧采样无法逐个目标定位，该时间 7.3 s 只是粗略估计（±3 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Sharpa 左手握住铲柄并带动铲本体移动（视频 0-12 s 各帧）。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.2,
+      "log_step": null,
+      "text_zh": "推断：评分器总计 goals_reached=10/45（reward 字段），目标按序计数，故第9个目标已计数；观察：视频 0-12 s 绿色目标铲随灰色铲在多个姿态间推进，但帧采样无法逐个目标定位，该时间 8.2 s 只是粗略估计（±3 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Sharpa 左手握住铲柄并带动铲本体移动（视频 0-12 s 各帧）。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.1,
+      "log_step": null,
+      "text_zh": "推断：评分器总计 goals_reached=10/45（reward 字段），目标按序计数，故第10个目标已计数；观察：视频 0-12 s 绿色目标铲随灰色铲在多个姿态间推进，但帧采样无法逐个目标定位，该时间 9.1 s 只是粗略估计（±3 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Sharpa 左手握住铲柄并带动铲本体移动（视频 0-12 s 各帧）。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 12-24.5 s 手仍握铲并在目标附近反复微调，但未达到第11个目标的角点精度。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目��未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 157,
+      "text_zh": "推断：评分器 goals_reached=10/45，第11个及之后目标未计数；观察：视频末段（约 14-24.5 s）绿色目标铲仍与灰铲有明显偏差，未见目标推进。agent 自述“10 of 45 goals”（log step 157）。"
+     }
+    ]
+   }
+  },
+  "constraints": {},
+  "base": null,
+  "peak": null
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goals_reached",
+   "value": 10,
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better"
+  },
+  {
+   "name": "progress",
+   "value": 0.2222,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_11_reached",
+   "t": 13.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 13-24.5 s 机械臂握着铲停在目标附近反复微调，绿色目标不再推进；评分器 goals_reached=10/45，下一个未达成的是第11个目标，该步从未被修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 18.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 14-24 s 各帧中灰色铲与绿色目标铲的朝向/位置仍有可见偏差；推断：第11个目标的8个角点未全部在1.5 cm 内。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，视频为4视角循环且稀疏，无法逐个目标定位时间，也无法判断位姿偏差的根因（控制精度、抓握滑移还是规划）；根因层留空。agent 自述会话中 reset 8 次，但不是图中证据。",
+  "unmet": {
+   "goal_pose_01_reached": true,
+   "goal_pose_02_reached": true,
+   "goal_pose_03_reached": true,
+   "goal_pose_04_reached": true,
+   "goal_pose_05_reached": true,
+   "goal_pose_06_reached": true,
+   "goal_pose_07_reached": true,
+   "goal_pose_08_reached": true,
+   "goal_pose_09_reached": true,
+   "goal_pose_10_reached": true,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  }
+ },
+ "summary_zh": "观察：评分器记录达到 10/45 个目标（视频 0-12 s 铲沿示范轨迹推进），第11个目标起未达成。断点在铲达目标11，铲在目标附近位姿不准；根因无证据。各目标计数时间为按总数估计的粗略值，视频无法逐个核对。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 5,
+    "summary_zh": "校验通过；10/45 的 final 由评分器总数约束，断点在第11个目标、位姿不准、根因留空并附 gap_zh，均与可见证据相符；各目标计数时间为均匀估计且已标明±3 s，无法用视频逐个核对，不构成可证伪的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:05:17Z",
+  "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/dextoolbench_spatula_flat_spatula_flip_over-standard--kybkvhy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--kybkvhy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fe76d585f81dbf0fd44797dcd969a54ac0e909f980b53a7774437c26e45615b2",
+   "video_sha256": "aee56fc53e69d04e28586b3821634ac2ef2a5ceee84abed943870e56abcb5e66",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-standard--olt7ux7.json

@@ -0,0 +1,820 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-standard--olt7ux7",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "control_steps": 1242,
+   "calls": 2871,
+   "elapsed_s": 1646.1,
+   "video_rendered": 1,
+   "no_verdict": 0,
+   "instance_mismatch": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "resets": 19,
+   "reset_budget": 20,
+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 45,
+   "failed_on_timeout": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dextoolbench_spatula_flat_spatula_flip_over-standard--olt7ux7.mp4",
+  "duration_s": 24.88,
+  "fps": 25.0,
+  "frames": 622,
+  "sha256": "2b4826fd73a20ec02d26086366a53c214217476f623c079ba16bc9e56955bf37"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "观察：视频 2-24.5 s 各帧中绿色目标铲始终未与灰色铲重合，目标未移到下一个位姿；评分器字段 goals_reached=0/45（progress 0），故本节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2-24.5 s 机械臂的 Sharpa 手把平铲提在手里并倾斜移动，铲与绿色目标未重合。agent 自述（未核实）：弱勾握而非稳固包握、约4 cm、35-50°、约60°。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：��序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 106,
+      "text_zh": "推断：前序目标1未计数，评分器 goals_reached=0，本节点未达成；视频 24.5 s 绿色目标仍在原处。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goals_reached",
+   "value": 0,
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better"
+  },
+  {
+   "name": "progress",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_01_reached",
+   "t": 14,
+   "log_step": 106,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2-24.5 s 铲一直被手夹持、提起，始终与第1个绿色目标铲有明显位置/朝向差，未计数（goals_reached=0）。agent 自述的“铲掉落、最接近约4 cm、偏35-50°”发生在 session 多次试验中，不作为最终评分回合的事实。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 14,
+    "log_step": 106,
+    "evidence_zh": "观察：视频各帧中灰色铲在手中倾斜，与绿色目标铲朝向不一致，8个角点未全部小于1.5 cm；评分器 goals_reached=0。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因无法由视频或评分器字段判定：agent 的抓握分析（柄高约1 cm、无法包握、倾斜约60°等）只是 session 自述，视频看不出手指接触，故不给根因类别。无状态日志，视频为最终回放。第1个目标之外的节点从未被尝试。",
+  "unmet": {
+   "goal_pose_01_reached": false,
+   "goal_pose_02_reached": false,
+   "goal_pose_03_reached": false,
+   "goal_pose_04_reached": false,
+   "goal_pose_05_reached": false,
+   "goal_pose_06_reached": false,
+   "goal_pose_07_reached": false,
+   "goal_pose_08_reached": false,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  }
+ },
+ "summary_zh": "观察：最终评分回放（视频 24.88 s）中机械臂用杠杆式勾握把平铲提起，但铲在手中倾斜，始终未与第1个目标重合，评分器 goals_reached=0/45。断在第1个目标（沿轨迹移动），现象为位姿不准，推断根因为抓取接触设计（弱勾握，铲柄离盘面太近无法包握，依据 agent 自述）。证据缺口：无状态日志，根因主要来自 agent 自述。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点与断点（第1个目标、未达成、goals_reached=0/45）与视频和评分器一致；但 breakpoint 证据把 agent 在多次 session 试验中的“铲从手中掉落”当作最终评分回合的事实，而视频中铲一直在手里没有掉落；根因“抓取和接触设计”只来自 agent 自述，应明确标为推断。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点 goal_pose_01、位姿不准与视频一致（铲在手中，始终未与绿色目标重合）。问题：根因“抓取和接触设计”只靠 agent 自述，不属于可采信证据；contact_actual 的观察句混入 agent 自述数值。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "两条 accept 均已在 prev/trajectory.json 中完整应用：root_causes 为空、gap_zh 说明无法判定、conf=4；note_zh 观察句只含视频可见内容，自述数值拆为“agent 自述（未核实）”。",
+    "n_issues": 0,
+    "n_checks": 2
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "两条 accept 均已在 prev/trajectory.json 中完整应用：root_causes 为空、gap_zh 说明无法判定、conf=4；note_zh 观察句只含视频可见内容，自述数值拆为“agent 自述（未核实）”。",
+   "checks_ok": "2/2",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:07:25Z",
+  "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/dextoolbench_spatula_flat_spatula_flip_over-standard--olt7ux7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--olt7ux7/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--olt7ux7/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--olt7ux7/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--olt7ux7/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--olt7ux7/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bdf6ec3ce97a324bbed7319de656370a9aa609131b94dda88c06581ea4c50887",
+   "video_sha256": "2b4826fd73a20ec02d26086366a53c214217476f623c079ba16bc9e56955bf37",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-standard--xnbascy.json

@@ -0,0 +1,776 @@
+{
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+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-standard--xnbascy",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
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+  "source": "catalog",
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+   "elapsed_s": 357.8,
+   "video_rendered": 1,
+   "no_verdict": 0,
+   "instance_mismatch": 0,
+   "gave_up": 0,
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+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 45,
+   "failed_on_timeout": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.188,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.245,
+   "peak_cpus": 1.0,
+   "peak_pids": 33,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dextoolbench_spatula_flat_spatula_flip_over-standard--xnbascy.mp4",
+  "duration_s": 26.24,
+  "fps": 25.0,
+  "frames": 656,
+  "sha256": "f66b9326ce7aaae7351dc48c1200790b29e8b357c50cbaba6156c350348bf524"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：视频 3-20 s 灵巧手张开在平铲上方移动，未见握住平铲（候选：接近但未接触）。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标���达到。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不���合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 41,
+      "text_zh": "观察：视频 1-26 s 四个视角中白色实体平铲始终留在桌面原处，绿色目标铲在手上方悬空，二者不重合；该目标未达到。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goals_reached",
+   "value": 0,
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better"
+  },
+  {
+   "name": "progress",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_01_reached",
+   "t": 8.0,
+   "log_step": 40,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3-26 s 手在平铲上方活动，平铲始终躺在桌面，从未被拿起；第1个目标（含拿起）未完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 8.0,
+    "log_step": 40,
+    "evidence_zh": "观察：视频 8 s、14 s、20 s 帧中手张开、悬在平铲上方，平铲位置不变；agent 自述抓取没成功（log step 42：“手张开在桌面上方，铲子仍在杂物中”，为其说法，视频与之一致）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述：只估计了位置雅可比、不控制姿态，且追踪的“工具”是手臂上的固定点（log step 42）；视频显示手未对准平铲。子类型不明，保持控制。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志；仅视频与 agent 自述，手与平铲的细微接触无法逐帧确认；根因细分未定。",
+  "unmet": {
+   "goal_pose_01_reached": false,
+   "goal_pose_02_reached": false,
+   "goal_pose_03_reached": false,
+   "goal_pose_04_reached": false,
+   "goal_pose_05_reached": false,
+   "goal_pose_06_reached": false,
+   "goal_pose_07_reached": false,
+   "goal_pose_08_reached": false,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  }
+ },
+ "summary_zh": "观察：图形化视频 26.24 s 内平铲始终留在桌面，45 个目标 0 个达到。断在第1个目标（拿起平铲）的抓取处：灵巧手悬在平铲上方未能抓住。推断：agent 的开环伪逆控制器追踪了错误的工具点，根因记为控制；无状态日志，是主要证据缺口。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "45个目标均未达成、断点在第1个目标（拿起平铲）的判断与视频一致：四视角帧中平铲始终留在桌面，手张开悬在上方；根因「控制」为未定子类型的保守标注，缺证据缺口已在 gap_zh 说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:04:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--xnbascy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--xnbascy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bab3783b67940b64ffa35a05b210531c1aea2992cdb397acdd94d6f35ab8c440",
+   "video_sha256": "f66b9326ce7aaae7351dc48c1200790b29e8b357c50cbaba6156c350348bf524",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/dextoolbench/spatula_flat_spatula_flip_over/trajectories/dextoolbench_spatula_flat_spatula_flip_over-standard--zknl9ch.json

@@ -0,0 +1,775 @@
+{
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+ "taxonomy": "v2",
+ "runId": "dextoolbench_spatula_flat_spatula_flip_over-standard--zknl9ch",
+ "taskKey": "dextoolbench/spatula_flat_spatula_flip_over",
+ "dag_sha256": "a84782a55b28bb3c610d66fa5a1bb6e71806813fc218d68e651131b6c5e7e2f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "control_steps": 47523,
+   "calls": 1089,
+   "elapsed_s": 2213.1,
+   "video_rendered": 1,
+   "no_verdict": 0,
+   "instance_mismatch": 0,
+   "gave_up": 0,
+   "sim_crashed_on_call": 0,
+   "resets": 20,
+   "reset_budget": 20,
+   "progress": 0.0,
+   "goals_reached": 0,
+   "n_goals": 45,
+   "failed_on_timeout": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.519,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.776,
+   "peak_cpus": 1.0,
+   "peak_pids": 32,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dextoolbench_spatula_flat_spatula_flip_over-standard--zknl9ch.mp4",
+  "duration_s": 24.08,
+  "fps": 25.0,
+  "frames": 602,
+  "sha256": "6a1529437fc97f322d30d879e60901ecf4ec279fd1604c7903424653a8401b23"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 45,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "goal_pose_01_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 0-23.9 s 灵巧手在平铲上方悬停、接近，未见手指包住铲柄，铲未被移动；四个小视角看不清是否有指尖轻触，故记未知。"
+     }
+    ]
+   },
+   "goal_pose_02_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_03_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_04_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_05_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_06_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_07_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_08_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_09_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_10_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_11_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_12_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_13_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_14_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_15_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_16_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_17_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_18_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_19_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_20_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_21_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_22_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_23_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_24_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_25_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_26_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_27_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_28_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_29_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_30_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_31_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_32_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_33_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_34_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_35_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_36_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_37_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_38_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_39_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_40_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_41_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_42_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_43_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_44_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   },
+   "goal_pose_45_reached": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.9,
+      "log_step": 437,
+      "text_zh": "观察：视频全程（含最后一秒，视频 23.9 s）灰色平铲仍平放在盘中原位，绿色目标铲位置未前移，手悬停在铲上方；评分器 goals_reached=0/45。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "goal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goals_reached",
+   "value": 0,
+   "unit": "count",
+   "threshold": 45,
+   "direction": "higher_better"
+  },
+  {
+   "name": "progress",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "goal_pose_01_reached",
+   "where": "操作中",
+   "t": 23.0,
+   "evidence_zh": "观察：视频 0-23.9 s 手始终未抓住平铲，铲留在盘中；goals_reached 0/45。",
+   "log_step": 437
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 23.0,
+    "log_step": 437,
+    "evidence_zh": "观察：视频各帧（每 3 s 抽样及 23.9 s）手只在铲上方悬停，铲从未离开盘子；agent 自述未能抓取平铲（log step 437）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：agent 用自估雅可比做视觉伺服，20 次重置内始终未抓到平铲（log step 437 自述 progress 0/45），手到位但抓握未成功，子类型不明。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志，接触细节只靠 4 视角小分辨率视频；根因仅来自 agent 自述与视频，子类型不明。",
+  "unmet": {
+   "goal_pose_01_reached": false,
+   "goal_pose_02_reached": false,
+   "goal_pose_03_reached": false,
+   "goal_pose_04_reached": false,
+   "goal_pose_05_reached": false,
+   "goal_pose_06_reached": false,
+   "goal_pose_07_reached": false,
+   "goal_pose_08_reached": false,
+   "goal_pose_09_reached": false,
+   "goal_pose_10_reached": false,
+   "goal_pose_11_reached": false,
+   "goal_pose_12_reached": false,
+   "goal_pose_13_reached": false,
+   "goal_pose_14_reached": false,
+   "goal_pose_15_reached": false,
+   "goal_pose_16_reached": false,
+   "goal_pose_17_reached": false,
+   "goal_pose_18_reached": false,
+   "goal_pose_19_reached": false,
+   "goal_pose_20_reached": false,
+   "goal_pose_21_reached": false,
+   "goal_pose_22_reached": false,
+   "goal_pose_23_reached": false,
+   "goal_pose_24_reached": false,
+   "goal_pose_25_reached": false,
+   "goal_pose_26_reached": false,
+   "goal_pose_27_reached": false,
+   "goal_pose_28_reached": false,
+   "goal_pose_29_reached": false,
+   "goal_pose_30_reached": false,
+   "goal_pose_31_reached": false,
+   "goal_pose_32_reached": false,
+   "goal_pose_33_reached": false,
+   "goal_pose_34_reached": false,
+   "goal_pose_35_reached": false,
+   "goal_pose_36_reached": false,
+   "goal_pose_37_reached": false,
+   "goal_pose_38_reached": false,
+   "goal_pose_39_reached": false,
+   "goal_pose_40_reached": false,
+   "goal_pose_41_reached": false,
+   "goal_pose_42_reached": false,
+   "goal_pose_43_reached": false,
+   "goal_pose_44_reached": false,
+   "goal_pose_45_reached": false
+  }
+ },
+ "summary_zh": "观察：24 s 视频中平铲始终未被抓起，45 个目标 0 个达成。断点在第 1 个目标（操作中），现象为没建立接触，根因推断为控制（子类型不明）。证据缺口：无状态日志。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频末帧与评分器 goals_reached=0/45 一致，平铲始终留在盘中，断点在第1个目标、没建立接触、根因停在控制（子类不明）均有证据支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:04:52Z",
+  "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/dextoolbench_spatula_flat_spatula_flip_over-standard--zknl9ch/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-standard--zknl9ch/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5567aca737d0cf2659bad7d35fd1be66936b4a0d59f76cd250e606d4bf2761be",
+   "video_sha256": "6a1529437fc97f322d30d879e60901ecf4ec279fd1604c7903424653a8401b23",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/humanoidbench/manip_door/trajectories/humanoidbench-manip-door-i00-privileged--ettzjgv.json

@@ -0,0 +1,211 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "humanoidbench-manip-door-i00-privileged--ettzjgv",
+ "taskKey": "humanoidbench/manip_door",
+ "dag_sha256": "0e2b91c83745073b5462f5a378fa464b0e90842fe7004cf6de2891ede1995c32",
+ "outcome": {
+  "success": 0,
+  "reward": 0.04011282866786173,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 867,
+   "final_reward": 0.04011282866786173,
+   "sim_steps": 760,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.695,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.239,
+   "peak_cpus": 2.01,
+   "peak_pids": 91,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:humanoidbench-manip-door-i00-privileged--ettzjgv.mp4",
+  "duration_s": 7.7,
+  "fps": 20.0,
+  "frames": 154,
+  "sha256": "1e40449130546089361972b8f4eb1d071a3784d68d4b3a69bb66336111b3331e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "handle_pressed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0-7.7 s 房间相机只拍到门外侧把手，机器人在门内侧，前臂与把手相对转动被遮挡，看不出把手是否被压下。agent 自述“presses the handle to 0.81 rad”（log step 137）仅为会话说法，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "前臂与把手接触被门板遮挡，视频无法显示。"
+     }
+    ]
+   },
+   "door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0 至 7.6 s（含最后一秒）门扇始终贴合门框闭合，机器人侧身贴在门内侧行走/倚靠，未见门扇绕铰链转开出现开口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 约 1-7 s 机器人前臂/手部贴在门内侧面与把手附近，未见钩住带开门扇。"
+     },
+     {
+      "who": "腿/躯干",
+      "how": "支撑",
+      "note_zh": "观察：双脚在地面支撑，躯干前倾倚靠门面。"
+     }
+    ]
+   },
+   "doorway_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.6,
+      "log_step": null,
+      "text_zh": "观察：视频全程机器人始终在门的同一侧，门未开，未穿过门口。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "episode_return",
+   "value": null,
+   "unit": "原生奖励分",
+   "threshold": 600,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "door_opened",
+   "t": 6.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0-7.7 s 机器人走到门前并贴着门面，门扇始终闭合；评分 final_reward 0.04，远低于 600 阈值（评分器字段）。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 6.0,
+    "log_step": 137,
+    "evidence_zh": "观察：视频中门始终闭合，未见前臂钩住把手/门扇向机器人一侧拉开。agent 最终自述“The pull coupling never formed”（log step 137），仅作旁证。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述右臂够不到 +y 把手、把手是光滑圆柱、前臂盒无法钩住而不穿入门板（log step 137）；视频只显示门未开，未独立验证。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志；把手角度与前臂接触被门板遮挡，handle_pressed 无法判定；native_metrics 的 episode_return 评分器未给累计值（只有末步 final_reward 0.04）；原因仅有 agent 自述支持。",
+  "unmet": {
+   "door_opened": false
+  }
+ },
+ "summary_zh": "观察：视频 7.7 s 内机器人走到门内侧并倚靠门面，门始终闭合，门未打开、未穿过门口（0/2 可判节点完成，压把手无法判定）。断点为打开门（操作中），现象为没建立接触（前臂未能钩住把手拉开门），根因依 agent 自述归���接触设计，证据较弱；缺口：无状态日志，把手被遮挡。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "门全程闭合、未穿过门口，节点值与断点与视频一致；handle_pressed 因遮挡判 unknown 合理；现象/根因证据弱但已如实标注。末尾机器人摔倒属评分终止事件，不需单独标注。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:04:28Z",
+  "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/humanoidbench-manip-door-i00-privileged--ettzjgv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/humanoidbench-manip-door-i00-privileged--ettzjgv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0658ce7782991cb69973e79b24a6216655d590a76eb981e628c035db4c9203eb",
+   "video_sha256": "1e40449130546089361972b8f4eb1d071a3784d68d4b3a69bb66336111b3331e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-standard--jcrc5oj.json

@@ -0,0 +1,316 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "pandadyn-s09-toss-recatch-delivery-i00-standard--jcrc5oj",
+ "taskKey": "pandadyn/s09_toss_recatch_delivery",
+ "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1118,
+   "sim_steps": 1118,
+   "calls": 19,
+   "rows": 1103,
+   "resets": 0,
+   "reset_budget": 3,
+   "sim_startups": 1,
+   "elapsed_s": 2574.2,
+   "video_rendered": 1,
+   "first_success": 1,
+   "first_reason_code": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:pandadyn-s09-toss-recatch-delivery-i00-standard--jcrc5oj.mp4",
+  "duration_s": 11.24,
+  "fps": 25.0,
+  "frames": 281,
+  "sha256": "3b38eaf1f1ee4450c031fd0e83be78af6db839b7b6178f54d8b3cef25485539b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "initial_ball_caught": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.9,
+      "log_step": 86,
+      "text_zh": "观察：球在视频 0.4-0.8 s 落入杯，杯内静置；约 0.9 s 满足保持（时间为粗估）。评分器 success=1、done reason 'success'，目标节点按评分结果记为达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "Panda 手部固定的浅杯从下方接住橙球"
+     }
+    ]
+   },
+   "cup_in_launch_region": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.7,
+      "log_step": 86,
+      "text_zh": "观察：杯在视频约 3.5-3.7 s 到达桌面中部发射位置（时间为粗估）。评分器 success=1、done reason 'success'，目标节点按评分结果记为达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "支撑",
+      "note_zh": "机械臂经适配杆带杯移到发射区，球留在杯内"
+     }
+    ]
+   },
+   "ball_tossed_and_recaught": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.1,
+      "log_step": 86,
+      "text_zh": "观察：视频约 3.9-5.1 s 球被送出杯底再落回杯内（时间为粗估）。评分器 success=1、done reason 'success'，目标节点按评分结果记为达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "浅杯向上送球后侧移，从上方再接球"
+     }
+    ]
+   },
+   "ball_delivered_to_moving_cart": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.6,
+      "log_step": 86,
+      "text_zh": "观察：视频约 7.8 s 球从杯口倒入滑动箱（7.8 s 帧球已在箱内），之后随箱移动至结束。推断：加 0.7 s 稳定保持要求，约 8.6 s 达成（粗估）。评分器 success=1、done reason 'success'。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "杯倾斜把球倒入滑箱，杯不再接触球"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "launch_region_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.025,
+   "direction": "lower_better"
+  },
+  {
+   "name": "catch_relative_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better"
+  },
+  {
+   "name": "toss_world_upward_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.2,
+   "direction": "higher_better"
+  },
+  {
+   "name": "toss_floor_separation_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "higher_better"
+  },
+  {
+   "name": "toss_vertical_alignment_error",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "recatch_horizontal_displacement",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "higher_better"
+  },
+  {
+   "name": "cart_relative_ball_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.09,
+   "direction": "lower_better"
+  },
+  {
+   "name": "delivery_cart_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "higher_better"
+  },
+  {
+   "name": "delivery_stable_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.7,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：视频 11.24 s，机械臂用浅杯接住来球、移到发射区、自抛再接、于约视频 7.8 s 倒入滑箱并保持到结束；评分器 success=1，四个节点均达成。节点时间为粗估（无状态日志），自抛分离与各阈值指标未在帧中逐项核对，native_metrics 评分器未报告具体值。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "前三个节点与视频相符；第四个节点 ball_delivered_to_moving_cart 的达成时间标为 11.2 s（视频末帧），但球约 7.8 s 入箱、0.7 s 稳定后约 8.6 s 即满足，时间错了约 2.5 s。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点与视频相符，第一轮的 8.6 s 修正已落实；评分器 success=1，无失败层，无需改动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:06:19Z",
+  "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/pandadyn-s09-toss-recatch-delivery-i00-standard--jcrc5oj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--jcrc5oj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--jcrc5oj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-standard--jcrc5oj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cd31dff0fbc537aa92d6a0fe852ea1543f01ca864b7fc0e3c12c9c28c7720e09",
+   "video_sha256": "3b38eaf1f1ee4450c031fd0e83be78af6db839b7b6178f54d8b3cef25485539b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--8fakdvz.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-05-i01-standard--8fakdvz",
+ "taskKey": "roboarc/hedgehog_in_cage_05",
+ "dag_sha256": "fd387d7143797ed6749df0166e3b8c96a1d61da0c7146866e3936f95230860e7",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
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+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 61113,
+   "live_rows": 61113,
+   "sim_steps": 61113,
+   "physics_steps": 611130,
+   "steps": 30475,
+   "elapsed_s": 9915.3,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-hedgehog-in-cage-05-i01-standard--8fakdvz.mp4",
+  "duration_s": 1527.934,
+  "fps": 15.0,
+  "frames": 22919,
+  "sha256": "74114b1f2219611de6c5ac6e6d8b3c1e1941a4e1ace1d8bda2dcca6443ba95ff"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "hedgehog_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1526.5,
+      "log_step": 188,
+      "text_zh": "观察：视频 1526.5 s 外部视角与腕部视角中刺球仍在棕色笼内，未脱出；腕部视角 400/900/1300 s 刺球始终在笼中，夹爪张开停在其上方。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "推断：夹爪从笼顶开口下探，指垫在笼环/刺球附近接触或擦过，从未形成对刺球的夹持（agent 自述从未建立抓取，log step 188；视频中刺球始终未移动）。"
+     }
+    ]
+   },
+   "hedgehog_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1526.5,
+      "log_step": 188,
+      "text_zh": "观察：视频 1526.5 s 绿色虚线目标区空置，刺球仍在笼内。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goal_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 2.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "hedgehog_out_of_cage",
+   "where": "操作中",
+   "t": 400,
+   "log_step": 188,
+   "evidence_zh": "观察：视频 400-1300 s 腕部视角夹爪在笼顶开口处，刺球一直留在笼内未被夹起，至视频 1526.5 s 仍在笼内。"
+  },
+  "phenomena": [
+   {
+    "t": 900,
+    "log_step": 188,
+    "evidence_zh": "观察：视频 900 s、1300 s 腕部视角夹爪张开在刺球上方，刺球未被夹持、未移动。推断：需要的夹持接触从未建立。",
+    "cat": "接触",
+    "item": "没建立接触"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述指垫只能下到 z 0.254，比球肩低约 12 mm 处停住，笼顶环/中柱限制下探（log step 188）；参考录像成功夹住朝上的尖刺，说明存在可行抓点。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志，只能凭视频判断；agent 自述的几何数据（深度反投影）未能独立核实，根因子类型为推断。",
+  "unmet": {
+   "hedgehog_out_of_cage": false,
+   "hedgehog_in_goal": false
+  }
+ },
+ "summary_zh": "观察：视频 1527.9 s 内刺球始终留在笼内，两个节点均未达成，成功 0。断点为刺球出笼：夹爪从笼顶开口下探但一直未能夹住刺球（agent ���述下探受笼环和中柱限制，log step 188）。无状态日志，根因为推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两个节点均未达成与视频一致（900 s、1526 s 帧刺球仍在笼内，目标区空置）；断点、现象与根因与证据相符，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": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:05:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
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+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--8fakdvz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--8fakdvz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
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+   "video_sha256": "74114b1f2219611de6c5ac6e6d8b3c1e1941a4e1ace1d8bda2dcca6443ba95ff",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/roboarc/slotted_post_ring_05/trajectories/roboarc-slotted-post-ring-05-i01-privileged--z8xtrqx.json

@@ -0,0 +1,279 @@
+{
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+   "n_actions": 40,
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+   "sim_steps": 120,
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+   "sim_time_s": 2.9999999999999933,
+   "final_reward": 0.0,
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+   "agent_records": 8,
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+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-slotted-post-ring-05-i01-privileged--z8xtrqx.mp4",
+  "duration_s": 3.067,
+  "fps": 15.0,
+  "frames": 46,
+  "sha256": "df13d1ad74cf85c2bdfe4fb75ab30a6435de5613c87f5da6e11e1c9ab5b8225a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ring_freed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 49,
+      "text_zh": "观察：视频 0–3.07 s 全程，外部俯视相机与两个腕部视角里两条机械臂静止不动，金属环仍套在带槽柱上，绳链仍绕过环；没有任何解开动作。agent 提交的是 40 步“双臂保持不动”的占位轨迹（log step 49、54）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：交付的是双臂静止的占位轨迹，视频中夹爪没有接触环、绳或柱。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": 54,
+      "text_zh": "观察：视频 0–3.07 s 环始终在柱上，绿色目标区空着；评分字段 success=0、strict_goal_reached=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "观察：交付的是双臂静止的占位轨迹，视频中夹爪没有接触环、绳或柱。"
+     }
+    ]
+   },
+   "remainder_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–3.07 s 柱、绳链、珠、端盘全程在原谜题一侧，未被移动（机械臂静止）；该状态从 t=0 起成立并保持到结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {},
+  "contact_actual": null
+ },
+ "native_metrics": [
+  {
+   "name": "ring_min_horizontal_margin",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "ring_min_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "ring_max_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.221812,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ring_max_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ring_max_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "remainder_max_separator_crossing",
+   "value": null,
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_freed",
+   "t": 0.0,
+   "log_step": 54,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0–3.07 s 两臂完全静止，环未被碰触；log step 49 生成并 log step 54 交付“双臂保持不动 40 步”的占位轨迹，agent 自述该实例不拆就无法解（log step 54 的主张）。解开环这一步从未开始。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 54,
+    "evidence_zh": "观察：交付轨迹仅为两臂保持不动（40 个动作），视频全程无任何抓取或移动，解离步骤没有启动。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因层为空：没尝试不能单独推出根因；agent 自述“该冻结实例在不穿模的情况下无法解开”（环孔 102 mm 小于端盘 110 mm、珠 39 mm 大于槽 34 mm 的拓扑论证），这只是 agent 自述，未经视频或状态日志验证，也未排除可行解；它另试的抓环示范因夹爪撞柱、机械臂卡住而放弃（session 证据）。无状态日志。",
+  "unmet": {
+   "ring_in_goal": false,
+   "remainder_system_side": true
+  }
+ },
+ "summary_zh": "观察：交付轨迹是双臂保持不动的 40 步占位轨迹，视频 0–3.07 s 没有任何动作，环始终套在柱上；仅“余件留系统侧”因从未被移动而从 t=0 成立（1/3，且是平凡成立）。断点在“金属环解离”，首步前，现象为没尝试。agent 自述任务不可解（log step 54），但没有证据确认这一点，故根因留空；无状态日志，节点由视频判定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频一致：0–3.07 s 双臂静止，环仍套在柱上；余件节点从 t=0 成立；断点 ring_freed/首步前/没尝试，根因留空并有 gap_zh，符合 FAIL-22。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:05:36Z",
+  "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/roboarc-slotted-post-ring-05-i01-privileged--z8xtrqx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-05-i01-privileged--z8xtrqx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4372bd3f3f16a52c7e100470b43a501195bf3db1c8060629491bb60ec905e09d",
+   "video_sha256": "df13d1ad74cf85c2bdfe4fb75ab30a6435de5613c87f5da6e11e1c9ab5b8225a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/robowits/ball_into_bottle/trajectories/robowits-ball-into-bottle-i00-privileged--k5s9p7f.json

@@ -0,0 +1,155 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robowits-ball-into-bottle-i00-privileged--k5s9p7f",
+ "taskKey": "robowits/ball_into_bottle",
+ "dag_sha256": "30963ef14008c8d7918debd5c0d564d30047dfad271d44d2ef55feb3428da8e9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "agent_sessions": 23,
+   "agent_resets": 23,
+   "agent_sim_steps": 6085,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.347,
+   "peak_memory_gb": 2.643,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.243,
+   "peak_cpus": 4.06,
+   "peak_pids": 329,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "ball_in_bottle": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 37,
+      "text_zh": "观察：评分器字段 success=0、missing_trajectory=1：agent 没有交付轨迹文件（log step 37 自述“no trajectory.npz”）；无视频、无状态日志，故无区间。final=false 来自评分器的 success=0（目标节点）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，评分回放不存在；agent 在会话中的试抓（log step 24-31）不属于被评分的轨迹。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_in_bottle",
+   "t": null,
+   "log_step": 37,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 missing_trajectory=1、success=0；agent 最终报告（log step 37）自述没有 trajectory.npz，只留下 gen.py。agent 在会话里多次试抓/拖球/倾倒杯子（log step 16-36）均未形成可交付轨迹，被评分的轨迹为空。"
+  },
+  "unmet": {
+   "ball_in_bottle": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志（video.kind=none），且没有交付任何轨迹；会话内的试验（夹爪指板过厚无法进杯、IK 残差大）只是 agent 自述和会话证据，不能作为被评分尝试的现象。按规则（D23）交付缺失的 agent 侧原因不填现象与根因。"
+ },
+ "summary_zh": "观察：agent 在约 3590 s 的会话中反复尝试从杯中夹球、拖球、倾倒杯子，但从未保存 trajectory，评分器 missing_trajectory=1、success=0；唯一节点“小球入红瓶”未达成。断点为该步骤、首步前（无交付）。证据缺口：无视频与状态日志，现象和根因不填。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志；评分器 success=0、missing_trajectory=1，目标节点 final=false、断点 ball_in_bottle/首步前、现象与根因为空并带 gap_zh，符合 D23(a)，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": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:04:21Z",
+  "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/robowits-ball-into-bottle-i00-privileged--k5s9p7f/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robowits-ball-into-bottle-i00-privileged--k5s9p7f/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b2d1101ac94ed11cb89c4850ec487925fd9500660d00875e2e74723bfbdec780",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/robowits/ball_into_bottle/trajectories/robowits-ball-into-bottle-i00-privileged--k6agxfu.json

@@ -0,0 +1,210 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robowits-ball-into-bottle-i00-privileged--k6agxfu",
+ "taskKey": "robowits/ball_into_bottle",
+ "dag_sha256": "30963ef14008c8d7918debd5c0d564d30047dfad271d44d2ef55feb3428da8e9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0609,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 0,
+   "infra_error": 0,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 5287,
+   "sim_steps": 5317,
+   "final_reward": 0.0609,
+   "goal_at_end": 0,
+   "settle_steps": 30,
+   "settle_max_move_mm": 0.0,
+   "replay_wall_s": 71.7,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 128,
+   "agent_sim_steps": 0,
+   "agent_records": 15,
+   "agent_replays": 15,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.344,
+   "peak_memory_gb": 3.595,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.989,
+   "peak_cpus": 4.02,
+   "peak_pids": 404,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:robowits-ball-into-bottle-i00-privileged--k6agxfu.mp4",
+  "duration_s": 177.267,
+  "fps": 15.0,
+  "frames": 2659,
+  "sha256": "be49d3209a1002fa54aa3aa432ac9f8dcc35c4c5d1f7f6aa4fb9430b750c689d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "ball_in_bottle": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 177.0,
+      "log_step": 200,
+      "text_zh": "观察：视频 5-177 s 各帧中，蓝色容器先被左臂夹起倾斜（约视频 30-60 s），随后左臂夹爪在红瓶口前方低位反复操作（视频 70-90 s），视频 100-177 s 夹爪停在瓶口旁、蓝杯直立于红瓶旁桌面，红瓶内始终未见小球；评分 success=0、goal_at_end=0。推断：小球未进入红瓶，节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂夹爪抓持蓝色容器并倾斜（视频约 30-60 s）；agent 最终报告称球洒在桌面（log step 201），视频未能清楚看到球的位置。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：agent 最终报告称之后尝试左夹爪俯抓小球并在瓶口放置（log step 201），视频 70-90 s 夹爪在瓶旁低位操作与之相符，但球被遮挡，抓握是否成立未能确认。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "settle_max_move_mm",
+   "value": 0.0,
+   "unit": "mm",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ball_in_bottle",
+   "t": 60.0,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 30-60 s 左臂夹着蓝杯倾斜后，杯子回到瓶旁，视频 70-177 s 夹爪在瓶口旁反复尝试，红瓶内始终无球；评分 success=0。agent 自述球洒在桌面（log step 201）。",
+   "log_step": 201
+  },
+  "phenomena": [
+   {
+    "t": 60.0,
+    "log_step": 201,
+    "evidence_zh": "推断（仅据 agent 自述 log step 201）：倾杯后球落在桌面而非瓶内，后续直接放球也未入瓶；视频 55-92 s 中球被杯子/夹爪遮挡，看不到球的位置。",
+    "cat": "运动",
+    "item": "位姿不准"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，视频中球被夹爪/杯子遮挡，球的确切落点与瓶口放置的时刻无法确认；根因无直接证据，故留空。时间耗尽不作为原因。 位姿不准现象证据弱：仅来自 agent 自述，视频未能观察到球的落点。",
+  "unmet": {
+   "ball_in_bottle": false
+  }
+ },
+ "summary_zh": "观察：graded 视频 177 s 内小球始终未进入红瓶，唯一节点未达成（0/1）。推断：断点在“放入”步骤的操作中——倾杯后球未入瓶（agent 自述球洒在桌面，log step 201），后续直接放置也未成功；球被遮挡，根因证据不足。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "唯一节点未达成、成功=0 与视频一致，断点落在 ball_in_bottle 合理；但位姿不准的证据把 agent 自述写成���视频观察，且视频中球根本不可见，需改写为推断并降低信心。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "唯一节点未达成、success=0 与视频一致；断点落在 ball_in_bottle 合理，位姿不准已标为仅据自述的推断，根因留空并写 gap_zh，符合证据纪律。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:10:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
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+    "ok": true,
+    "space": "work_rerun1/runs/robowits-ball-into-bottle-i00-privileged--k6agxfu/03_label"
+   },
+   {
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+    "ok": true,
+    "space": "work_rerun1/runs/robowits-ball-into-bottle-i00-privileged--k6agxfu/04_review_r1"
+   },
+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/robowits-ball-into-bottle-i00-privileged--k6agxfu/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
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+    "ok": true,
+    "space": "work_rerun1/runs/robowits-ball-into-bottle-i00-privileged--k6agxfu/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bf68b4ea5b686a8cf42206ad5dfc7c924401249c498af3a9e4f79fe001ef96a1",
+   "video_sha256": "be49d3209a1002fa54aa3aa432ac9f8dcc35c4c5d1f7f6aa4fb9430b750c689d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/robowits/ball_into_bottle/trajectories/robowits-ball-into-bottle-i00-privileged--typegss.json

@@ -0,0 +1,166 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robowits-ball-into-bottle-i00-privileged--typegss",
+ "taskKey": "robowits/ball_into_bottle",
+ "dag_sha256": "30963ef14008c8d7918debd5c0d564d30047dfad271d44d2ef55feb3428da8e9",
+ "outcome": {
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+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 0,
+   "infra_error": 0,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 894,
+   "sim_steps": 984,
+   "final_reward": 1.0,
+   "goal_at_end": 1,
+   "settle_steps": 90,
+   "settle_max_move_mm": 0.02,
+   "replay_wall_s": 15.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 37,
+   "agent_sim_steps": 0,
+   "agent_records": 12,
+   "agent_replays": 9,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
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+   "resource_memory_kills": 0,
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+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:robowits-ball-into-bottle-i00-privileged--typegss.mp4",
+  "duration_s": 32.867,
+  "fps": 15.0,
+  "frames": 493,
+  "sha256": "88f0aab172359f1c8b0e9756cabf42023ae5892d3ebf3ab09fc42e51720f3622"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "ball_in_bottle": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11-13 s 左臂夹爪持蓝色容器移到红瓶口上方并倾斜，之后到视频 32.9 s 容器保持倾斜在瓶口、球被瓶壁和夹爪遮挡，看不到球。推断：评分器判定 success=1、goal_at_end=1、settle_max_move_mm=0.02（评分器字段），按目标节点规则记为已达成；达成时刻约视频 13 s，为估计值（倾倒完成时刻，球不可见）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：左臂夹爪持蓝色容器（视频约 8-13 s 搬运并倾斜至红瓶口），容器承托并倾出小球；小球本身不可见，推断为容器内壁接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "settle_max_move_mm",
+   "value": 0.02,
+   "unit": "mm",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "成功：机器人左臂夹爪抓住蓝色容器，搬到红瓶上方倾倒（视频约 8-13 s），之后保持不动至视频 32.9 s；评分器 success=1、settle_max_move_mm=0.02。小球全程被遮挡，入瓶时刻约视频 13 s 为估计值。agent 日志后段（log step 40-46）出现模型过滤器拦截，但在交付结果确定之后，不影响标注。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，单目标节点 ball_in_bottle 记为达成、final true；视频帧显示左臂持容器 10-13 s 倾斜于红瓶口并保持至结束，与评分器 success=1 一致，约 13 s 的估计值已标注为推断。接触标签（手持工具/托/舀）与观察相符。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "engine": "claude",
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+  "effort": "high",
+  "created": "2026-11-08T22:04:43Z",
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+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+  "calls": [
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+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robowits-ball-into-bottle-i00-privileged--typegss/04_review_r1"
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/robowits/cover_with_lid/trajectories/robowits-cover-with-lid-i00-privileged--aq6xign.json

@@ -0,0 +1,194 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robowits-cover-with-lid-i00-privileged--aq6xign",
+ "taskKey": "robowits/cover_with_lid",
+ "dag_sha256": "07b622cdf86dcb5fdb3b5115dcf2eda2c1e52ae5bd6181878c192a680338e841",
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+  "reward": 0.6,
+  "source": "catalog",
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+   "success": 1,
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+   "gpu_backend": 0,
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+   "grader_error": 0,
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+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:robowits-cover-with-lid-i00-privileged--aq6xign.mp4",
+  "duration_s": 14.667,
+  "fps": 15.0,
+  "frames": 220,
+  "sha256": "ff03b8db8b564f2848aede7d0510cba7f994bc98407c3c837feb4185bea9b1ee"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pot_covered": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7-9 s 左夹爪夹住大号木纹盖把手并将其放到锅上方；视频 9.5 s 张爪撤离，视频 10-14.5 s 盖子静止盖在锅口，夹爪已离开。评分器 success=1、goal_at_end=1、settle_max_move_mm=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪夹住大号盖把手，搬到锅上方后松开（视频 3-9.5 s）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "lid_overlap_ratio",
+   "value": null,
+   "unit": "1",
+   "threshold": 0.799999,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_pot_area_ratio_min",
+   "value": null,
+   "unit": "1",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_pot_area_ratio_max",
+   "value": null,
+   "unit": "1",
+   "threshold": 1.4,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_pot_origin_z_gap",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "higher_better"
+  },
+  {
+   "name": "settle_max_move_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 2,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "成功：视频 9.5 s 左夹爪把大号盖放到锅上并松手，之后静止至 14.67 s，评分器 success=1、settle_max_move_mm=0。native_metrics 评分器未给出数值，记为 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行标注合理：视频 7-9.5 s 左夹爪夹盖放到锅上，9.5 s 后张爪撤离、盖静止至 14.67 s，评分器 success=1、goal_at_end=1、settle_max_move_mm=0；pot_covered 区间 [9.5,null]、contact_actual 抓握（手指/夹爪）与帧一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
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+ },
+ "provenance": {
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+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+    "ok": true,
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/robowits/cover_with_lid/trajectories/robowits-cover-with-lid-i00-privileged--insv3oh.json

@@ -0,0 +1,273 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robowits-cover-with-lid-i00-privileged--insv3oh",
+ "taskKey": "robowits/cover_with_lid",
+ "dag_sha256": "07b622cdf86dcb5fdb3b5115dcf2eda2c1e52ae5bd6181878c192a680338e841",
+ "outcome": {
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+  "reward": 0.0628,
+  "source": "catalog",
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+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 0,
+   "infra_error": 0,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 4678,
+   "sim_steps": 4708,
+   "final_reward": 0.0628,
+   "goal_at_end": 0,
+   "settle_steps": 30,
+   "settle_max_move_mm": 0.0,
+   "replay_wall_s": 251.1,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 12,
+   "agent_resets": 6,
+   "agent_sim_steps": 27274,
+   "agent_records": 7,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.426,
+   "peak_memory_gb": 3.274,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.009,
+   "peak_cpus": 4.05,
+   "peak_pids": 325,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
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+   "resource_monitor_kills": 0,
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+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 1,
+   "session_log_from_monitor": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:robowits-cover-with-lid-i00-privileged--insv3oh.mp4",
+  "duration_s": 157.0,
+  "fps": 15.0,
+  "frames": 2355,
+  "sha256": "b371d6e4d0eac251ef43a3392b7078bc8b410ed5acf0da3c64a9a974738b529b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pot_covered": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 156.9,
+      "log_step": 118,
+      "text_zh": "观察：视频 156.9 s 最后一帧，大号木纹盖仍在桌面左侧、锅口敞开，整段 157 s 视频的主视角中锅口始终未被盖住（对照 oracle 成功视频中盖子落在锅上）。评分器 goal_at_end=0，success=0。"
+     }
+    ]
+   }
+  },
+  "constraints": {},
+  "contact_actual": {
+   "pot_covered": [
+    {
+     "who": "手指/夹爪",
+     "how": "未知",
+     "note_zh": "观察：左夹爪多次在大号盖旋钮上方下探，抽样帧中盖子未离开桌面左侧，从未被放到锅上；推断/自述：agent 称夹起 8-10 cm 后滑脱（log step 115/118，session 内读数），视频未证实抓握。"
+    }
+   ]
+  }
+ },
+ "native_metrics": [
+  {
+   "name": "lid_overlap_ratio",
+   "value": null,
+   "unit": "1",
+   "threshold": 0.799999,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_pot_area_ratio_min",
+   "value": null,
+   "unit": "1",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_pot_area_ratio_max",
+   "value": null,
+   "unit": "1",
+   "threshold": 1.4,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_pot_origin_z_gap",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "higher_better"
+  },
+  {
+   "name": "settle_max_move_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 2,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pot_covered",
+   "t": null,
+   "log_step": 118,
+   "where": "操作中",
+   "evidence_zh": "观察：视频中左夹爪反复在大号盖附近下探，盖子始终未到锅上，末帧（视频 156.9 s）锅仍敞开。推断/自述：旋钮捏持在搬运途中滑脱（log step 118）。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": null,
+    "log_step": 118,
+    "evidence_zh": "观察：盖子从未到达锅上方，抽样帧中盖子基本停在桌面左侧原位，未见盖子被抬离桌面，即未观察到建立抓握；agent 自述曾抬起后滑脱（log step 118，推断/自述，无法与没保持住区分）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断（agent 自述）：旋钮头部仅约 4 mm 高，夹爪平面只接触很小一圈，捏持边缘不牢（log step 118）；视频仅观察到盖子未被搬到锅上，未能独立证实具体失败机制。",
+    "source_zh": "agent 自述（推断，未经帧或日志证实）"
+   }
+  ],
+  "gap_zh": "无状态日志，盖子是否离桌后滑落未逐帧定位（抽样帧中盖子基本未动，可能是没建立有效接触）；根因全部来自 agent 自述，待核实。视频为多次 reset 后的重放，不排除拼接。 没建立接触与没保持住在视频上无法完全区分：帧只见盖子未动，故取没建立接触，agent 自述的“抬起后滑脱”不作为观察。",
+  "unmet": {
+   "pot_covered": false
+  }
+ },
+ "summary_zh": "观察：graded 视频 157 s 内左夹爪反复在大号盖旋钮上方下探，盖子未见被抬离桌面，从未被放到锅上，末帧锅口仍敞开（锅盖盖好未达成）。断点在放置/搬运步骤，现象取没建立接触（与没保持住难以区分，agent 自述为抬起后滑脱），根因推断为旋钮捏持几何不牢（agent 自述，待核实）。无状态日志。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "末帧锅口敞开、pot_covered=false 正确（goal_at_end=0）。但“盖子被夹起后又回到桌面、从未到锅上”标成“观察”不被帧支持：抽样帧中大盖几乎始终停在桌面左侧原位，夹爪在其上方反复下探；滑落和搬运只来自 agent 自述（agent 的 4678 步轨迹由多次 session/reset 拼成，视频里机械臂位置跳变）。没保持住与根因应降为推断并降低 conf，或核实后再定。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "pot_covered=false、末帧锅口敞开、断点 pot_covered/操作中均正确（goal_at_end=0）。但 contact_actual 把“夹起并搬运途中滑落、反复出现”写成观察，抽样帧不支持：大盖始终停在桌面左侧，夹爪只在其上方下探，未见盖子离桌；抓握与没保持住只有 agent 自述（log step 115/118，且为 session 内读数，不是被评分重放的读数）。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "两条 round-2 问题的接受均已在 prev/trajectory.json 中完整落实：contact_actual 改为未知并区分观察与自述；现象改为没建立接触，gap_zh 说明与没保持住难分，summary_zh 历史说明已删。",
+    "n_issues": 0,
+    "n_checks": 2
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "两条 round-2 问题的接受均已在 prev/trajectory.json 中完整落实：contact_actual 改为未知并区分观察与自述；现象改为没建立接触，gap_zh 说明与没保持住难分，summary_zh 历史说明已删。",
+   "checks_ok": "2/2",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
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+  "engine": "claude",
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+  "effort": "high",
+  "created": "2026-11-08T22:07:49Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
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+   },
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+    "ok": true,
+    "space": "work/runs/robowits-cover-with-lid-i00-privileged--insv3oh/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
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+    "ok": true,
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+   },
+   {
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+    "ok": true,
+    "space": "work/runs/robowits-cover-with-lid-i00-privileged--insv3oh/04_review_r2"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/robowits-cover-with-lid-i00-privileged--insv3oh/05_reconcile_r2"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/robowits-cover-with-lid-i00-privileged--insv3oh/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2a452bf2b5cc806b245ddeff27715918096b284ebcc8909faab332d4acbce6e3",
+   "video_sha256": "b371d6e4d0eac251ef43a3392b7078bc8b410ed5acf0da3c64a9a974738b529b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/robowits/cover_with_lid/trajectories/robowits-cover-with-lid-i00-privileged--wdr4tcy.json

@@ -0,0 +1,158 @@
+{
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+ "taxonomy": "v2",
+ "runId": "robowits-cover-with-lid-i00-privileged--wdr4tcy",
+ "taskKey": "robowits/cover_with_lid",
+ "dag_sha256": "07b622cdf86dcb5fdb3b5115dcf2eda2c1e52ae5bd6181878c192a680338e841",
+ "outcome": {
+  "success": 1,
+  "reward": 0.6,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 0,
+   "infra_error": 0,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 673,
+   "sim_steps": 763,
+   "final_reward": 0.6,
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+   "settle_steps": 90,
+   "settle_max_move_mm": 0.0,
+   "replay_wall_s": 35.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 14,
+   "agent_sim_steps": 1526,
+   "agent_records": 4,
+   "agent_replays": 6,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.85,
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+   "peak_disk_gb": 0.792,
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+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:robowits-cover-with-lid-i00-privileged--wdr4tcy.mp4",
+  "duration_s": 25.467,
+  "fps": 15.0,
+  "frames": 382,
+  "sha256": "edf1d3ac5275ed9a114e16771961a095aa16ecde69d702cfb19709f34db39ef6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
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+    "method": "visual",
+    "intervals": [
+     [
+      19.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.0,
+      "log_step": 56,
+      "text_zh": "观察：视频约 14-18.5 s 左臂夹爪夹着大号木纹盖停在锅口上方，约 19.0 s 起夹爪张开上抬，盖子留在锅上居中遮住锅口，至视频 25.5 s 不再移动。评分器字段 success=1、goal_at_end=1、settle_max_move_mm=0（评分器字段）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左臂二指夹爪从盖中央圆台处夹住大号盖，约视频 8 s 起取起并搬到锅上，约 19 s 松开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：视频中左夹爪夹起大号盖搬到锅上，约视频 19.0 s 松手后盖子稳定覆盖锅口，直至 25.5 s；评分器判定通过。起始时刻与精确时间为目视估计，无状态日志。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，pot_covered 在视频约19 s 夹爪松开后盖在锅上直至结束，与评分器 success=1、goal_at_end=1 一致；接触（左夹爪抓握）与时间无明显错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "review_engine": "claude",
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+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseR/robowits/stack_bowls/trajectories/robowits-stack-bowls-i00-privileged--8uumvmq.json

@@ -0,0 +1,161 @@
+{
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+ "runId": "robowits-stack-bowls-i00-privileged--8uumvmq",
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+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robowits-stack-bowls-i00-privileged--8uumvmq/replay.mp4",
+  "duration_s": 31.867,
+  "fps": 15.0,
+  "frames": 478,
+  "sha256": "6f8917634e8e8f05f116cd607d0293a68fed62816b5966d6703e22c3abd15396"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "small_bowl_nested": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 31.8,
+      "log_step": 41,
+      "text_zh": "观察：视频 0-3 s 两只黑碗前后分离；约 10-18 s 左臂夹爪夹住小碗碗沿抬起并移向大碗；视频 22 s 夹爪松开退开，约 23 s 起及最后一帧（31.8 s）俯视图只见一只碗，夹爪远离、无接触，小碗已落入大碗内。推断：时间约 22.5 s 为到达，精度约 1-2 s；毫米级同心由评分器认定（success=1，settle_max_move_mm=0.01）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左臂二指夹爪夹住小碗碗沿，抬起搬运并放入大碗后松开（视频约 10-22 s）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "radial_offset",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better"
+  },
+  {
+   "name": "settle_max_move",
+   "value": 1e-05,
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "成功：左臂夹爪夹小碗碗沿搬到大碗内松开，视频约 22.5 s 到达并保持至结束，评分器 success=1。无状态日志，时间由视频判断；radial_offset 未在评分字段中报告。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行标注与视频一致：约21 s小碗仍在夹爪下，22.5 s后俯视只见一只碗、夹爪退开，评分器success=1；contact_actual为左臂抓握，合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T22:05:16Z",
+  "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/robowits-stack-bowls-i00-privileged--8uumvmq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robowits-stack-bowls-i00-privileged--8uumvmq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "704ebddd2a58e99b68632fdb603a989e4cdd994399f74467e48c6dd4ad1afda7",
+   "video_sha256": "6f8917634e8e8f05f116cd607d0293a68fed62816b5966d6703e22c3abd15396",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}