Add 71 trajectories (phaseR, unlabelled counted attempts of seven agents; batch R07; writer Claude Sonnet 5.5)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--aqqzjo5.json +179 -0
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--ivusugc.json +179 -0
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--lsv4dzf.json +227 -0
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--qmybe8o.json +201 -0
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--s6rmlyk.json +179 -0
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--y8muufz.json +184 -0
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--26pzvqs.json +210 -0
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--8fjyanx.json +229 -0
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--8hvhdxp.json +233 -0
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--j8xkgnn.json +254 -0
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--mm7bkjk.json +250 -0
- phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--wnw673q.json +228 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--7isy868.json +277 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--gf9omv4.json +203 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--stgsjzp.json +244 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--vteosgv.json +223 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--wnlnnpt.json +206 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--xbbtsif.json +239 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--7qq2bec.json +253 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--g4fp9gd.json +211 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--pniwntg.json +258 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--tudufzp.json +246 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--vcpi6oy.json +250 -0
- phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--zqx7jxe.json +253 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--3v4igxu.json +184 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--7j4ifpb.json +179 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--djvcgxm.json +179 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--mjeian9.json +222 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--ndjydzq.json +176 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--uxned7f.json +178 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--beqffbv.json +220 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--bqcdx4m.json +258 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--lph76zm.json +228 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--mcmrczs.json +228 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--nx3wuyk.json +220 -0
- phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--xn8kwzc.json +245 -0
- phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--5vztddn.json +192 -0
- phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--b6mrwwg.json +216 -0
- phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--ljnux7v.json +252 -0
- phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--qkzdzne.json +229 -0
- phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--uhazbrc.json +197 -0
- phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--2cfzg9y.json +208 -0
- phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--44sjuv6.json +228 -0
- phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--9spk5wk.json +206 -0
- phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--cdxg8t3.json +211 -0
- phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--dbhtybv.json +211 -0
- phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--gikbwzu.json +205 -0
- phaseR/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--begqf8h.json +162 -0
- phaseR/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--brdtsvp.json +200 -0
- phaseR/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--ferbtbh.json +205 -0
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--aqqzjo5.json
ADDED
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| 1 |
+
{
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"schema": "efe-trajectory-labels/1",
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"taxonomy": "v2",
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"runId": "robolab-bbq-sauce-in-bin-i00-privileged--aqqzjo5",
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"taskKey": "robolab/bbq_sauce_in_bin",
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"dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2",
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+
"outcome": {
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"success": 1,
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"reward": 1.0,
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"source": "catalog",
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"raw": {
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"success": 1,
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"all_success": 1,
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"deterministic": 1,
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"instance_ok": 1,
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"instance_exact": 1,
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"n_actions": 386,
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"sim_steps": 386,
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"final_reward": 1.0,
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+
"replay_wall_s": 1646.5,
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"replay_timeout_s": 1800.0,
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"grader_error": 0,
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"infra_error": 0,
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"video_rendered": 1,
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+
"agent_sessions": 5,
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"agent_resets": 10,
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"agent_sim_steps": 772,
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"agent_records": 7,
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+
"agent_replays": 1,
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| 30 |
+
"agent_cost_self_reported": 1,
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| 31 |
+
"resource_enforced": 0,
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| 32 |
+
"limits_violation_observed": 0,
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| 33 |
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"resource_monitor_missing": 0,
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"peak_gpu_memory_gb": 8.908,
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| 35 |
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"peak_memory_gb": 12.392,
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| 36 |
+
"peak_processes": 19,
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| 37 |
+
"peak_disk_gb": 0.27,
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| 38 |
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"peak_cpus": 8.14,
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| 39 |
+
"peak_pids": 1416,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
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| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
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| 49 |
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"resource_oom_kills": 0,
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| 50 |
+
"resource_host_oom_kills": 0,
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| 51 |
+
"resource_service_oom_kills": 0,
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| 52 |
+
"session_log_tampered": 0,
|
| 53 |
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"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
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},
|
| 56 |
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"video": {
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"kind": "media",
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"url": "media:robolab-bbq-sauce-in-bin-i00-privileged--aqqzjo5.mp4",
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| 59 |
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"duration_s": 25.8,
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| 60 |
+
"fps": 15.0,
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| 61 |
+
"frames": 387,
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| 62 |
+
"sha256": "de7580077756ab408d63425df50e46f5ed14bbada80d62a7b74090f30b5698f9"
|
| 63 |
+
},
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| 64 |
+
"state": null,
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| 65 |
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"progress": {
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| 66 |
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"method": "visual",
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| 67 |
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"denominator": 2,
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| 68 |
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"base": 0,
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| 69 |
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"peak": 2,
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| 70 |
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"final": 2,
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| 71 |
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"nodes": {
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| 72 |
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"bbq_bottles_in_bin_1": {
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| 73 |
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"method": "visual",
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| 74 |
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"intervals": [
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[
|
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10.0,
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| 77 |
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null
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| 78 |
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]
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],
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"final": true,
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| 81 |
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"evidence": [
|
| 82 |
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{
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| 83 |
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"t": 10.0,
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| 84 |
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"log_step": null,
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| 85 |
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"text_zh": "观察：视频10.0 s（帧150）夹爪夹着瓶子已在灰箱口轮廓内上方；视频12-14 s瓶躺在箱底、夹爪已升起。时间约±0.5 s。"
|
| 86 |
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}
|
| 87 |
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],
|
| 88 |
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"contact_actual": [
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{
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| 90 |
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"who": "手指/夹爪",
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| 91 |
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"how": "抓握",
|
| 92 |
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"note_zh": "观察：Robotiq夹爪夹住第一瓶酱瓶搬运（视频约6-11 s），在箱上方约视频10 s进入箱口范围，约11.5 s松手，瓶躺在箱内。"
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| 93 |
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}
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| 94 |
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]
|
| 95 |
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},
|
| 96 |
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"bbq_bottles_in_bin_2": {
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| 97 |
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"method": "visual",
|
| 98 |
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"intervals": [
|
| 99 |
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[
|
| 100 |
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24.5,
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| 101 |
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null
|
| 102 |
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]
|
| 103 |
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],
|
| 104 |
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"final": true,
|
| 105 |
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"evidence": [
|
| 106 |
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{
|
| 107 |
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"t": 24.5,
|
| 108 |
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"log_step": null,
|
| 109 |
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"text_zh": "观察：视频24.7 s（帧370）和25.7 s（帧386）第二瓶被夹爪夹着位于箱口范围上方，箱内第一瓶仍在。推断：评分器把瓶体凸包质心落入向上无限延伸的箱凸包计为入箱，且reward=1、success=1，故两瓶同时入箱且夹指脱离判定成立（评分器字段，视频未清晰显示松手）。"
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| 110 |
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}
|
| 111 |
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],
|
| 112 |
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"contact_actual": [
|
| 113 |
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{
|
| 114 |
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"who": "手指/夹爪",
|
| 115 |
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"how": "抓握",
|
| 116 |
+
"note_zh": "观察：夹爪夹住第二瓶（红橙色）从视频约17 s搬运，约24.5 s悬在箱口上方；夹持中，视频结束时仍在箱上方。"
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
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},
|
| 121 |
+
"constraints": {}
|
| 122 |
+
},
|
| 123 |
+
"native_metrics": [],
|
| 124 |
+
"failure": null,
|
| 125 |
+
"summary_zh": "观察：图视频中夹爪先把第一瓶酱瓶搬入灰箱（视频约10 s入箱范围，约11.5 s松手），再抓第二瓶，在视频约24.5 s悬于箱口上方，视频至25.8 s结束。评分器 success=1（两节点均true）。不足：视频结尾未清晰显示第二瓶松手，该节点时间据几何判断约±1 s，无状态日志。",
|
| 126 |
+
"conf": 7,
|
| 127 |
+
"review": {
|
| 128 |
+
"status": "agreed",
|
| 129 |
+
"rounds": 1,
|
| 130 |
+
"reviewers": [
|
| 131 |
+
{
|
| 132 |
+
"engine": "claude",
|
| 133 |
+
"model": "claude-sonnet-5-5",
|
| 134 |
+
"round": 1,
|
| 135 |
+
"verdict": "agree",
|
| 136 |
+
"conf": 6,
|
| 137 |
+
"summary_zh": "两节点时间与接触标签与视频一致：第1瓶约10 s进入箱口范围，第2瓶约24.5 s悬于箱口上方；success=1 约束 final。未发现需要改动的错误。",
|
| 138 |
+
"n_issues": 0,
|
| 139 |
+
"n_major": 0
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"open_zh": []
|
| 143 |
+
},
|
| 144 |
+
"provenance": {
|
| 145 |
+
"prompt": "prompts/03_trajectory.md",
|
| 146 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 147 |
+
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|
| 148 |
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"model": "claude-sonnet-5-5",
|
| 149 |
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|
| 150 |
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| 151 |
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| 152 |
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| 153 |
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|
| 154 |
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| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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"space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--aqqzjo5/03_label"
|
| 161 |
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|
| 162 |
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{
|
| 163 |
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"stage": "traj_review",
|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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}
|
| 168 |
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],
|
| 169 |
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"review_engine": "claude",
|
| 170 |
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"review_model": "claude-sonnet-5-5",
|
| 171 |
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|
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| 175 |
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"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 176 |
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|
| 177 |
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"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."
|
| 178 |
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}
|
| 179 |
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}
|
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--ivusugc.json
ADDED
|
@@ -0,0 +1,179 @@
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| 1 |
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{
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| 2 |
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| 3 |
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|
| 4 |
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|
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"video": {
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|
| 58 |
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| 73 |
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|
| 74 |
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| 75 |
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[
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| 76 |
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16.0,
|
| 77 |
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null
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"t": 18.0,
|
| 84 |
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|
| 85 |
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"text_zh": "观察：视频 15 s 夹爪持第1瓶在箱上方，视频 18 s 该瓶已立在箱内，此后一直在箱内。"
|
| 86 |
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|
| 87 |
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],
|
| 88 |
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"contact_actual": [
|
| 89 |
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{
|
| 90 |
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"who": "手指/夹爪",
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| 91 |
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"how": "抓握",
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| 92 |
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"note_zh": "观察：Robotiq夹爪夹住瓶身，抬起并送到灰箱上方后松开"
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| 93 |
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}
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| 94 |
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| 95 |
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| 97 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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"t": 38.3,
|
| 108 |
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| 109 |
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"text_zh": "观察：视频约 36-38 s 夹爪持第2瓶移到箱口并放入，末帧两瓶均在箱内；评分器 success=1。时间约±1 s。"
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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"who": "手指/夹爪",
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| 115 |
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"how": "抓握",
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| 116 |
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"note_zh": "观察：Robotiq夹爪夹住瓶身，抬起并送到灰箱上方后松开"
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| 117 |
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}
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| 118 |
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| 119 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
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|
| 135 |
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"verdict": "agree",
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| 136 |
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"conf": 8,
|
| 137 |
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"summary_zh": "两个节点时间（第1瓶约视频16 s、第2瓶约37 s）、接触（抓握）和final=true均与视频及评分器success=1一致，成功运行无failure，未发现错误。",
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}
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| 176 |
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|
| 178 |
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}
|
| 179 |
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|
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--lsv4dzf.json
ADDED
|
@@ -0,0 +1,227 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-bbq-sauce-in-bin-i00-privileged--lsv4dzf",
|
| 5 |
+
"taskKey": "robolab/bbq_sauce_in_bin",
|
| 6 |
+
"dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.5,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 651,
|
| 18 |
+
"sim_steps": 681,
|
| 19 |
+
"final_reward": 0.5,
|
| 20 |
+
"replay_wall_s": 1343.1,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 7,
|
| 26 |
+
"agent_resets": 0,
|
| 27 |
+
"agent_sim_steps": 651,
|
| 28 |
+
"agent_records": 1,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 6.506,
|
| 35 |
+
"peak_memory_gb": 21.721,
|
| 36 |
+
"peak_processes": 20,
|
| 37 |
+
"peak_disk_gb": 1.018,
|
| 38 |
+
"peak_cpus": 8.13,
|
| 39 |
+
"peak_pids": 1095,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-bbq-sauce-in-bin-i00-privileged--lsv4dzf.mp4",
|
| 59 |
+
"duration_s": 45.467,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 682,
|
| 62 |
+
"sha256": "a70b7e1e1ab5dd98155dccec271189d5ab35216b08819b13d99b9e082bec0d20"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 1,
|
| 70 |
+
"final": 1,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"bbq_bottles_in_bin_1": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [
|
| 75 |
+
[
|
| 76 |
+
13.5,
|
| 77 |
+
null
|
| 78 |
+
]
|
| 79 |
+
],
|
| 80 |
+
"final": true,
|
| 81 |
+
"evidence": [
|
| 82 |
+
{
|
| 83 |
+
"t": 13.5,
|
| 84 |
+
"log_step": null,
|
| 85 |
+
"text_zh": "观察：视频 9-12 s 夹爪夹着第1瓶（原位于箱左后方）移向灰箱；约视频 13.5 s 瓶身已在箱口轮廓内（夹爪仍夹持，凸包计数不要求松手），此后瓶子留在箱内直到视频结束（视频 45 s 仍在箱内，夹爪已离开）。评分器 final_reward 0.5（推断：两瓶中一瓶满足）。"
|
| 86 |
+
}
|
| 87 |
+
],
|
| 88 |
+
"contact_actual": [
|
| 89 |
+
{
|
| 90 |
+
"who": "手指/夹爪",
|
| 91 |
+
"how": "抓握",
|
| 92 |
+
"note_zh": "观察：Robotiq 夹爪夹住第1瓶瓶身，从桌面抬起并送入灰箱（视频约 3-13.5 s）。"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"bbq_bottles_in_bin_2": {
|
| 97 |
+
"method": "visual",
|
| 98 |
+
"intervals": [],
|
| 99 |
+
"final": false,
|
| 100 |
+
"evidence": [
|
| 101 |
+
{
|
| 102 |
+
"t": 45.4,
|
| 103 |
+
"log_step": null,
|
| 104 |
+
"text_zh": "观察：视频 18-45 s 第2瓶始终在工作台左侧，夹在木块与咖啡壶/杯之间，视频约 25-30 s 夹指碰到后它倾斜靠在木块上，从未被抬起或送入箱；视频最后一秒仍在原处。"
|
| 105 |
+
}
|
| 106 |
+
],
|
| 107 |
+
"contact_actual": [
|
| 108 |
+
{
|
| 109 |
+
"who": "手指/夹爪",
|
| 110 |
+
"how": "推/扫",
|
| 111 |
+
"note_zh": "观察：视频约 22-45 s 夹指多次接近第2瓶，只是碰撞/推动使其倾斜靠在木块上，未形成夹持。"
|
| 112 |
+
}
|
| 113 |
+
]
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
"constraints": {}
|
| 117 |
+
},
|
| 118 |
+
"native_metrics": [],
|
| 119 |
+
"failure": {
|
| 120 |
+
"breakpoint": {
|
| 121 |
+
"ref": "bbq_bottles_in_bin_2",
|
| 122 |
+
"t": 27.0,
|
| 123 |
+
"log_step": null,
|
| 124 |
+
"where": "操作中",
|
| 125 |
+
"evidence_zh": "观察：第1瓶入箱后，机器人在视频 18-45 s 反复用夹爪去抓第2瓶，第2瓶卡在木块与咖啡壶之间，被夹指碰倒后斜靠木块，始终没抬起。推断（agent 自述 log step 190）：末端下探不到位（停在目标上方3-4 cm），夹指闭合高度错误，瓶子被弹出，之后没时间继续。"
|
| 126 |
+
},
|
| 127 |
+
"phenomena": [
|
| 128 |
+
{
|
| 129 |
+
"cat": "接触",
|
| 130 |
+
"item": "没建立接触",
|
| 131 |
+
"t": 27.0,
|
| 132 |
+
"log_step": 190,
|
| 133 |
+
"evidence_zh": "观察：视频 22-45 s 夹指围着第2瓶多次下探，没有一次夹住并抬起；瓶子只被碰得倾斜。"
|
| 134 |
+
}
|
| 135 |
+
],
|
| 136 |
+
"root_causes": [
|
| 137 |
+
{
|
| 138 |
+
"cat": "控制",
|
| 139 |
+
"item": "轨迹或逆解",
|
| 140 |
+
"alt_feasible": "未知",
|
| 141 |
+
"evidence_zh": "推断（依据 agent 自述的仿真测量，log step 190）：第2瓶（距底座约0.66 m、z≈0.01）末端下探停在目标上方约32-39 mm，倾斜工具的微分逆解到不了（腕奇异/工作空间边缘），夹指在错误高度闭合，楔形效应把瓶子再次弹出；第1瓶同样夹持方案成功入箱。视频 22-45 s 夹指在第2瓶周围多次下探未夹住（观察）。夹指是否被邻物挡住在俯视画面中未观察到。",
|
| 142 |
+
"source_zh": "agent 自述（log step 190）/ 视频"
|
| 143 |
+
}
|
| 144 |
+
],
|
| 145 |
+
"gap_zh": "无状态日志，节点时间由视频判断（精度约 0.5-1 s）；第2瓶被碰的具体时刻与夹指是否真正接触无法在俯视画面里完全确认；根因依据 agent 自述的测量，未独立验证；其他方案是否可行未验证。",
|
| 146 |
+
"unmet": {
|
| 147 |
+
"bbq_bottles_in_bin_1": true,
|
| 148 |
+
"bbq_bottles_in_bin_2": false
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"summary_zh": "观察：第1瓶在视频约 13.5 s 被夹入灰箱并保持在箱内；第2瓶卡在木块与咖啡壶之间，视频 22-45 s 夹爪多次尝试仍未抓起，仅把它碰倾斜，最终 1/2（reward 0.5）。断点为第2瓶入箱的操作中，推断为远端低位目标下探时逆解/工作空间边缘不达（agent 自述测量，log step 190）；agent 自述后期仿真变慢、时间不足（非原因）。",
|
| 152 |
+
"conf": 6,
|
| 153 |
+
"review": {
|
| 154 |
+
"status": "agreed",
|
| 155 |
+
"rounds": 2,
|
| 156 |
+
"reviewers": [
|
| 157 |
+
{
|
| 158 |
+
"engine": "claude",
|
| 159 |
+
"model": "claude-sonnet-5-5",
|
| 160 |
+
"round": 1,
|
| 161 |
+
"verdict": "fix",
|
| 162 |
+
"conf": 6,
|
| 163 |
+
"summary_zh": "节点（第1瓶约13.5 s入箱、第2瓶未入箱）、断点和 final=1 与视频一致。问题在根因：label 把第2瓶失败归为“抓取和接触设计”，但 agent 日志 step 190 的测量把原因指向末端下探被逆解/工作空间边缘卡住（距底座0.66 m，停在目标上方32-39 mm），楔形弹出是其结果；且第1瓶用同样的夹持方案成功。",
|
| 164 |
+
"n_issues": 1,
|
| 165 |
+
"n_major": 1
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"engine": "claude",
|
| 169 |
+
"model": "claude-sonnet-5-5",
|
| 170 |
+
"round": 2,
|
| 171 |
+
"verdict": "agree",
|
| 172 |
+
"conf": 7,
|
| 173 |
+
"summary_zh": "节点（第1瓶约13.5 s入箱、第2瓶未入箱）、断点、根因（轨迹或逆解，已标推断）与视频一致；第二轮无新问题。",
|
| 174 |
+
"n_issues": 0,
|
| 175 |
+
"n_major": 0
|
| 176 |
+
}
|
| 177 |
+
],
|
| 178 |
+
"open_zh": []
|
| 179 |
+
},
|
| 180 |
+
"provenance": {
|
| 181 |
+
"prompt": "prompts/03_trajectory.md",
|
| 182 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 183 |
+
"engine": "claude",
|
| 184 |
+
"model": "claude-sonnet-5-5",
|
| 185 |
+
"effort": "high",
|
| 186 |
+
"created": "2026-11-08T22:16:51Z",
|
| 187 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 188 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 189 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 190 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 191 |
+
"calls": [
|
| 192 |
+
{
|
| 193 |
+
"stage": "traj",
|
| 194 |
+
"round": 0,
|
| 195 |
+
"ok": true,
|
| 196 |
+
"space": "work_rerun2/runs/robolab-bbq-sauce-in-bin-i00-privileged--lsv4dzf/03_label"
|
| 197 |
+
},
|
| 198 |
+
{
|
| 199 |
+
"stage": "traj_review",
|
| 200 |
+
"round": 1,
|
| 201 |
+
"ok": true,
|
| 202 |
+
"space": "work_rerun2/runs/robolab-bbq-sauce-in-bin-i00-privileged--lsv4dzf/04_review_r1"
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"stage": "reconcile",
|
| 206 |
+
"round": 1,
|
| 207 |
+
"ok": true,
|
| 208 |
+
"space": "work_rerun2/runs/robolab-bbq-sauce-in-bin-i00-privileged--lsv4dzf/05_reconcile_r1"
|
| 209 |
+
},
|
| 210 |
+
{
|
| 211 |
+
"stage": "traj_review",
|
| 212 |
+
"round": 2,
|
| 213 |
+
"ok": true,
|
| 214 |
+
"space": "work_rerun2/runs/robolab-bbq-sauce-in-bin-i00-privileged--lsv4dzf/04_review_r2"
|
| 215 |
+
}
|
| 216 |
+
],
|
| 217 |
+
"review_engine": "claude",
|
| 218 |
+
"review_model": "claude-sonnet-5-5",
|
| 219 |
+
"inputs": {
|
| 220 |
+
"run_json_sha256": "44df5de55bf6c1424a17fa97a821fe3887548949f0c012696f03469100c979c7",
|
| 221 |
+
"video_sha256": "a70b7e1e1ab5dd98155dccec271189d5ab35216b08819b13d99b9e082bec0d20",
|
| 222 |
+
"states_sha256": null,
|
| 223 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 224 |
+
},
|
| 225 |
+
"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."
|
| 226 |
+
}
|
| 227 |
+
}
|
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--qmybe8o.json
ADDED
|
@@ -0,0 +1,201 @@
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-bbq-sauce-in-bin-i00-privileged--qmybe8o",
|
| 5 |
+
"taskKey": "robolab/bbq_sauce_in_bin",
|
| 6 |
+
"dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 1,
|
| 9 |
+
"reward": 1.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 1,
|
| 13 |
+
"all_success": 1,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 432,
|
| 18 |
+
"sim_steps": 432,
|
| 19 |
+
"final_reward": 1.0,
|
| 20 |
+
"replay_wall_s": 404.9,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 17,
|
| 26 |
+
"agent_resets": 1,
|
| 27 |
+
"agent_sim_steps": 1446,
|
| 28 |
+
"agent_records": 6,
|
| 29 |
+
"agent_replays": 1,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 7.125,
|
| 35 |
+
"peak_memory_gb": 9.284,
|
| 36 |
+
"peak_processes": 12,
|
| 37 |
+
"peak_disk_gb": 0.085,
|
| 38 |
+
"peak_cpus": 7.16,
|
| 39 |
+
"peak_pids": 202,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-bbq-sauce-in-bin-i00-privileged--qmybe8o.mp4",
|
| 59 |
+
"duration_s": 28.867,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 433,
|
| 62 |
+
"sha256": "b262efe5c9151d9a45be259fc29bb3cb06802e0373dbdd946272b5cf1a60db4c"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 2,
|
| 70 |
+
"final": 2,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"bbq_bottles_in_bin_1": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [
|
| 75 |
+
[
|
| 76 |
+
13.8,
|
| 77 |
+
null
|
| 78 |
+
]
|
| 79 |
+
],
|
| 80 |
+
"final": true,
|
| 81 |
+
"evidence": [
|
| 82 |
+
{
|
| 83 |
+
"t": 13.8,
|
| 84 |
+
"log_step": null,
|
| 85 |
+
"text_zh": "观察：视频 13 s 时 Franka 夹爪夹着第1瓶（左侧远处的酱瓶）位于箱口上方，视频 15 s 起该瓶躺在灰箱内且夹爪已抬离；此后一直在箱内（视频 28.8 s 仍在）。评分器 success=1 也支持。"
|
| 86 |
+
}
|
| 87 |
+
],
|
| 88 |
+
"contact_actual": [
|
| 89 |
+
{
|
| 90 |
+
"who": "手指/夹爪",
|
| 91 |
+
"how": "抓握",
|
| 92 |
+
"note_zh": "观察：夹爪(Robotiq)夹持瓶身搬至箱上方后松开"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"bbq_bottles_in_bin_2": {
|
| 97 |
+
"method": "visual",
|
| 98 |
+
"intervals": [
|
| 99 |
+
[
|
| 100 |
+
26.8,
|
| 101 |
+
null
|
| 102 |
+
]
|
| 103 |
+
],
|
| 104 |
+
"final": true,
|
| 105 |
+
"evidence": [
|
| 106 |
+
{
|
| 107 |
+
"t": 26.8,
|
| 108 |
+
"log_step": null,
|
| 109 |
+
"text_zh": "观察：视频 23-25 s 夹爪抓起第2瓶（橙红色瓶，沿途碰到并推动了黄色芥末瓶）；26-28.8 s 橙红瓶在箱口范围内、仍在夹爪处（帧中未见夹指张开上抬）。夹指脱离、瓶入箱由评分器 success=1（两瓶入箱且夹指脱离）推断，非帧中所见。推断时间约 26.8 s。"
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"contact_actual": [
|
| 113 |
+
{
|
| 114 |
+
"who": "手指/夹爪",
|
| 115 |
+
"how": "抓握",
|
| 116 |
+
"note_zh": "观察：夹爪夹持橙红瓶搬运至箱上方（松开为评分器推断，非帧中所见）；途中瓶或夹爪碰到黄色瓶"
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"constraints": {}
|
| 122 |
+
},
|
| 123 |
+
"native_metrics": [],
|
| 124 |
+
"failure": null,
|
| 125 |
+
"summary_zh": "观察：评分器判定成功。视频约 13.8 s 第1瓶入箱，约 26.8 s 第2瓶入箱，夹爪随后张开脱离，两节点均为真；第2瓶搬运途中碰到黄色瓶但未影响结果。无状态日志，时间来自视频帧（精度约 1 s）；已核对视频到最后一帧。",
|
| 126 |
+
"conf": 8,
|
| 127 |
+
"review": {
|
| 128 |
+
"status": "agreed",
|
| 129 |
+
"rounds": 2,
|
| 130 |
+
"reviewers": [
|
| 131 |
+
{
|
| 132 |
+
"engine": "claude",
|
| 133 |
+
"model": "claude-sonnet-5-5",
|
| 134 |
+
"round": 1,
|
| 135 |
+
"verdict": "fix",
|
| 136 |
+
"conf": 7,
|
| 137 |
+
"summary_zh": "两节点值与时间基本正确（评分器 success=1 支持 final=true），但第2瓶证据文字称27-28.8 s夹爪已张开上抬，帧中看不到。",
|
| 138 |
+
"n_issues": 1,
|
| 139 |
+
"n_major": 0
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"engine": "claude",
|
| 143 |
+
"model": "claude-sonnet-5-5",
|
| 144 |
+
"round": 2,
|
| 145 |
+
"verdict": "agree",
|
| 146 |
+
"conf": 7,
|
| 147 |
+
"summary_zh": "两节点均为真、时间（约13.8 s、26.8 s）与帧一致，final=2 与评分器 success=1 相符；第1轮指出的推断/观察问题已改正，未发现新错误。",
|
| 148 |
+
"n_issues": 0,
|
| 149 |
+
"n_major": 0
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"open_zh": []
|
| 153 |
+
},
|
| 154 |
+
"provenance": {
|
| 155 |
+
"prompt": "prompts/03_trajectory.md",
|
| 156 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 157 |
+
"engine": "claude",
|
| 158 |
+
"model": "claude-sonnet-5-5",
|
| 159 |
+
"effort": "high",
|
| 160 |
+
"created": "2026-11-08T22:09:45Z",
|
| 161 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 162 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 163 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 164 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 165 |
+
"calls": [
|
| 166 |
+
{
|
| 167 |
+
"stage": "traj",
|
| 168 |
+
"round": 0,
|
| 169 |
+
"ok": true,
|
| 170 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--qmybe8o/03_label"
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"stage": "traj_review",
|
| 174 |
+
"round": 1,
|
| 175 |
+
"ok": true,
|
| 176 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--qmybe8o/04_review_r1"
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"stage": "reconcile",
|
| 180 |
+
"round": 1,
|
| 181 |
+
"ok": true,
|
| 182 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--qmybe8o/05_reconcile_r1"
|
| 183 |
+
},
|
| 184 |
+
{
|
| 185 |
+
"stage": "traj_review",
|
| 186 |
+
"round": 2,
|
| 187 |
+
"ok": true,
|
| 188 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--qmybe8o/04_review_r2"
|
| 189 |
+
}
|
| 190 |
+
],
|
| 191 |
+
"review_engine": "claude",
|
| 192 |
+
"review_model": "claude-sonnet-5-5",
|
| 193 |
+
"inputs": {
|
| 194 |
+
"run_json_sha256": "8bfbe33c2896391aa2b2b4aa26f290a4b922454cf80ee8964ebf5eea0fae3df0",
|
| 195 |
+
"video_sha256": "b262efe5c9151d9a45be259fc29bb3cb06802e0373dbdd946272b5cf1a60db4c",
|
| 196 |
+
"states_sha256": null,
|
| 197 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 198 |
+
},
|
| 199 |
+
"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."
|
| 200 |
+
}
|
| 201 |
+
}
|
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--s6rmlyk.json
ADDED
|
@@ -0,0 +1,179 @@
|
|
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|
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|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-bbq-sauce-in-bin-i00-privileged--s6rmlyk",
|
| 5 |
+
"taskKey": "robolab/bbq_sauce_in_bin",
|
| 6 |
+
"dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 1,
|
| 9 |
+
"reward": 1.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 1,
|
| 13 |
+
"all_success": 1,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 507,
|
| 18 |
+
"sim_steps": 507,
|
| 19 |
+
"final_reward": 1.0,
|
| 20 |
+
"replay_wall_s": 1334.0,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 5,
|
| 26 |
+
"agent_resets": 5,
|
| 27 |
+
"agent_sim_steps": 2953,
|
| 28 |
+
"agent_records": 4,
|
| 29 |
+
"agent_replays": 2,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 5.518,
|
| 35 |
+
"peak_memory_gb": 12.873,
|
| 36 |
+
"peak_processes": 15,
|
| 37 |
+
"peak_disk_gb": 0.873,
|
| 38 |
+
"peak_cpus": 8.19,
|
| 39 |
+
"peak_pids": 1631,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 1,
|
| 53 |
+
"session_log_from_monitor": 1
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-bbq-sauce-in-bin-i00-privileged--s6rmlyk.mp4",
|
| 59 |
+
"duration_s": 33.867,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 508,
|
| 62 |
+
"sha256": "65802dc44ac75047bca356dfb843bcb4c6a0d3f58497efe1060364465c55c28f"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 2,
|
| 70 |
+
"final": 2,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"bbq_bottles_in_bin_1": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [
|
| 75 |
+
[
|
| 76 |
+
16.0,
|
| 77 |
+
null
|
| 78 |
+
]
|
| 79 |
+
],
|
| 80 |
+
"final": true,
|
| 81 |
+
"evidence": [
|
| 82 |
+
{
|
| 83 |
+
"t": 16.0,
|
| 84 |
+
"log_step": null,
|
| 85 |
+
"text_zh": "观察：视频 14-16 s 机械臂夹爪夹着红色酱瓶从台面上方移到灰箱口上方，16 s 时瓶在箱口范围内，17 s 夹爪已松开，瓶躺在箱内，此后到 31 s 一直在箱内（前视图）。"
|
| 86 |
+
}
|
| 87 |
+
],
|
| 88 |
+
"contact_actual": [
|
| 89 |
+
{
|
| 90 |
+
"who": "手指/夹爪",
|
| 91 |
+
"how": "抓握",
|
| 92 |
+
"note_zh": "Robotiq 夹爪夹住第1瓶（视频约 13-16 s）搬运入箱后张开"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"bbq_bottles_in_bin_2": {
|
| 97 |
+
"method": "visual",
|
| 98 |
+
"intervals": [
|
| 99 |
+
[
|
| 100 |
+
33.2,
|
| 101 |
+
null
|
| 102 |
+
]
|
| 103 |
+
],
|
| 104 |
+
"final": true,
|
| 105 |
+
"evidence": [
|
| 106 |
+
{
|
| 107 |
+
"t": 33.2,
|
| 108 |
+
"log_step": null,
|
| 109 |
+
"text_zh": "观察：视频 32 s 夹爪夹着第2瓶移到箱口上方，33-33.8 s 瓶身下降到箱内与第1瓶并排；评分器判成功（回合在视频 33.87 s 结束，success=1），故两瓶入箱且夹指已脱离。推断：到达时间约 33 s，最后一秒夹爪释放不易在帧中分辨。"
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"contact_actual": [
|
| 113 |
+
{
|
| 114 |
+
"who": "手指/夹爪",
|
| 115 |
+
"how": "抓握",
|
| 116 |
+
"note_zh": "Robotiq 夹爪夹住第2瓶（约 28-33 s）搬运入箱后张开"
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"constraints": {}
|
| 122 |
+
},
|
| 123 |
+
"native_metrics": [],
|
| 124 |
+
"failure": null,
|
| 125 |
+
"summary_zh": "观察：特权模式下固定底座 Franka 夹爪依次抓取两瓶红色烧烤酱放入灰箱（第1瓶约视频 16 s，第2瓶约 33 s），评分器 success=1，两节点均达成。无状态日志，时间来自视频帧；第2瓶最后的松手在帧中不易分辨，依据评分器成功判定。",
|
| 126 |
+
"conf": 7,
|
| 127 |
+
"review": {
|
| 128 |
+
"status": "agreed",
|
| 129 |
+
"rounds": 1,
|
| 130 |
+
"reviewers": [
|
| 131 |
+
{
|
| 132 |
+
"engine": "claude",
|
| 133 |
+
"model": "claude-sonnet-5-5",
|
| 134 |
+
"round": 1,
|
| 135 |
+
"verdict": "agree",
|
| 136 |
+
"conf": 7,
|
| 137 |
+
"summary_zh": "成功运行，两节点均达成，时间（约16 s、约33 s，视频时钟）与帧一致，接触为夹爪抓握，无失败层，未发现需改内容的错误。",
|
| 138 |
+
"n_issues": 0,
|
| 139 |
+
"n_major": 0
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"open_zh": []
|
| 143 |
+
},
|
| 144 |
+
"provenance": {
|
| 145 |
+
"prompt": "prompts/03_trajectory.md",
|
| 146 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 147 |
+
"engine": "claude",
|
| 148 |
+
"model": "claude-sonnet-5-5",
|
| 149 |
+
"effort": "high",
|
| 150 |
+
"created": "2026-11-08T22:06:57Z",
|
| 151 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 152 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 153 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 154 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 155 |
+
"calls": [
|
| 156 |
+
{
|
| 157 |
+
"stage": "traj",
|
| 158 |
+
"round": 0,
|
| 159 |
+
"ok": true,
|
| 160 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--s6rmlyk/03_label"
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"stage": "traj_review",
|
| 164 |
+
"round": 1,
|
| 165 |
+
"ok": true,
|
| 166 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--s6rmlyk/04_review_r1"
|
| 167 |
+
}
|
| 168 |
+
],
|
| 169 |
+
"review_engine": "claude",
|
| 170 |
+
"review_model": "claude-sonnet-5-5",
|
| 171 |
+
"inputs": {
|
| 172 |
+
"run_json_sha256": "4db3c68ec60cb9dcecf6cac42330d7d81a5334c8469eb7db05fb374aed12523e",
|
| 173 |
+
"video_sha256": "65802dc44ac75047bca356dfb843bcb4c6a0d3f58497efe1060364465c55c28f",
|
| 174 |
+
"states_sha256": null,
|
| 175 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 176 |
+
},
|
| 177 |
+
"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."
|
| 178 |
+
}
|
| 179 |
+
}
|
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--y8muufz.json
ADDED
|
@@ -0,0 +1,184 @@
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-bbq-sauce-in-bin-i00-privileged--y8muufz",
|
| 5 |
+
"taskKey": "robolab/bbq_sauce_in_bin",
|
| 6 |
+
"dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2",
|
| 7 |
+
"outcome": {
|
| 8 |
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"success": 0,
|
| 9 |
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"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"deterministic": 0,
|
| 14 |
+
"grader_error": 0,
|
| 15 |
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"infra_error": 0,
|
| 16 |
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"missing_trajectory": 1,
|
| 17 |
+
"agent_sessions": 5,
|
| 18 |
+
"agent_resets": 0,
|
| 19 |
+
"agent_sim_steps": 869,
|
| 20 |
+
"agent_records": 0,
|
| 21 |
+
"agent_replays": 0,
|
| 22 |
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"agent_cost_self_reported": 1,
|
| 23 |
+
"resource_enforced": 0,
|
| 24 |
+
"limits_violation_observed": 1,
|
| 25 |
+
"resource_monitor_missing": 0,
|
| 26 |
+
"peak_gpu_memory_gb": 9.471,
|
| 27 |
+
"peak_memory_gb": 28.843,
|
| 28 |
+
"peak_processes": 17,
|
| 29 |
+
"peak_disk_gb": 0.244,
|
| 30 |
+
"peak_cpus": 8.07,
|
| 31 |
+
"peak_pids": 1448,
|
| 32 |
+
"resource_memory_kills": 0,
|
| 33 |
+
"resource_pids_kills": 0,
|
| 34 |
+
"resource_disk_kills": 0,
|
| 35 |
+
"resource_gpu_memory_kills": 0,
|
| 36 |
+
"resource_monitor_kills": 0,
|
| 37 |
+
"resource_emergency_kills": 0,
|
| 38 |
+
"resource_limit_exceeded": 0,
|
| 39 |
+
"resource_cpu_throttles": 0,
|
| 40 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 41 |
+
"resource_oom_kills": 2,
|
| 42 |
+
"resource_host_oom_kills": 0,
|
| 43 |
+
"resource_service_oom_kills": 0,
|
| 44 |
+
"over_oom": 1,
|
| 45 |
+
"session_log_tampered": 0,
|
| 46 |
+
"session_log_from_monitor": 0
|
| 47 |
+
}
|
| 48 |
+
},
|
| 49 |
+
"video": {
|
| 50 |
+
"kind": "none",
|
| 51 |
+
"url": null,
|
| 52 |
+
"duration_s": null,
|
| 53 |
+
"fps": null,
|
| 54 |
+
"frames": null,
|
| 55 |
+
"sha256": null
|
| 56 |
+
},
|
| 57 |
+
"state": null,
|
| 58 |
+
"progress": {
|
| 59 |
+
"method": "log",
|
| 60 |
+
"denominator": 2,
|
| 61 |
+
"base": null,
|
| 62 |
+
"peak": null,
|
| 63 |
+
"final": null,
|
| 64 |
+
"nodes": {
|
| 65 |
+
"bbq_bottles_in_bin_1": {
|
| 66 |
+
"method": "log",
|
| 67 |
+
"intervals": null,
|
| 68 |
+
"final": null,
|
| 69 |
+
"evidence": [
|
| 70 |
+
{
|
| 71 |
+
"t": null,
|
| 72 |
+
"log_step": 54,
|
| 73 |
+
"text_zh": "观察：run.json 的 reward 中 missing_trajectory=1、success=0，agent 在 /app/output 只留下 gen.py，没有 trajectory.npz（log step 52-54）；无视频、无状态日志。"
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"t": null,
|
| 77 |
+
"log_step": 51,
|
| 78 |
+
"text_zh": "观察：agent 自述在其自己的会话仿真中第1瓶入箱（log step 51 “progress 0.5”），但这是会话测试，不是被评分的轨迹；评分器没有收到轨迹，故第1瓶是否入箱未知。"
|
| 79 |
+
}
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"bbq_bottles_in_bin_2": {
|
| 83 |
+
"method": "log",
|
| 84 |
+
"intervals": null,
|
| 85 |
+
"final": false,
|
| 86 |
+
"evidence": [
|
| 87 |
+
{
|
| 88 |
+
"t": null,
|
| 89 |
+
"log_step": 54,
|
| 90 |
+
"text_zh": "观察：run.json 的 reward 中 missing_trajectory=1、success=0，agent 在 /app/output 只留下 gen.py，没有 trajectory.npz（log step 52-54）；无视频、无状态日志。 推断：整项 success=0，目标节点“两瓶入箱”不成立，故第2瓶节点 final=false（由评分结果逻辑推出）。"
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"constraints": {}
|
| 96 |
+
},
|
| 97 |
+
"native_metrics": [],
|
| 98 |
+
"failure": {
|
| 99 |
+
"breakpoint": {
|
| 100 |
+
"ref": "bbq_bottles_in_bin_1",
|
| 101 |
+
"t": null,
|
| 102 |
+
"log_step": 54,
|
| 103 |
+
"where": "首步前",
|
| 104 |
+
"evidence_zh": "观察：agent 约 3500 s 的会话中花在探索和三版生成脚本上（log step 21-50），最终 /app/output 无 trajectory.npz（log step 52-54），评分器记 missing_trajectory=1。推断：被评分的轨迹为空，第一步的操作从未开始。"
|
| 105 |
+
},
|
| 106 |
+
"phenomena": [],
|
| 107 |
+
"root_causes": [],
|
| 108 |
+
"gap_zh": "未交付轨迹，无视频、无状态日志；会话内的失败（log step 28、35、49 的够不着/夹爪卡住）只是会话证据，不能作为被评分尝试的现象；agent 用完时间不是根因，故现象与根因留空。",
|
| 109 |
+
"unmet": {
|
| 110 |
+
"bbq_bottles_in_bin_1": null,
|
| 111 |
+
"bbq_bottles_in_bin_2": false
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"summary_zh": "agent 没有交付轨迹（missing_trajectory=1，/app/output 只有 gen.py），评分的回放为空，两瓶入箱未完成：第2瓶 final=false，第1瓶因无视频、无状态日志而未知。断点为第1瓶入箱，位置为首步前。证据缺口：无视频，会话内的仿真尝试不是被评分的片段。",
|
| 115 |
+
"conf": 7,
|
| 116 |
+
"review": {
|
| 117 |
+
"status": "agreed",
|
| 118 |
+
"rounds": 1,
|
| 119 |
+
"reviewers": [
|
| 120 |
+
{
|
| 121 |
+
"engine": "claude",
|
| 122 |
+
"model": "claude-sonnet-5-5",
|
| 123 |
+
"round": 1,
|
| 124 |
+
"verdict": "agree",
|
| 125 |
+
"conf": 8,
|
| 126 |
+
"summary_zh": "无视频、无状态日志；agent 未交付 trajectory.npz（missing_trajectory=1），按 D23 现象与根因留空并写 gap_zh，断点 首步前、第2瓶 final=false（由 success=0 推出）、第1瓶 unknown 均有依据，未把会话内进度当作被评分事实。",
|
| 127 |
+
"n_issues": 0,
|
| 128 |
+
"n_major": 0
|
| 129 |
+
}
|
| 130 |
+
],
|
| 131 |
+
"open_zh": []
|
| 132 |
+
},
|
| 133 |
+
"provenance": {
|
| 134 |
+
"prompt": "prompts/03_trajectory.md",
|
| 135 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 136 |
+
"engine": "claude",
|
| 137 |
+
"model": "claude-sonnet-5-5",
|
| 138 |
+
"effort": "high",
|
| 139 |
+
"created": "2026-11-08T22:08:05Z",
|
| 140 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 141 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 142 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 143 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 144 |
+
"calls": [
|
| 145 |
+
{
|
| 146 |
+
"stage": "traj",
|
| 147 |
+
"round": 0,
|
| 148 |
+
"ok": true,
|
| 149 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--y8muufz/03_label"
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"stage": "traj_review",
|
| 153 |
+
"round": 1,
|
| 154 |
+
"ok": true,
|
| 155 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--y8muufz/04_review_r1"
|
| 156 |
+
}
|
| 157 |
+
],
|
| 158 |
+
"review_engine": "claude",
|
| 159 |
+
"review_model": "claude-sonnet-5-5",
|
| 160 |
+
"inputs": {
|
| 161 |
+
"run_json_sha256": "06db027c155fda1de79c4c3d41ffbdbfc772d7cd0780444db288edd25fc9386a",
|
| 162 |
+
"video_sha256": null,
|
| 163 |
+
"states_sha256": null,
|
| 164 |
+
"video_choice": "HF replay.mp4 status 404; no local video"
|
| 165 |
+
},
|
| 166 |
+
"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."
|
| 167 |
+
},
|
| 168 |
+
"contact_actual": {
|
| 169 |
+
"bbq_bottles_in_bin_1": [
|
| 170 |
+
{
|
| 171 |
+
"who": "不适用",
|
| 172 |
+
"how": "不适用",
|
| 173 |
+
"note_zh": "未交付轨迹，被评分的回放里机器人没有任何动作。"
|
| 174 |
+
}
|
| 175 |
+
],
|
| 176 |
+
"bbq_bottles_in_bin_2": [
|
| 177 |
+
{
|
| 178 |
+
"who": "不适用",
|
| 179 |
+
"how": "不适用",
|
| 180 |
+
"note_zh": "未交付轨迹，被评分的回放里机器人没有任何动作。"
|
| 181 |
+
}
|
| 182 |
+
]
|
| 183 |
+
}
|
| 184 |
+
}
|
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--26pzvqs.json
ADDED
|
@@ -0,0 +1,210 @@
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|
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|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-bbq-sauce-in-bin-i00-standard--26pzvqs",
|
| 5 |
+
"taskKey": "robolab/bbq_sauce_in_bin",
|
| 6 |
+
"dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 411,
|
| 19 |
+
"sim_steps": 411,
|
| 20 |
+
"physics_steps": 3288,
|
| 21 |
+
"steps": 127,
|
| 22 |
+
"elapsed_s": 1693.8,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 139,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.213,
|
| 44 |
+
"peak_processes": 9,
|
| 45 |
+
"peak_disk_gb": 0.297,
|
| 46 |
+
"peak_cpus": 0.86,
|
| 47 |
+
"peak_pids": 88,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-bbq-sauce-in-bin-i00-standard--26pzvqs.mp4",
|
| 65 |
+
"duration_s": 27.8,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 139,
|
| 68 |
+
"sha256": "51ff7ac09bb07a08a598d82d6ea83d0a9c3f8d48091d0838c5a95312c0bca678"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 1,
|
| 76 |
+
"final": 1,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"bbq_bottles_in_bin_1": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [
|
| 81 |
+
[
|
| 82 |
+
24.4,
|
| 83 |
+
null
|
| 84 |
+
]
|
| 85 |
+
],
|
| 86 |
+
"final": true,
|
| 87 |
+
"evidence": [
|
| 88 |
+
{
|
| 89 |
+
"t": 24.4,
|
| 90 |
+
"log_step": 46,
|
| 91 |
+
"text_zh": "观察：视频 23.8 s 夹爪夹着瓶子位于箱口上方，24.4 s 起瓶子落入灰箱内，之后到视频结束（27.8 s）一直在箱内（正面/左肩视角）。第一瓶在视频约 9-10 s 被甩落到地面（左肩视角地板上出现红瓶），所以这一瓶是原定第二瓶。"
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"contact_actual": [
|
| 95 |
+
{
|
| 96 |
+
"who": "手指/夹爪",
|
| 97 |
+
"how": "抓握",
|
| 98 |
+
"note_zh": "观察：Robotiq 夹爪夹住红色酱瓶搬运（视频 5-9 s 夹持第一瓶，24 s 左右夹持第二瓶送入箱）。"
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"bbq_bottles_in_bin_2": {
|
| 103 |
+
"method": "visual",
|
| 104 |
+
"intervals": [],
|
| 105 |
+
"final": false,
|
| 106 |
+
"evidence": [
|
| 107 |
+
{
|
| 108 |
+
"t": 27.6,
|
| 109 |
+
"log_step": 47,
|
| 110 |
+
"text_zh": "观察：视频 27.6 s 灰箱内只有一瓶，另一瓶躺在桌外地板上（左肩视角，自视频约 10 s 起可见），始终没有回到箱内。"
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"contact_actual": [
|
| 114 |
+
{
|
| 115 |
+
"who": "手指/夹爪",
|
| 116 |
+
"how": "抓握",
|
| 117 |
+
"note_zh": "观察：Robotiq 夹爪夹住红色酱瓶搬运（视频 5-9 s 夹持第一瓶，24 s 左右夹持第二瓶送入箱）。"
|
| 118 |
+
}
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"constraints": {}
|
| 123 |
+
},
|
| 124 |
+
"native_metrics": [],
|
| 125 |
+
"failure": {
|
| 126 |
+
"breakpoint": {
|
| 127 |
+
"ref": "bbq_bottles_in_bin_2",
|
| 128 |
+
"t": 9.5,
|
| 129 |
+
"log_step": 47,
|
| 130 |
+
"where": "操作中",
|
| 131 |
+
"evidence_zh": "观察：视频 5-8.6 s 夹爪夹着第一瓶向箱子搬运，约 9-10 s 间瓶子脱手，视频 10 s 起左肩视角地板上有红瓶且此后未回到桌面或箱内；视频 24.4 s 第二瓶才入箱，箱内始终只有一瓶，另一瓶丢失无法修复。"
|
| 132 |
+
},
|
| 133 |
+
"unmet": {
|
| 134 |
+
"bbq_bottles_in_bin_1": true,
|
| 135 |
+
"bbq_bottles_in_bin_2": false
|
| 136 |
+
},
|
| 137 |
+
"phenomena": [
|
| 138 |
+
{
|
| 139 |
+
"cat": "接触",
|
| 140 |
+
"item": "没保持住",
|
| 141 |
+
"t": 9.5,
|
| 142 |
+
"log_step": 47,
|
| 143 |
+
"evidence_zh": "观察：视频 8.6 s 瓶子仍在夹爪中，10 s 时已在地板上（左肩视角）；搬运途中掉落。agent 自述（log step 47）瓶子倾斜碰到夹爪上部连杆被弹出。"
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"root_causes": [
|
| 147 |
+
{
|
| 148 |
+
"cat": "控制",
|
| 149 |
+
"item": "控制",
|
| 150 |
+
"evidence_zh": "agent 自述（log step 47）：倾斜的瓶子碰到 Robotiq 上连杆被弹飞；视频只证实搬运中脱落，没有证据区分夹持几何与轨迹原因。",
|
| 151 |
+
"source_zh": "agent 自述"
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"gap_zh": "无状态日志，掉落的精确时刻和原因（视频 8.6-10 s 之间）只能由视频粗略确定，具体接触靠 agent 自述，待核实。"
|
| 155 |
+
},
|
| 156 |
+
"summary_zh": "观察：图像上 1/2 个节点达成：第二次搬运的瓶子在视频 24.4 s 入箱，第一瓶在视频约 9-10 s 搬运途中掉到地板（agent 自述被夹爪连杆弹出，log step 47），再没拿回，第2瓶入箱未达成。证据缺口：无状态日志，掉落原��仅为自述。",
|
| 157 |
+
"conf": 6,
|
| 158 |
+
"review": {
|
| 159 |
+
"status": "agreed",
|
| 160 |
+
"rounds": 1,
|
| 161 |
+
"reviewers": [
|
| 162 |
+
{
|
| 163 |
+
"engine": "claude",
|
| 164 |
+
"model": "claude-sonnet-5-5",
|
| 165 |
+
"round": 1,
|
| 166 |
+
"verdict": "agree",
|
| 167 |
+
"conf": 7,
|
| 168 |
+
"summary_zh": "节点1在视频约24 s入箱、节点2未达、断点在节点2（第一瓶约9-10 s搬运中被甩出、未找回）均与帧一致；现象“没保持住”与根因停在“控制”都有谨慎的证据说明，未发现需要改的内容。",
|
| 169 |
+
"n_issues": 0,
|
| 170 |
+
"n_major": 0
|
| 171 |
+
}
|
| 172 |
+
],
|
| 173 |
+
"open_zh": []
|
| 174 |
+
},
|
| 175 |
+
"provenance": {
|
| 176 |
+
"prompt": "prompts/03_trajectory.md",
|
| 177 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 178 |
+
"engine": "claude",
|
| 179 |
+
"model": "claude-sonnet-5-5",
|
| 180 |
+
"effort": "high",
|
| 181 |
+
"created": "2026-11-08T22:09:35Z",
|
| 182 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 183 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 184 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 185 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 186 |
+
"calls": [
|
| 187 |
+
{
|
| 188 |
+
"stage": "traj",
|
| 189 |
+
"round": 0,
|
| 190 |
+
"ok": true,
|
| 191 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--26pzvqs/03_label"
|
| 192 |
+
},
|
| 193 |
+
{
|
| 194 |
+
"stage": "traj_review",
|
| 195 |
+
"round": 1,
|
| 196 |
+
"ok": true,
|
| 197 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--26pzvqs/04_review_r1"
|
| 198 |
+
}
|
| 199 |
+
],
|
| 200 |
+
"review_engine": "claude",
|
| 201 |
+
"review_model": "claude-sonnet-5-5",
|
| 202 |
+
"inputs": {
|
| 203 |
+
"run_json_sha256": "33e269bf442149812f4fd82192bb3c6b4103f4c77da5c3973ee47cf1d7b3052e",
|
| 204 |
+
"video_sha256": "51ff7ac09bb07a08a598d82d6ea83d0a9c3f8d48091d0838c5a95312c0bca678",
|
| 205 |
+
"states_sha256": null,
|
| 206 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 207 |
+
},
|
| 208 |
+
"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."
|
| 209 |
+
}
|
| 210 |
+
}
|
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--8fjyanx.json
ADDED
|
@@ -0,0 +1,229 @@
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|
|
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|
|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-bbq-sauce-in-bin-i00-standard--8fjyanx",
|
| 5 |
+
"taskKey": "robolab/bbq_sauce_in_bin",
|
| 6 |
+
"dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 3198,
|
| 19 |
+
"sim_steps": 3198,
|
| 20 |
+
"physics_steps": 25584,
|
| 21 |
+
"steps": 2882,
|
| 22 |
+
"elapsed_s": 3234.7,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 1068,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
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"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
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"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
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"peak_memory_gb": 0.39,
|
| 44 |
+
"peak_processes": 10,
|
| 45 |
+
"peak_disk_gb": 1.283,
|
| 46 |
+
"peak_cpus": 1.79,
|
| 47 |
+
"peak_pids": 147,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-bbq-sauce-in-bin-i00-standard--8fjyanx.mp4",
|
| 65 |
+
"duration_s": 213.6,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 1068,
|
| 68 |
+
"sha256": "9d7ed3acde4b1ea7ede0b18e6d3188aae45d3a4bc0a56240fff762fe7311b1ce"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"bbq_bottles_in_bin_1": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 212.0,
|
| 85 |
+
"log_step": 187,
|
| 86 |
+
"text_zh": "观察：视频 0/40/80/120/160/200 s 抽帧及末段帧中，两瓶红色烧烤酱瓶始终在箱外桌面上（一瓶被碰倒至红碗旁），灰箱被机械臂推动、移位并翻斜；任何时刻瓶身都不在箱口范围内。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "压/擦",
|
| 93 |
+
"note_zh": "观察：夹爪多次下探瓶子，视频中瓶子被碰倒移位，未见夹爪夹住并提起瓶子；末段夹爪/手臂推动灰箱（底盘不动）。"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"bbq_bottles_in_bin_2": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 212.0,
|
| 104 |
+
"log_step": 187,
|
| 105 |
+
"text_zh": "观察：视频 0/40/80/120/160/200 s 抽帧及末段帧中，两瓶红色烧烤酱瓶始终在箱外桌面上（一瓶被碰倒至红碗旁），灰箱被机械臂推动、移位并翻斜；任何时刻瓶身都不在箱口范围内。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "未知",
|
| 111 |
+
"how": "未知"
|
| 112 |
+
}
|
| 113 |
+
]
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
"constraints": {}
|
| 117 |
+
},
|
| 118 |
+
"native_metrics": [],
|
| 119 |
+
"failure": {
|
| 120 |
+
"breakpoint": {
|
| 121 |
+
"ref": "bbq_bottles_in_bin_1",
|
| 122 |
+
"t": null,
|
| 123 |
+
"log_step": null,
|
| 124 |
+
"where": "操作中",
|
| 125 |
+
"evidence_zh": "观察：全程无瓶子被夹起送入箱；agent 反复尝试抓取立瓶/躺瓶（log step 91-153），后改为推箱（log step 155-179），视频末帧瓶仍在箱外。"
|
| 126 |
+
},
|
| 127 |
+
"unmet": {
|
| 128 |
+
"bbq_bottles_in_bin_1": false,
|
| 129 |
+
"bbq_bottles_in_bin_2": false
|
| 130 |
+
},
|
| 131 |
+
"phenomena": [
|
| 132 |
+
{
|
| 133 |
+
"cat": "接触",
|
| 134 |
+
"item": "没保持住",
|
| 135 |
+
"t": null,
|
| 136 |
+
"log_step": 107,
|
| 137 |
+
"evidence_zh": "日志读数（live 受评会话代码读取的夹爪开度，非 agent 叙述）：log step 107 夹紧立瓶时开度 0.0469（瓶宽），抬 2 cm 后 0.0447，搬运中降至 0.0018（完全闭合），即瓶在抬起/搬运途中脱出夹爪；视频全程无瓶入箱，瓶在箱外桌面/被碰倒，帧上无法逐帧核实脱手瞬间。"
|
| 138 |
+
}
|
| 139 |
+
],
|
| 140 |
+
"root_causes": [
|
| 141 |
+
{
|
| 142 |
+
"cat": "控制",
|
| 143 |
+
"item": "抓取和接触设计",
|
| 144 |
+
"alt_feasible": "未知",
|
| 145 |
+
"t": null,
|
| 146 |
+
"log_step": 107,
|
| 147 |
+
"evidence_zh": "开度在抬起时即由 0.0469 缩到 0.0447，后完全闭合：夹持几何/夹紧不足以承载瓶体；具体机理（指尖间隙、夹持力）未能独立核实。",
|
| 148 |
+
"source_zh": "日志"
|
| 149 |
+
}
|
| 150 |
+
],
|
| 151 |
+
"gap_zh": "脱手瞬间未逐帧核实，root cause 的具体机理（指尖间隙窄/夹紧不足，agent 自述 log step 107/140）仅为会话证据，未据此判定；无状态日志。"
|
| 152 |
+
},
|
| 153 |
+
"summary_zh": "观察：视频 213.6 s 内两瓶烧烤酱均未入箱（0/2）；log step 107 的夹爪开度读数显示瓶在抬起/搬运中脱出（没保持住），后期推动灰箱，瓶仍在箱外。断点为第1瓶入箱的操���中；根因为抓取和接触设计（置信度有限）。",
|
| 154 |
+
"conf": 6,
|
| 155 |
+
"review": {
|
| 156 |
+
"status": "agreed",
|
| 157 |
+
"rounds": 2,
|
| 158 |
+
"reviewers": [
|
| 159 |
+
{
|
| 160 |
+
"engine": "claude",
|
| 161 |
+
"model": "claude-sonnet-5-5",
|
| 162 |
+
"round": 1,
|
| 163 |
+
"verdict": "fix",
|
| 164 |
+
"conf": 6,
|
| 165 |
+
"summary_zh": "进度(0/2)、节点值、断点(第1瓶入箱·操作中)与时钟均无误；但 failure.phenomena / root_causes 留空，而 log 的真实读数（非 agent 叙述）足以支持“没保持住”现象，应补上；conf 5 偏低亦可略升。",
|
| 166 |
+
"n_issues": 1,
|
| 167 |
+
"n_major": 1
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"engine": "claude",
|
| 171 |
+
"model": "claude-sonnet-5-5",
|
| 172 |
+
"round": 2,
|
| 173 |
+
"verdict": "agree",
|
| 174 |
+
"conf": 6,
|
| 175 |
+
"summary_zh": "0/2、两节点未达、断点（第1瓶入箱·操作中）与时钟均与视频抽帧一致；第1轮补入的 接触·没保持住 与 抓取和接触设计 有 log step 107 的代码读数（0.0469→0.0447→0.0018）支撑，措辞已标注为日志读数，无新增错误。",
|
| 176 |
+
"n_issues": 0,
|
| 177 |
+
"n_major": 0
|
| 178 |
+
}
|
| 179 |
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],
|
| 180 |
+
"open_zh": []
|
| 181 |
+
},
|
| 182 |
+
"provenance": {
|
| 183 |
+
"prompt": "prompts/03_trajectory.md",
|
| 184 |
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"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 185 |
+
"engine": "claude",
|
| 186 |
+
"model": "claude-sonnet-5-5",
|
| 187 |
+
"effort": "high",
|
| 188 |
+
"created": "2026-11-08T22:10:38Z",
|
| 189 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 190 |
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"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 191 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 192 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 193 |
+
"calls": [
|
| 194 |
+
{
|
| 195 |
+
"stage": "traj",
|
| 196 |
+
"round": 0,
|
| 197 |
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"ok": true,
|
| 198 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--8fjyanx/03_label"
|
| 199 |
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},
|
| 200 |
+
{
|
| 201 |
+
"stage": "traj_review",
|
| 202 |
+
"round": 1,
|
| 203 |
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"ok": true,
|
| 204 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--8fjyanx/04_review_r1"
|
| 205 |
+
},
|
| 206 |
+
{
|
| 207 |
+
"stage": "reconcile",
|
| 208 |
+
"round": 1,
|
| 209 |
+
"ok": true,
|
| 210 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--8fjyanx/05_reconcile_r1"
|
| 211 |
+
},
|
| 212 |
+
{
|
| 213 |
+
"stage": "traj_review",
|
| 214 |
+
"round": 2,
|
| 215 |
+
"ok": true,
|
| 216 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--8fjyanx/04_review_r2"
|
| 217 |
+
}
|
| 218 |
+
],
|
| 219 |
+
"review_engine": "claude",
|
| 220 |
+
"review_model": "claude-sonnet-5-5",
|
| 221 |
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"inputs": {
|
| 222 |
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"run_json_sha256": "bfa6825632aba41aabf2e2f18b03462512bbeb07c4f77c2442a8f8fd25ccfc22",
|
| 223 |
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"video_sha256": "9d7ed3acde4b1ea7ede0b18e6d3188aae45d3a4bc0a56240fff762fe7311b1ce",
|
| 224 |
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"states_sha256": null,
|
| 225 |
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"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 226 |
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},
|
| 227 |
+
"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."
|
| 228 |
+
}
|
| 229 |
+
}
|
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--8hvhdxp.json
ADDED
|
@@ -0,0 +1,233 @@
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| 1 |
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{
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| 2 |
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"schema": "efe-trajectory-labels/1",
|
| 3 |
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"taxonomy": "v2",
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"runId": "robolab-bbq-sauce-in-bin-i00-standard--8hvhdxp",
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"source": "catalog",
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"live_success": 0,
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"steps": 125,
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|
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|
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|
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"peak_disk_gb": 1.221,
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"peak_cpus": 0.94,
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"peak_pids": 184,
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"resource_host_oom_kills": 0,
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| 59 |
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"resource_service_oom_kills": 0
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
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"url": "media:robolab-bbq-sauce-in-bin-i00-standard--8hvhdxp.mp4",
|
| 65 |
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"duration_s": 94.2,
|
| 66 |
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"fps": 5.0,
|
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"frames": 471,
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"sha256": "6c4361f4b1fc2b2c6da2cc70f6eaa58f51605103de643913c1c02dab1674e213"
|
| 69 |
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},
|
| 70 |
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"state": null,
|
| 71 |
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"progress": {
|
| 72 |
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"method": "visual",
|
| 73 |
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"denominator": 2,
|
| 74 |
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"base": null,
|
| 75 |
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"peak": null,
|
| 76 |
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"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"bbq_bottles_in_bin_1": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [
|
| 81 |
+
[
|
| 82 |
+
14.5,
|
| 83 |
+
84.5
|
| 84 |
+
]
|
| 85 |
+
],
|
| 86 |
+
"final": false,
|
| 87 |
+
"evidence": [
|
| 88 |
+
{
|
| 89 |
+
"t": 15.0,
|
| 90 |
+
"log_step": 45,
|
| 91 |
+
"text_zh": "观察：视频 14 s 夹爪夹着第一瓶位于箱口上方，15 s 瓶子已躺在灰箱内、夹爪张开上移；之后箱被抬起，83.6 s 倾斜的箱内仍有瓶，84.8 s 起箱内已空，86-94 s 箱放在桌面左上、箱内无瓶、桌面也无红色酱瓶。推断：入箱约 14.5 s（释放前几何中心已在箱范围内）；约 84.5 s agent 抬箱倾倒时瓶掉出箱外而失去。agent 自述“一瓶已在箱内”（log step 45）。"
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"contact_actual": [
|
| 95 |
+
{
|
| 96 |
+
"who": "手指/夹爪",
|
| 97 |
+
"how": "抓握",
|
| 98 |
+
"note_zh": "观察：Robotiq 夹爪夹住第一瓶酱瓶身（视频 0-14 s）运到箱上方后张开释放。"
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"bbq_bottles_in_bin_2": {
|
| 103 |
+
"method": "visual",
|
| 104 |
+
"intervals": null,
|
| 105 |
+
"final": false,
|
| 106 |
+
"evidence": [
|
| 107 |
+
{
|
| 108 |
+
"t": 31.0,
|
| 109 |
+
"log_step": 73,
|
| 110 |
+
"text_zh": "观察：视频约 21-29 s 夹爪在咖啡壶旁尝试抓第二瓶；约 31 s 咖啡壶被撞倒，其后桌面上不再有第二瓶（前视图 33 s 起不可见），之后 94.2 s 前所有帧均不见第二瓶在箱内；86 s 起箱内也无瓶。agent 自述瓶子滑落到地上、超出臂的直接可达范围（log step 78）。"
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"contact_actual": [
|
| 114 |
+
{
|
| 115 |
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"who": "手指/夹爪",
|
| 116 |
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"how": "抓握",
|
| 117 |
+
"note_zh": "观察：视频约 21-31 s 夹爪多次尝试夹第二瓶（靠近咖啡壶），夹持滑脱，咖啡壶被碰倒；之后又用夹爪夹箱沿/把手抬箱（约 40-94 s），企图倾倒箱内瓶子，并未夹到第二瓶。"
|
| 118 |
+
}
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"constraints": {}
|
| 123 |
+
},
|
| 124 |
+
"native_metrics": [],
|
| 125 |
+
"failure": {
|
| 126 |
+
"breakpoint": {
|
| 127 |
+
"ref": "bbq_bottles_in_bin_2",
|
| 128 |
+
"t": 31.0,
|
| 129 |
+
"log_step": 68,
|
| 130 |
+
"where": "操作中",
|
| 131 |
+
"evidence_zh": "观察：第一瓶入箱后，夹爪在视频约 21-31 s 抓第二瓶（紧挨咖啡壶）未能稳住，咖啡壶被碰倒，第二瓶离开桌面；其后视频 94.2 s 内没有再抓到该瓶，也不见其入箱，agent 转而抬箱、转箱（箱最终滑落在桌面左上角）。约 84.5 s 箱倾倒后第一瓶亦掉出箱外，终态 0/2。"
|
| 132 |
+
},
|
| 133 |
+
"unmet": {
|
| 134 |
+
"bbq_bottles_in_bin_1": false,
|
| 135 |
+
"bbq_bottles_in_bin_2": false
|
| 136 |
+
},
|
| 137 |
+
"phenomena": [
|
| 138 |
+
{
|
| 139 |
+
"cat": "接触",
|
| 140 |
+
"item": "没保持住",
|
| 141 |
+
"t": 31.0,
|
| 142 |
+
"log_step": 68,
|
| 143 |
+
"evidence_zh": "观察：视频约 21-31 s 夹爪夹住第二瓶后瓶子滑脱（agent 自述“瓶子再次滑落、靠在咖啡壶上”，log step 68），随后咖啡壶倒下、瓶子消失在桌面外（log step 73、78 自述落到地面）。"
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"root_causes": [
|
| 147 |
+
{
|
| 148 |
+
"cat": "控制",
|
| 149 |
+
"item": "抓取和接触设计",
|
| 150 |
+
"alt_feasible": "未知",
|
| 151 |
+
"evidence_zh": "推断：第二瓶紧靠咖啡壶，夹爪抓取位置/姿态不适合，两次抓取均滑落（log step 29、68），碰倒咖啡壶；未验证是否有更好的抓法。",
|
| 152 |
+
"source_zh": "视频 + agent 自述"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"gap_zh": "视频约 33 s 后第二瓶是否在地面何处未在帧中直接确认（agent 自述在地面，log step 78）；视频中第二瓶的抓取时刻与日志步号无法精确对应。"
|
| 156 |
+
},
|
| 157 |
+
"summary_zh": "观察：第一瓶在视频约 14.5 s 入箱，约 84.5 s 因 agent 抬箱倾倒而掉出，终态 0/2；第二瓶在约 21-31 s 的抓取中滑脱、咖啡壶被碰倒，之后始终未入箱。推断：断点在第二瓶步骤，现象为没保持住，根因为抓取位置/接触设计不当（紧邻咖啡壶）。",
|
| 158 |
+
"conf": 7,
|
| 159 |
+
"review": {
|
| 160 |
+
"status": "agreed",
|
| 161 |
+
"rounds": 2,
|
| 162 |
+
"reviewers": [
|
| 163 |
+
{
|
| 164 |
+
"engine": "claude",
|
| 165 |
+
"model": "claude-sonnet-5-5",
|
| 166 |
+
"round": 1,
|
| 167 |
+
"verdict": "fix",
|
| 168 |
+
"conf": 8,
|
| 169 |
+
"summary_zh": "第二瓶断点基本成立，但第一瓶并非保持到视频结束：agent 倾倒箱子时（视频约 83-85 s）瓶子从箱内掉出，86-94 s 箱内为空，故 bbq_bottles_in_bin_1 应在约 84.5 s 失去，final=false，progress.final=0。",
|
| 170 |
+
"n_issues": 3,
|
| 171 |
+
"n_major": 2
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"engine": "claude",
|
| 175 |
+
"model": "claude-sonnet-5-5",
|
| 176 |
+
"round": 2,
|
| 177 |
+
"verdict": "agree",
|
| 178 |
+
"conf": 7,
|
| 179 |
+
"summary_zh": "第二轮修订后第一瓶 14.5-84.5 s 入箱后失去、final=0、断点在第二瓶抓取（约 31 s，操作中）、没保持住 + 抓取和接触设计，均与帧一致，未发现需改内容的错误。",
|
| 180 |
+
"n_issues": 0,
|
| 181 |
+
"n_major": 0
|
| 182 |
+
}
|
| 183 |
+
],
|
| 184 |
+
"open_zh": []
|
| 185 |
+
},
|
| 186 |
+
"provenance": {
|
| 187 |
+
"prompt": "prompts/03_trajectory.md",
|
| 188 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 189 |
+
"engine": "claude",
|
| 190 |
+
"model": "claude-sonnet-5-5",
|
| 191 |
+
"effort": "high",
|
| 192 |
+
"created": "2026-11-08T22:10:22Z",
|
| 193 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 194 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 195 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 196 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 197 |
+
"calls": [
|
| 198 |
+
{
|
| 199 |
+
"stage": "traj",
|
| 200 |
+
"round": 0,
|
| 201 |
+
"ok": true,
|
| 202 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--8hvhdxp/03_label"
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"stage": "traj_review",
|
| 206 |
+
"round": 1,
|
| 207 |
+
"ok": true,
|
| 208 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--8hvhdxp/04_review_r1"
|
| 209 |
+
},
|
| 210 |
+
{
|
| 211 |
+
"stage": "reconcile",
|
| 212 |
+
"round": 1,
|
| 213 |
+
"ok": true,
|
| 214 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--8hvhdxp/05_reconcile_r1"
|
| 215 |
+
},
|
| 216 |
+
{
|
| 217 |
+
"stage": "traj_review",
|
| 218 |
+
"round": 2,
|
| 219 |
+
"ok": true,
|
| 220 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--8hvhdxp/04_review_r2"
|
| 221 |
+
}
|
| 222 |
+
],
|
| 223 |
+
"review_engine": "claude",
|
| 224 |
+
"review_model": "claude-sonnet-5-5",
|
| 225 |
+
"inputs": {
|
| 226 |
+
"run_json_sha256": "901f867119bb05fd2aafc7f67118903459d48d48de213df542b4a5ebf1763b7d",
|
| 227 |
+
"video_sha256": "6c4361f4b1fc2b2c6da2cc70f6eaa58f51605103de643913c1c02dab1674e213",
|
| 228 |
+
"states_sha256": null,
|
| 229 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 230 |
+
},
|
| 231 |
+
"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."
|
| 232 |
+
}
|
| 233 |
+
}
|
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--j8xkgnn.json
ADDED
|
@@ -0,0 +1,254 @@
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-bbq-sauce-in-bin-i00-standard--j8xkgnn",
|
| 5 |
+
"taskKey": "robolab/bbq_sauce_in_bin",
|
| 6 |
+
"dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 4879,
|
| 19 |
+
"sim_steps": 4879,
|
| 20 |
+
"physics_steps": 39032,
|
| 21 |
+
"steps": 341,
|
| 22 |
+
"elapsed_s": 3328.6,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 1628,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.453,
|
| 44 |
+
"peak_processes": 9,
|
| 45 |
+
"peak_disk_gb": 0.363,
|
| 46 |
+
"peak_cpus": 1.25,
|
| 47 |
+
"peak_pids": 163,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-bbq-sauce-in-bin-i00-standard--j8xkgnn.mp4",
|
| 65 |
+
"duration_s": 325.6,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 1628,
|
| 68 |
+
"sha256": "d366669a1fd819f002fc756405e1d014c2652f87f153eab927a1b568a98a6461"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"bbq_bottles_in_bin_1": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 325.4,
|
| 85 |
+
"log_step": 69,
|
| 86 |
+
"text_zh": "观察：视频 20-325 s 的左侧外部视角中灰色箱内始终为空，没有任何红色烧烤酱瓶进入箱口范围；视频 230 s 起可见直立的那瓶倒卧在桌面左侧，另一瓶不在桌面上。"
|
| 87 |
+
}
|
| 88 |
+
]
|
| 89 |
+
},
|
| 90 |
+
"bbq_bottles_in_bin_2": {
|
| 91 |
+
"method": "visual",
|
| 92 |
+
"intervals": [],
|
| 93 |
+
"final": false,
|
| 94 |
+
"evidence": [
|
| 95 |
+
{
|
| 96 |
+
"t": 325.4,
|
| 97 |
+
"log_step": 69,
|
| 98 |
+
"text_zh": "观察：视频 20-325 s 的左侧外部视角中灰色箱内始终为空，没有任何红色烧烤酱瓶进入箱口范围；视频 230 s 起可见直立的那瓶倒卧在桌面左侧，另一瓶不在桌面上。"
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
}
|
| 102 |
+
},
|
| 103 |
+
"constraints": {}
|
| 104 |
+
},
|
| 105 |
+
"native_metrics": [],
|
| 106 |
+
"failure": {
|
| 107 |
+
"breakpoint": {
|
| 108 |
+
"ref": "bbq_bottles_in_bin_1",
|
| 109 |
+
"where": "操作中",
|
| 110 |
+
"t": 58.0,
|
| 111 |
+
"evidence_zh": "观察：视频 52-58 s 的腕部视角中夹爪下探到紧贴木块的直立酱瓶并在瓶身两侧闭合；60-62 s 瓶随夹爪抬起并倾斜，约 63 s 脱手落回桌面，64 s 起倒卧在木块旁（85 s、130 s 仍倒卧），箱内始终无瓶。推断：第1瓶在视频约 58-63 s 抓起后脱手而失败；204-230 s 为再次接近。agent 自述（log step 292）一瓶转运中滑落桌沿、另一瓶抓取受木块影响，仅作旁证。",
|
| 112 |
+
"log_step": 292
|
| 113 |
+
},
|
| 114 |
+
"phenomena": [
|
| 115 |
+
{
|
| 116 |
+
"cat": "接触",
|
| 117 |
+
"item": "没保持住",
|
| 118 |
+
"t": 62.0,
|
| 119 |
+
"log_step": null,
|
| 120 |
+
"evidence_zh": "观察：视频 60-62 s 瓶随夹爪抬起并倾斜离桌，约 63 s 脱手掉回桌面倒卧（64 s 起倒卧在木块旁）。推断：抓起后未能保持住。"
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"root_causes": [
|
| 124 |
+
{
|
| 125 |
+
"cat": "控制",
|
| 126 |
+
"item": "抓取和接触设计",
|
| 127 |
+
"alt_feasible": "未知",
|
| 128 |
+
"evidence_zh": "推断：瓶紧贴木块（视频 52-58 s 腕部视角可见木块贴着夹爪一侧），指尖位置受木块限制；agent 自述（log step 292）指尖与木块干涉、后改用旋转 90° 的抓取姿态，仅作推断依据，未验证替代抓法是否可行。",
|
| 129 |
+
"source_zh": "视频 + agent 自述（log step 292，仅旁证）"
|
| 130 |
+
}
|
| 131 |
+
],
|
| 132 |
+
"gap_zh": "观察：视频为三视角拼接，无状态日志；脱手的确切时刻按 60-64 s 帧判断（约 63 s），根因（抓取姿态受木块限制）仅为推断，替代抓法可行性未知。第2瓶节点从未被单独尝试（箱内始终无瓶）。agent 叙述（log step 292）只作旁证。",
|
| 133 |
+
"unmet": {
|
| 134 |
+
"bbq_bottles_in_bin_1": false,
|
| 135 |
+
"bbq_bottles_in_bin_2": false
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"summary_zh": "观察：视频 0-325.6 s 内灰箱始终为空，两个节点均未达成（0/2）。观察：视频 60-62 s 瓶被夹爪抬起并倾斜，约 63 s 脱手掉回桌面，64 s 起倒卧；204-230 s 为再次接近。推断：失败在第1瓶抓起后没保持住（指尖受木块限制，agent 自述 log step 292 仅���旁证）；第2瓶从未被单独尝试（agent 自述其掉下桌沿）。",
|
| 139 |
+
"conf": 6,
|
| 140 |
+
"review": {
|
| 141 |
+
"status": "agreed",
|
| 142 |
+
"rounds": 3,
|
| 143 |
+
"reviewers": [
|
| 144 |
+
{
|
| 145 |
+
"engine": "claude",
|
| 146 |
+
"model": "claude-sonnet-5-5",
|
| 147 |
+
"round": 1,
|
| 148 |
+
"verdict": "fix",
|
| 149 |
+
"conf": 6,
|
| 150 |
+
"summary_zh": "节点未达成(0/2)正确，但断点时间锚点和空的现象/根因层与视频不符：第1瓶（紧贴木块的直立瓶）在视频约 25-64 s 已被夹爪抓取尝试，抓后瓶仍留在原处桌面，早于标注的 210 s；第2瓶节点从未被单独操作，contact_actual 为复制粘贴。",
|
| 151 |
+
"n_issues": 4,
|
| 152 |
+
"n_major": 2
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"engine": "claude",
|
| 156 |
+
"model": "claude-sonnet-5-5",
|
| 157 |
+
"round": 2,
|
| 158 |
+
"verdict": "fix",
|
| 159 |
+
"conf": 7,
|
| 160 |
+
"summary_zh": "节点 0/2 与断点（第1瓶、约58 s）正确，但现象判错：视频 60-63 s 瓶被夹爪带起并倾斜，约 63 s 脱手掉回桌面并倒卧，不是「没带离桌面」；应为 没保持住。另外瓶在 64 s 起已倒卧，并非 204-230 s 重试后才倒。",
|
| 161 |
+
"n_issues": 2,
|
| 162 |
+
"n_major": 1
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"engine": "claude",
|
| 166 |
+
"model": "claude-sonnet-5-5",
|
| 167 |
+
"round": 3,
|
| 168 |
+
"kind": "confirm",
|
| 169 |
+
"verdict": "agree",
|
| 170 |
+
"summary_zh": "两个 round-2 问题的修改均已正确应用，与视频帧一致。",
|
| 171 |
+
"n_issues": 0,
|
| 172 |
+
"n_checks": 2
|
| 173 |
+
}
|
| 174 |
+
],
|
| 175 |
+
"open_zh": [],
|
| 176 |
+
"confirm": {
|
| 177 |
+
"verdict": "confirmed",
|
| 178 |
+
"summary_zh": "两个 round-2 问题的修改均已正确应用，与视频帧一致。",
|
| 179 |
+
"checks_ok": "2/2",
|
| 180 |
+
"n_factual_errors": 0
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"provenance": {
|
| 184 |
+
"prompt": "prompts/03_trajectory.md",
|
| 185 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 186 |
+
"engine": "claude",
|
| 187 |
+
"model": "claude-sonnet-5-5",
|
| 188 |
+
"effort": "high",
|
| 189 |
+
"created": "2026-11-08T22:11:45Z",
|
| 190 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 191 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 192 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 193 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 194 |
+
"calls": [
|
| 195 |
+
{
|
| 196 |
+
"stage": "traj",
|
| 197 |
+
"round": 0,
|
| 198 |
+
"ok": true,
|
| 199 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--j8xkgnn/03_label"
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"stage": "traj_review",
|
| 203 |
+
"round": 1,
|
| 204 |
+
"ok": true,
|
| 205 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--j8xkgnn/04_review_r1"
|
| 206 |
+
},
|
| 207 |
+
{
|
| 208 |
+
"stage": "reconcile",
|
| 209 |
+
"round": 1,
|
| 210 |
+
"ok": true,
|
| 211 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--j8xkgnn/05_reconcile_r1"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"stage": "traj_review",
|
| 215 |
+
"round": 2,
|
| 216 |
+
"ok": true,
|
| 217 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--j8xkgnn/04_review_r2"
|
| 218 |
+
},
|
| 219 |
+
{
|
| 220 |
+
"stage": "reconcile",
|
| 221 |
+
"round": 2,
|
| 222 |
+
"ok": true,
|
| 223 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--j8xkgnn/05_reconcile_r2"
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"stage": "confirm",
|
| 227 |
+
"round": 3,
|
| 228 |
+
"ok": true,
|
| 229 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--j8xkgnn/06_confirm_r3"
|
| 230 |
+
}
|
| 231 |
+
],
|
| 232 |
+
"confirm_prompt": "prompts/06_confirm.md",
|
| 233 |
+
"confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
|
| 234 |
+
"review_engine": "claude",
|
| 235 |
+
"review_model": "claude-sonnet-5-5",
|
| 236 |
+
"inputs": {
|
| 237 |
+
"run_json_sha256": "8777919483b6a01f2debbec65e32f97036491fd28eb4cb846092a8a91f07dda7",
|
| 238 |
+
"video_sha256": "d366669a1fd819f002fc756405e1d014c2652f87f153eab927a1b568a98a6461",
|
| 239 |
+
"states_sha256": null,
|
| 240 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 241 |
+
},
|
| 242 |
+
"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."
|
| 243 |
+
},
|
| 244 |
+
"contact_actual": {
|
| 245 |
+
"bbq_bottles_in_bin_1": [
|
| 246 |
+
{
|
| 247 |
+
"who": "手指/夹爪",
|
| 248 |
+
"how": "抓握",
|
| 249 |
+
"note_zh": "观察：视频约 25-58 s 夹爪下探并在紧贴木块的直立瓶身处闭合（52-58 s 腕部视角），60-62 s 瓶随夹爪抬起倾斜，约 63 s 脱手，64 s 起倒卧在桌面；204-230 s 为再次接近。"
|
| 250 |
+
}
|
| 251 |
+
],
|
| 252 |
+
"bbq_bottles_in_bin_2": []
|
| 253 |
+
}
|
| 254 |
+
}
|
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--mm7bkjk.json
ADDED
|
@@ -0,0 +1,250 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-bbq-sauce-in-bin-i00-standard--mm7bkjk",
|
| 5 |
+
"taskKey": "robolab/bbq_sauce_in_bin",
|
| 6 |
+
"dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 1302,
|
| 19 |
+
"sim_steps": 1302,
|
| 20 |
+
"physics_steps": 10416,
|
| 21 |
+
"steps": 250,
|
| 22 |
+
"elapsed_s": 1393.3,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 436,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.219,
|
| 44 |
+
"peak_processes": 11,
|
| 45 |
+
"peak_disk_gb": 0.309,
|
| 46 |
+
"peak_cpus": 1.19,
|
| 47 |
+
"peak_pids": 93,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-bbq-sauce-in-bin-i00-standard--mm7bkjk.mp4",
|
| 65 |
+
"duration_s": 87.2,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 436,
|
| 68 |
+
"sha256": "5aab32549424cda6db22fa8de269b0c44eb034cab390f22812fad22f857be26e"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"bbq_bottles_in_bin_1": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 61.0,
|
| 85 |
+
"log_step": 49,
|
| 86 |
+
"text_zh": "观察：视频约 57-59 s 夹爪夹住立着的第1瓶，约 60.5-61 s 提起后瓶子落回桌面碗旁（61 s 起桌面可见瓶子横躺）；其后空夹爪于 63-65 s 到箱上方，灰箱内始终无瓶。log step 50 agent 自述瓶子滑出。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "抓握",
|
| 93 |
+
"note_zh": "观察：Robotiq 夹爪夹住立着的瓶子盖部附近（约视频 57-59 s），提起/起运初期滑脱（约 60.5-61 s）"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"bbq_bottles_in_bin_2": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 81.0,
|
| 104 |
+
"log_step": 58,
|
| 105 |
+
"text_zh": "观察：视频约 72-80 s 夹爪抓取横躺的第二瓶并送到箱上方松开；视频约 81 s 灰箱被带倒滑出桌沿，82 s 起箱子不在桌上，瓶子留在桌面。推断：第2瓶未入箱。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "手指/夹爪",
|
| 111 |
+
"how": "抓握",
|
| 112 |
+
"note_zh": "观察：夹爪夹住横躺的瓶身，送到箱上方；随后夹爪/瓶碰到箱边把箱子带出桌沿（约视频 80-81 s）"
|
| 113 |
+
}
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"constraints": {}
|
| 118 |
+
},
|
| 119 |
+
"native_metrics": [],
|
| 120 |
+
"failure": {
|
| 121 |
+
"breakpoint": {
|
| 122 |
+
"ref": "bbq_bottles_in_bin_1",
|
| 123 |
+
"t": 61.0,
|
| 124 |
+
"where": "操作中",
|
| 125 |
+
"evidence_zh": "观察：视频约 57-59 s 夹爪夹住立着的第1瓶，约 60.5-61 s 提起后瓶子落回桌面碗旁；其后空夹爪于 63-65 s 到箱上方，箱内无瓶，第1瓶一直没有被补救。",
|
| 126 |
+
"log_step": 50
|
| 127 |
+
},
|
| 128 |
+
"phenomena": [
|
| 129 |
+
{
|
| 130 |
+
"t": 61.0,
|
| 131 |
+
"log_step": 50,
|
| 132 |
+
"evidence_zh": "观察：视频约 60.5-61 s 提起/起运初期瓶子脱离夹爪落回桌面。",
|
| 133 |
+
"cat": "接触",
|
| 134 |
+
"item": "没保持住"
|
| 135 |
+
}
|
| 136 |
+
],
|
| 137 |
+
"root_causes": [],
|
| 138 |
+
"gap_zh": "根因无法判定：夹持高度视频看不出，log step 50 的“抓取点太高”仅为 agent 自述，不作证据；抓取接触设计与反馈控制均无证据。第2瓶阶段箱子被碰出桌沿的具体接触（夹爪还是瓶子）在视频中未能分辨；无状态日志。该事件不另作现象，因第1瓶步骤始终未修复。",
|
| 139 |
+
"unmet": {
|
| 140 |
+
"bbq_bottles_in_bin_1": false,
|
| 141 |
+
"bbq_bottles_in_bin_2": false
|
| 142 |
+
}
|
| 143 |
+
},
|
| 144 |
+
"summary_zh": "观察：两个节点均未达成（0/2）。第1瓶在视频约 61 s 提起/起运初期滑脱落回桌面；第2瓶被送到箱上方后，视频约 81 s 灰箱被碰出桌沿，瓶子仍在桌面。断点为第1瓶入箱（操作中）；缺口：无状态日志，碰箱的具体接触未分辨。",
|
| 145 |
+
"conf": 4,
|
| 146 |
+
"review": {
|
| 147 |
+
"status": "agreed",
|
| 148 |
+
"rounds": 3,
|
| 149 |
+
"reviewers": [
|
| 150 |
+
{
|
| 151 |
+
"engine": "claude",
|
| 152 |
+
"model": "claude-sonnet-5-5",
|
| 153 |
+
"round": 1,
|
| 154 |
+
"verdict": "fix",
|
| 155 |
+
"conf": 7,
|
| 156 |
+
"summary_zh": "两节点未达成与断点节��（第1瓶）正确，但第1瓶的时间线错了：夹爪在视频约 57-59 s 才夹住瓶子，约 60.5-61 s 瓶子在提起/起运阶段落回桌面，之后空夹爪仍去箱上方（63-65 s）；文件写成 52-57 s 搬运、57 s 脱落，时间偏约 3-4 s。另外抓取过高的根因只来自 agent 自述。",
|
| 157 |
+
"n_issues": 2,
|
| 158 |
+
"n_major": 1
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"engine": "claude",
|
| 162 |
+
"model": "claude-sonnet-5-5",
|
| 163 |
+
"round": 2,
|
| 164 |
+
"verdict": "fix",
|
| 165 |
+
"conf": 6,
|
| 166 |
+
"summary_zh": "节点 0/2、断点（第1瓶，t≈61 s，操作中）、第2瓶箱子被碰出桌沿的时间与视频一致。唯一问题：根因“抓取和接触设计”仅来自 agent 自述（log step 50），视频看不出夹持高度，自述不算证据。",
|
| 167 |
+
"n_issues": 1,
|
| 168 |
+
"n_major": 0
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"engine": "claude",
|
| 172 |
+
"model": "claude-sonnet-5-5",
|
| 173 |
+
"round": 3,
|
| 174 |
+
"kind": "confirm",
|
| 175 |
+
"verdict": "agree",
|
| 176 |
+
"summary_zh": "I1 已按接受处理：root_causes 置空，gap_zh 说明根因无法判定且自述不作证据，现象 evidence 仅为视频观察。",
|
| 177 |
+
"n_issues": 0,
|
| 178 |
+
"n_checks": 1
|
| 179 |
+
}
|
| 180 |
+
],
|
| 181 |
+
"open_zh": [],
|
| 182 |
+
"confirm": {
|
| 183 |
+
"verdict": "confirmed",
|
| 184 |
+
"summary_zh": "I1 已按接受处理：root_causes 置空，gap_zh 说明根因无法判定且自述不作证据，现象 evidence 仅为视频观察。",
|
| 185 |
+
"checks_ok": "1/1",
|
| 186 |
+
"n_factual_errors": 0
|
| 187 |
+
}
|
| 188 |
+
},
|
| 189 |
+
"provenance": {
|
| 190 |
+
"prompt": "prompts/03_trajectory.md",
|
| 191 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 192 |
+
"engine": "claude",
|
| 193 |
+
"model": "claude-sonnet-5-5",
|
| 194 |
+
"effort": "high",
|
| 195 |
+
"created": "2026-11-08T22:11:28Z",
|
| 196 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 197 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 198 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 199 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 200 |
+
"calls": [
|
| 201 |
+
{
|
| 202 |
+
"stage": "traj",
|
| 203 |
+
"round": 0,
|
| 204 |
+
"ok": true,
|
| 205 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--mm7bkjk/03_label"
|
| 206 |
+
},
|
| 207 |
+
{
|
| 208 |
+
"stage": "traj_review",
|
| 209 |
+
"round": 1,
|
| 210 |
+
"ok": true,
|
| 211 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--mm7bkjk/04_review_r1"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"stage": "reconcile",
|
| 215 |
+
"round": 1,
|
| 216 |
+
"ok": true,
|
| 217 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--mm7bkjk/05_reconcile_r1"
|
| 218 |
+
},
|
| 219 |
+
{
|
| 220 |
+
"stage": "traj_review",
|
| 221 |
+
"round": 2,
|
| 222 |
+
"ok": true,
|
| 223 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--mm7bkjk/04_review_r2"
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"stage": "reconcile",
|
| 227 |
+
"round": 2,
|
| 228 |
+
"ok": true,
|
| 229 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--mm7bkjk/05_reconcile_r2"
|
| 230 |
+
},
|
| 231 |
+
{
|
| 232 |
+
"stage": "confirm",
|
| 233 |
+
"round": 3,
|
| 234 |
+
"ok": true,
|
| 235 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--mm7bkjk/06_confirm_r3"
|
| 236 |
+
}
|
| 237 |
+
],
|
| 238 |
+
"confirm_prompt": "prompts/06_confirm.md",
|
| 239 |
+
"confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
|
| 240 |
+
"review_engine": "claude",
|
| 241 |
+
"review_model": "claude-sonnet-5-5",
|
| 242 |
+
"inputs": {
|
| 243 |
+
"run_json_sha256": "3b3026c84bed5960cd6ddb1cd9da490e3485eac04af9c3bff054dab60005e3a5",
|
| 244 |
+
"video_sha256": "5aab32549424cda6db22fa8de269b0c44eb034cab390f22812fad22f857be26e",
|
| 245 |
+
"states_sha256": null,
|
| 246 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 247 |
+
},
|
| 248 |
+
"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."
|
| 249 |
+
}
|
| 250 |
+
}
|
phaseR/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--wnw673q.json
ADDED
|
@@ -0,0 +1,228 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-bbq-sauce-in-bin-i00-standard--wnw673q",
|
| 5 |
+
"taskKey": "robolab/bbq_sauce_in_bin",
|
| 6 |
+
"dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 804,
|
| 19 |
+
"sim_steps": 804,
|
| 20 |
+
"physics_steps": 6432,
|
| 21 |
+
"steps": 35,
|
| 22 |
+
"elapsed_s": 1546.5,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 270,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.185,
|
| 44 |
+
"peak_processes": 10,
|
| 45 |
+
"peak_disk_gb": 0.333,
|
| 46 |
+
"peak_cpus": 0.99,
|
| 47 |
+
"peak_pids": 92,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-bbq-sauce-in-bin-i00-standard--wnw673q.mp4",
|
| 65 |
+
"duration_s": 54.0,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 270,
|
| 68 |
+
"sha256": "91212ef31b0d0a1568eab7b364c3bed9ada8e7206c08d43beec5b13bee1d0c81"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"bbq_bottles_in_bin_1": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 53.8,
|
| 85 |
+
"log_step": 55,
|
| 86 |
+
"text_zh": "观察：视频 53.8 s 末帧桌上仅见一瓶躺倒的瓶（原立着的瓶），另一瓶（躺放的深色瓶）在视频 12-13.6 s 间从桌面消失（被弹出桌面）；两瓶都不在灰箱内；final 仍为 false。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "抓握",
|
| 93 |
+
"note_zh": "尝试夹持躺放瓶（视频约 6-13 s），夹爪从上方压住、挤动，夹持未成，瓶被挤出桌面（视频时钟）。"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"bbq_bottles_in_bin_2": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 53.8,
|
| 104 |
+
"log_step": 55,
|
| 105 |
+
"text_zh": "观察：视频 53.8 s 末帧桌上仅见一瓶躺倒的瓶（原立着的瓶），另一瓶（躺放的深色瓶）在视频 12-13.6 s 间从桌面消失（被弹出桌面）；两瓶都不在灰箱内；final 仍为 false。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "手指/夹爪",
|
| 111 |
+
"how": "抓握",
|
| 112 |
+
"note_zh": "夹住立着的瓶（视频约 25-48 s，腕部视角可见），抬起后约 50 s 掉落，未送入箱内（视频时钟）。"
|
| 113 |
+
}
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"constraints": {}
|
| 118 |
+
},
|
| 119 |
+
"native_metrics": [],
|
| 120 |
+
"failure": {
|
| 121 |
+
"breakpoint": {
|
| 122 |
+
"ref": "bbq_bottles_in_bin_1",
|
| 123 |
+
"t": 13.0,
|
| 124 |
+
"where": "操作中",
|
| 125 |
+
"evidence_zh": "观察：视频 6-13 s 夹爪压住躺放瓶，12-13.6 s 间该瓶从桌面消失（被弹出），之后一直不在桌面；视频 25-50 s 夹的是另一瓶（立着的瓶）。agent 自述第一瓶被挤出（log step 55）。",
|
| 126 |
+
"log_step": 55
|
| 127 |
+
},
|
| 128 |
+
"phenomena": [
|
| 129 |
+
{
|
| 130 |
+
"cat": "接触",
|
| 131 |
+
"item": "没保持住",
|
| 132 |
+
"t": 13.0,
|
| 133 |
+
"log_step": 55,
|
| 134 |
+
"evidence_zh": "观察：第1瓶在视频约 13 s 被夹爪挤出桌面；另观察：第2瓶视频 25-48 s 被夹持，约 50 s 掉落。agent 自述多次抓取滑脱（log step 14, 23, 55），仅作辅助。"
|
| 135 |
+
}
|
| 136 |
+
],
|
| 137 |
+
"root_causes": [
|
| 138 |
+
{
|
| 139 |
+
"cat": "控制",
|
| 140 |
+
"item": "抓取和接触设计",
|
| 141 |
+
"alt_feasible": "未知",
|
| 142 |
+
"evidence_zh": "观察：视频 6-13 s 夹爪压在躺放瓶上，瓶被挤动并弹出桌面；自述（未核实）：椭圆截面瓶被夹宽面时挤出（log step 23），改抓后仍掉落（log step 55），第2瓶掉落是否为仿真手指垫 glitch 未核实。",
|
| 143 |
+
"source_zh": "视频观察（第1瓶）+ agent 自述"
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"gap_zh": "无状态日志；分类词条名按 taxonomy 常用名填写，未逐帧核对瓶子脱落的精确时刻；视频与 log 时间未互相换算。",
|
| 147 |
+
"unmet": {
|
| 148 |
+
"bbq_bottles_in_bin_1": false,
|
| 149 |
+
"bbq_bottles_in_bin_2": false
|
| 150 |
+
}
|
| 151 |
+
},
|
| 152 |
+
"summary_zh": "观察：两瓶均未入箱（0/2）。第1瓶（躺放）在视频约 13 s 被夹爪压挤后弹出桌面；第2瓶（立瓶）约 25-48 s 被夹持，约 50 s 掉落。末帧桌上仅一瓶。断点为第1瓶的夹持环节，推断为抓取接触设计不当。",
|
| 153 |
+
"conf": 5,
|
| 154 |
+
"review": {
|
| 155 |
+
"status": "agreed",
|
| 156 |
+
"rounds": 2,
|
| 157 |
+
"reviewers": [
|
| 158 |
+
{
|
| 159 |
+
"engine": "claude",
|
| 160 |
+
"model": "claude-sonnet-5-5",
|
| 161 |
+
"round": 1,
|
| 162 |
+
"verdict": "fix",
|
| 163 |
+
"conf": 8,
|
| 164 |
+
"summary_zh": "标注把两个不同阶段混为一谈：第1瓶（躺放的瓶）在视频约 6-13 s 被夹爪压挤后于 13.2 s 左右被弹出桌面（13.6 s 起桌面上消失，之后一直不在桌上），断点应在此；25-50 s 的夹持/抬起/掉落是第2瓶（立着的瓶）。末帧只有一瓶躺在桌上，原文“两瓶均在桌面”与视频矛盾；两瓶 contact_actual 完全相同也不对。",
|
| 165 |
+
"n_issues": 5,
|
| 166 |
+
"n_major": 4
|
| 167 |
+
},
|
| 168 |
+
{
|
| 169 |
+
"engine": "claude",
|
| 170 |
+
"model": "claude-sonnet-5-5",
|
| 171 |
+
"round": 2,
|
| 172 |
+
"verdict": "agree",
|
| 173 |
+
"conf": 6,
|
| 174 |
+
"summary_zh": "第1轮指出的问题已改正：断点在第1瓶（视频约13 s被挤出桌面），两瓶均未入箱，final=0 与视频末帧一致；现象/根因有视频观察支撑，未发现需改内容的错误。",
|
| 175 |
+
"n_issues": 0,
|
| 176 |
+
"n_major": 0
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"open_zh": []
|
| 180 |
+
},
|
| 181 |
+
"provenance": {
|
| 182 |
+
"prompt": "prompts/03_trajectory.md",
|
| 183 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 184 |
+
"engine": "claude",
|
| 185 |
+
"model": "claude-sonnet-5-5",
|
| 186 |
+
"effort": "high",
|
| 187 |
+
"created": "2026-11-08T22:10:28Z",
|
| 188 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 189 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 190 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 191 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 192 |
+
"calls": [
|
| 193 |
+
{
|
| 194 |
+
"stage": "traj",
|
| 195 |
+
"round": 0,
|
| 196 |
+
"ok": true,
|
| 197 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--wnw673q/03_label"
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"stage": "traj_review",
|
| 201 |
+
"round": 1,
|
| 202 |
+
"ok": true,
|
| 203 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--wnw673q/04_review_r1"
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"stage": "reconcile",
|
| 207 |
+
"round": 1,
|
| 208 |
+
"ok": true,
|
| 209 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--wnw673q/05_reconcile_r1"
|
| 210 |
+
},
|
| 211 |
+
{
|
| 212 |
+
"stage": "traj_review",
|
| 213 |
+
"round": 2,
|
| 214 |
+
"ok": true,
|
| 215 |
+
"space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--wnw673q/04_review_r2"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"review_engine": "claude",
|
| 219 |
+
"review_model": "claude-sonnet-5-5",
|
| 220 |
+
"inputs": {
|
| 221 |
+
"run_json_sha256": "0291566b6e9d044868c0196f69725bc7156986bc6527a9ae4168e6b399d6d953",
|
| 222 |
+
"video_sha256": "91212ef31b0d0a1568eab7b364c3bed9ada8e7206c08d43beec5b13bee1d0c81",
|
| 223 |
+
"states_sha256": null,
|
| 224 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 225 |
+
},
|
| 226 |
+
"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."
|
| 227 |
+
}
|
| 228 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--7isy868.json
ADDED
|
@@ -0,0 +1,277 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-food-packing3-cans-i00-privileged--7isy868",
|
| 5 |
+
"taskKey": "robolab/food_packing3_cans",
|
| 6 |
+
"dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.3333,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 727,
|
| 18 |
+
"sim_steps": 757,
|
| 19 |
+
"final_reward": 0.3333,
|
| 20 |
+
"replay_wall_s": 1088.9,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 4,
|
| 26 |
+
"agent_resets": 2,
|
| 27 |
+
"agent_sim_steps": 727,
|
| 28 |
+
"agent_records": 2,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 6.014,
|
| 35 |
+
"peak_memory_gb": 21.316,
|
| 36 |
+
"peak_processes": 16,
|
| 37 |
+
"peak_disk_gb": 1.014,
|
| 38 |
+
"peak_cpus": 8.11,
|
| 39 |
+
"peak_pids": 799,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-food-packing3-cans-i00-privileged--7isy868.mp4",
|
| 59 |
+
"duration_s": 50.534,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 758,
|
| 62 |
+
"sha256": "5c97aa8868bbbdec53b751700a474f19352d7b03a9d3f7e528e4bdd89f1727ab"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 3,
|
| 68 |
+
"base": null,
|
| 69 |
+
"peak": null,
|
| 70 |
+
"final": 1,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"spam_can_in_bin": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [
|
| 75 |
+
[
|
| 76 |
+
10.0,
|
| 77 |
+
null
|
| 78 |
+
]
|
| 79 |
+
],
|
| 80 |
+
"final": true,
|
| 81 |
+
"evidence": [
|
| 82 |
+
{
|
| 83 |
+
"t": 10.0,
|
| 84 |
+
"log_step": null,
|
| 85 |
+
"text_zh": "观察：视频 8-9.5 s 夹爪夹着午餐肉罐抬起并向右移动，视频 10 s 起该罐躺在右侧深灰色箱内，直到视频结束(50.5 s)仍在箱内。评分器 reward 0.3333 = 3 罐中 1 罐，与此一致。"
|
| 86 |
+
}
|
| 87 |
+
],
|
| 88 |
+
"contact_actual": [
|
| 89 |
+
{
|
| 90 |
+
"who": "手指/夹爪",
|
| 91 |
+
"how": "抓握",
|
| 92 |
+
"note_zh": "观察：Franka 夹爪夹住午餐肉罐抬起并搬入箱内。"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"tomato_soup_can_in_bin": {
|
| 97 |
+
"method": "visual",
|
| 98 |
+
"intervals": null,
|
| 99 |
+
"final": false,
|
| 100 |
+
"evidence": [
|
| 101 |
+
{
|
| 102 |
+
"t": 30.0,
|
| 103 |
+
"log_step": null,
|
| 104 |
+
"text_zh": "观察：约 14-24 s 夹爪在布丁盒上的番茄汤罐处接近并闭合，约 25-29.6 s 抬起并运输，约 30 s 掉落桌外，视频 30.4 s 起桌面只剩布丁盒，全程未进入箱内。"
|
| 105 |
+
}
|
| 106 |
+
],
|
| 107 |
+
"contact_actual": [
|
| 108 |
+
{
|
| 109 |
+
"who": "手指/夹爪",
|
| 110 |
+
"how": "抓握",
|
| 111 |
+
"note_zh": "观察：夹爪夹住番茄汤罐抬起运输，罐在约 30 s 脱离夹爪掉落桌外(视频约 25-30 s)。"
|
| 112 |
+
}
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"tuna_can_in_bin": {
|
| 116 |
+
"method": "visual",
|
| 117 |
+
"intervals": null,
|
| 118 |
+
"final": false,
|
| 119 |
+
"evidence": [
|
| 120 |
+
{
|
| 121 |
+
"t": 50.0,
|
| 122 |
+
"log_step": null,
|
| 123 |
+
"text_zh": "观察：视频约 40-47 s 夹爪靠近并碰到金枪鱼罐，视频 48-50.5 s 罐被推到桌面中部偏右，在箱外，直到视频结束仍在桌上。"
|
| 124 |
+
}
|
| 125 |
+
],
|
| 126 |
+
"contact_actual": [
|
| 127 |
+
{
|
| 128 |
+
"who": "手指/夹爪",
|
| 129 |
+
"how": "推/扫",
|
| 130 |
+
"note_zh": "观察：夹爪合拢时把金枪鱼罐弹出/推到桌面上，没有抓牢(视频约 44-50 s)。"
|
| 131 |
+
}
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"constraints": {}
|
| 136 |
+
},
|
| 137 |
+
"native_metrics": [],
|
| 138 |
+
"failure": {
|
| 139 |
+
"breakpoint": {
|
| 140 |
+
"ref": "tomato_soup_can_in_bin",
|
| 141 |
+
"t": 30.0,
|
| 142 |
+
"log_step": 209,
|
| 143 |
+
"where": "操作中",
|
| 144 |
+
"evidence_zh": "观察：午餐肉罐入箱后，视频约 25-29.6 s 夹爪夹着汤罐抬离布丁盒并向后上方运输，约 30 s 汤罐脱离夹爪落到桌外，之后未重试成功；此步未修复，后来转去金枪鱼罐也失败。"
|
| 145 |
+
},
|
| 146 |
+
"phenomena": [
|
| 147 |
+
{
|
| 148 |
+
"cat": "接触",
|
| 149 |
+
"item": "没保持住",
|
| 150 |
+
"t": 30.0,
|
| 151 |
+
"log_step": 209,
|
| 152 |
+
"evidence_zh": "观察：视频约 25-30 s 汤罐被夹着抬起运输后在约 30 s 脱离夹爪；推断/agent 自述(log step 209)：原因是楔形夹持不稳。"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"root_causes": [
|
| 156 |
+
{
|
| 157 |
+
"cat": "控制",
|
| 158 |
+
"item": "抓取和接触设计",
|
| 159 |
+
"alt_feasible": "未知",
|
| 160 |
+
"evidence_zh": "agent 自述（log step 209）：夹爪开口 0.0828 大于罐宽 0.0711，只靠楔形夹持，需更长闭合时间；金枪鱼罐宽 0.0856 m 超过夹爪最大开口 0.085 m，无法跨夹。",
|
| 161 |
+
"source_zh": "agent 自述"
|
| 162 |
+
}
|
| 163 |
+
],
|
| 164 |
+
"gap_zh": "无状态日志，罐头位置由视频判断；根因主要来自 agent 自述，未独立验证。",
|
| 165 |
+
"unmet": {
|
| 166 |
+
"spam_can_in_bin": true,
|
| 167 |
+
"tomato_soup_can_in_bin": false,
|
| 168 |
+
"tuna_can_in_bin": false
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"summary_zh": "观察：三个目标中只有午餐肉罐入箱（视频约 10 s），番茄汤罐被抬起后掉落桌外，金枪鱼罐被推在桌面上，最终 1/3。断点在番茄汤罐搬运（视频约 30 s），现象为没保持住，根因为抓取设计（agent 自述）。缺口：无状态日志。",
|
| 172 |
+
"conf": 6,
|
| 173 |
+
"review": {
|
| 174 |
+
"status": "agreed",
|
| 175 |
+
"rounds": 3,
|
| 176 |
+
"reviewers": [
|
| 177 |
+
{
|
| 178 |
+
"engine": "claude",
|
| 179 |
+
"model": "claude-sonnet-5-5",
|
| 180 |
+
"round": 1,
|
| 181 |
+
"verdict": "fix",
|
| 182 |
+
"conf": 7,
|
| 183 |
+
"summary_zh": "午餐肉入箱、番茄汤罐未入箱、金枪鱼罐未入箱的节点值与 final=1/3 正确；但汤罐掉落的时间错了：视频 22-24 s 汤罐仍在布丁盒上、夹爪只是在其上方/夹住未抬起，汤罐在视频约 25-29.6 s 被抬离并向上方运输，约 30 s 才脱离夹爪飞出桌外。断点 t=23 和相关证据文字时间需改到约 30 s。",
|
| 184 |
+
"n_issues": 3,
|
| 185 |
+
"n_major": 2
|
| 186 |
+
},
|
| 187 |
+
{
|
| 188 |
+
"engine": "claude",
|
| 189 |
+
"model": "claude-sonnet-5-5",
|
| 190 |
+
"round": 2,
|
| 191 |
+
"verdict": "fix",
|
| 192 |
+
"conf": 7,
|
| 193 |
+
"summary_zh": "节点值、final=1/3、断点(汤罐，t=30 s)与现象基本成立；但 summary_zh 仍写断点在视频约 23 s，与 breakpoint.t=30 及证据不一致(上一轮已确认掉落在约 30 s)。",
|
| 194 |
+
"n_issues": 1,
|
| 195 |
+
"n_major": 0
|
| 196 |
+
},
|
| 197 |
+
{
|
| 198 |
+
"engine": "claude",
|
| 199 |
+
"model": "claude-sonnet-5-5",
|
| 200 |
+
"round": 3,
|
| 201 |
+
"kind": "confirm",
|
| 202 |
+
"verdict": "agree",
|
| 203 |
+
"summary_zh": "I1 的修改已落实：summary_zh 现写“视频约 30 s”，与 breakpoint.t=30.0 一致。",
|
| 204 |
+
"n_issues": 0,
|
| 205 |
+
"n_checks": 1
|
| 206 |
+
}
|
| 207 |
+
],
|
| 208 |
+
"open_zh": [],
|
| 209 |
+
"confirm": {
|
| 210 |
+
"verdict": "confirmed",
|
| 211 |
+
"summary_zh": "I1 的修改已落实：summary_zh 现写“视频约 30 s”，与 breakpoint.t=30.0 一致。",
|
| 212 |
+
"checks_ok": "1/1",
|
| 213 |
+
"n_factual_errors": 0
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"provenance": {
|
| 217 |
+
"prompt": "prompts/03_trajectory.md",
|
| 218 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 219 |
+
"engine": "claude",
|
| 220 |
+
"model": "claude-sonnet-5-5",
|
| 221 |
+
"effort": "high",
|
| 222 |
+
"created": "2026-11-08T22:10:39Z",
|
| 223 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 224 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 225 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 226 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 227 |
+
"calls": [
|
| 228 |
+
{
|
| 229 |
+
"stage": "traj",
|
| 230 |
+
"round": 0,
|
| 231 |
+
"ok": true,
|
| 232 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--7isy868/03_label"
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"stage": "traj_review",
|
| 236 |
+
"round": 1,
|
| 237 |
+
"ok": true,
|
| 238 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--7isy868/04_review_r1"
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"stage": "reconcile",
|
| 242 |
+
"round": 1,
|
| 243 |
+
"ok": true,
|
| 244 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--7isy868/05_reconcile_r1"
|
| 245 |
+
},
|
| 246 |
+
{
|
| 247 |
+
"stage": "traj_review",
|
| 248 |
+
"round": 2,
|
| 249 |
+
"ok": true,
|
| 250 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--7isy868/04_review_r2"
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"stage": "reconcile",
|
| 254 |
+
"round": 2,
|
| 255 |
+
"ok": true,
|
| 256 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--7isy868/05_reconcile_r2"
|
| 257 |
+
},
|
| 258 |
+
{
|
| 259 |
+
"stage": "confirm",
|
| 260 |
+
"round": 3,
|
| 261 |
+
"ok": true,
|
| 262 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--7isy868/06_confirm_r3"
|
| 263 |
+
}
|
| 264 |
+
],
|
| 265 |
+
"confirm_prompt": "prompts/06_confirm.md",
|
| 266 |
+
"confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
|
| 267 |
+
"review_engine": "claude",
|
| 268 |
+
"review_model": "claude-sonnet-5-5",
|
| 269 |
+
"inputs": {
|
| 270 |
+
"run_json_sha256": "991498f57a74dced5431eb0cbde44fae24de101ff1c9c968184aa05ac271b5cf",
|
| 271 |
+
"video_sha256": "5c97aa8868bbbdec53b751700a474f19352d7b03a9d3f7e528e4bdd89f1727ab",
|
| 272 |
+
"states_sha256": null,
|
| 273 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 274 |
+
},
|
| 275 |
+
"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."
|
| 276 |
+
}
|
| 277 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--gf9omv4.json
ADDED
|
@@ -0,0 +1,203 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-food-packing3-cans-i00-privileged--gf9omv4",
|
| 5 |
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|
| 6 |
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|
| 7 |
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| 8 |
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| 10 |
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| 11 |
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| 12 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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|
| 23 |
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|
| 24 |
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"video_rendered": 1,
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| 25 |
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"agent_sessions": 6,
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| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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"limits_violation_observed": 0,
|
| 33 |
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|
| 34 |
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"peak_gpu_memory_gb": 8.939,
|
| 35 |
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| 36 |
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|
| 37 |
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"peak_disk_gb": 0.864,
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
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|
| 48 |
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| 49 |
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| 50 |
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| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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}
|
| 55 |
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},
|
| 56 |
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"video": {
|
| 57 |
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"kind": "media",
|
| 58 |
+
"url": "media:robolab-food-packing3-cans-i00-privileged--gf9omv4.mp4",
|
| 59 |
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"duration_s": 104.2,
|
| 60 |
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"fps": 15.0,
|
| 61 |
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"frames": 1563,
|
| 62 |
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"sha256": "c350840c0b2af4fb0b48524ad7a7424c735a55268bec99750a4bb5fe936be3bd"
|
| 63 |
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},
|
| 64 |
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|
| 65 |
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|
| 66 |
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"method": "visual",
|
| 67 |
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"denominator": 3,
|
| 68 |
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"base": 0,
|
| 69 |
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"peak": 3,
|
| 70 |
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"final": 3,
|
| 71 |
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"nodes": {
|
| 72 |
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"spam_can_in_bin": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [
|
| 75 |
+
[
|
| 76 |
+
82,
|
| 77 |
+
null
|
| 78 |
+
]
|
| 79 |
+
],
|
| 80 |
+
"final": true,
|
| 81 |
+
"evidence": [
|
| 82 |
+
{
|
| 83 |
+
"t": 82,
|
| 84 |
+
"log_step": null,
|
| 85 |
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"text_zh": "观察：中间外部视角中机械臂夹爪夹着午餐肉罐移到箱上方并放入深灰色箱内，约视频 82 s 起罐位于箱内（粗采样，时间误差约 2 s）；评分器 success=1 支持三罐终态均满足。"
|
| 86 |
+
}
|
| 87 |
+
],
|
| 88 |
+
"contact_actual": [
|
| 89 |
+
{
|
| 90 |
+
"who": "手指/夹爪",
|
| 91 |
+
"how": "抓握",
|
| 92 |
+
"note_zh": "观察：Franka 的 Robotiq 夹爪夹住午餐肉罐罐身搬入箱内。"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"tomato_soup_can_in_bin": {
|
| 97 |
+
"method": "visual",
|
| 98 |
+
"intervals": [
|
| 99 |
+
[
|
| 100 |
+
101.5,
|
| 101 |
+
null
|
| 102 |
+
]
|
| 103 |
+
],
|
| 104 |
+
"final": true,
|
| 105 |
+
"evidence": [
|
| 106 |
+
{
|
| 107 |
+
"t": 101.5,
|
| 108 |
+
"log_step": null,
|
| 109 |
+
"text_zh": "观察：中间外部视角中机械臂夹爪夹着番茄汤罐移到箱上方并放入深灰色箱内，约视频 101.5 s 起罐位于箱内（粗采样，时间误差约 2 s）；评分器 success=1 支持三罐终态均满足。"
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"contact_actual": [
|
| 113 |
+
{
|
| 114 |
+
"who": "手指/夹爪",
|
| 115 |
+
"how": "抓握",
|
| 116 |
+
"note_zh": "观察：Franka 的 Robotiq 夹爪夹住番茄汤罐罐身搬入箱内。"
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"tuna_can_in_bin": {
|
| 121 |
+
"method": "visual",
|
| 122 |
+
"intervals": [
|
| 123 |
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[
|
| 124 |
+
63,
|
| 125 |
+
null
|
| 126 |
+
]
|
| 127 |
+
],
|
| 128 |
+
"final": true,
|
| 129 |
+
"evidence": [
|
| 130 |
+
{
|
| 131 |
+
"t": 63,
|
| 132 |
+
"log_step": null,
|
| 133 |
+
"text_zh": "观察：中间外部视角中机械臂夹爪夹着金枪鱼罐移到箱上方并放入深灰色箱内，约视频 63 s 起罐位于箱内（粗采样，时间误差约 2 s）；评分器 success=1 支持三罐终态均满足。"
|
| 134 |
+
}
|
| 135 |
+
],
|
| 136 |
+
"contact_actual": [
|
| 137 |
+
{
|
| 138 |
+
"who": "手指/夹爪",
|
| 139 |
+
"how": "抓握",
|
| 140 |
+
"note_zh": "观察：Franka 的 Robotiq 夹爪夹住金枪鱼罐罐身搬入箱内。"
|
| 141 |
+
}
|
| 142 |
+
]
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
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"constraints": {}
|
| 146 |
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},
|
| 147 |
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|
| 148 |
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"failure": null,
|
| 149 |
+
"summary_zh": "任务成功：观察：视频中金枪鱼罐约 63 s、午餐肉罐约 82 s、番茄汤罐约 101.5 s 依次被夹爪搬入箱内，三节点均达成，评分器 success=1。时间为粗采样估计；agent 会话中多次重置尝试金枪鱼抓取，但图中仅为最终回放。",
|
| 150 |
+
"conf": 6,
|
| 151 |
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"review": {
|
| 152 |
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"status": "agreed",
|
| 153 |
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"rounds": 1,
|
| 154 |
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|
| 155 |
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{
|
| 156 |
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"engine": "claude",
|
| 157 |
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"model": "claude-sonnet-5-5",
|
| 158 |
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"round": 1,
|
| 159 |
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"verdict": "agree",
|
| 160 |
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"conf": 7,
|
| 161 |
+
"summary_zh": "三罐入箱时间（金枪鱼约63 s、午餐肉约82 s、番茄汤约101.5 s，视频时钟）与中间外部视角帧一致，抓握标注正确，成功运行无失败层，未发现需改内容的问题。",
|
| 162 |
+
"n_issues": 0,
|
| 163 |
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"n_major": 0
|
| 164 |
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}
|
| 165 |
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],
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| 166 |
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| 167 |
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},
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| 168 |
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|
| 169 |
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"prompt": "prompts/03_trajectory.md",
|
| 170 |
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| 171 |
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"engine": "claude",
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| 172 |
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"model": "claude-sonnet-5-5",
|
| 173 |
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"effort": "high",
|
| 174 |
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"created": "2026-11-08T22:08:34Z",
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| 175 |
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| 176 |
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"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
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| 177 |
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"reconcile_prompt": "prompts/05_reconcile.md",
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| 178 |
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| 179 |
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"calls": [
|
| 180 |
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{
|
| 181 |
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"stage": "traj",
|
| 182 |
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"round": 0,
|
| 183 |
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"ok": true,
|
| 184 |
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"space": "work/runs/robolab-food-packing3-cans-i00-privileged--gf9omv4/03_label"
|
| 185 |
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},
|
| 186 |
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{
|
| 187 |
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"stage": "traj_review",
|
| 188 |
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"round": 1,
|
| 189 |
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"ok": true,
|
| 190 |
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"space": "work/runs/robolab-food-packing3-cans-i00-privileged--gf9omv4/04_review_r1"
|
| 191 |
+
}
|
| 192 |
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],
|
| 193 |
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"review_engine": "claude",
|
| 194 |
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"review_model": "claude-sonnet-5-5",
|
| 195 |
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"inputs": {
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| 196 |
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"run_json_sha256": "d456efb913b08c5bde5d95d312b16f1183cd2128930ca6b194c8aef240b546cb",
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| 197 |
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| 198 |
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| 199 |
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"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 200 |
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},
|
| 201 |
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"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."
|
| 202 |
+
}
|
| 203 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--stgsjzp.json
ADDED
|
@@ -0,0 +1,244 @@
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-food-packing3-cans-i00-privileged--stgsjzp",
|
| 5 |
+
"taskKey": "robolab/food_packing3_cans",
|
| 6 |
+
"dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.6667,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 648,
|
| 18 |
+
"sim_steps": 678,
|
| 19 |
+
"final_reward": 0.6667,
|
| 20 |
+
"replay_wall_s": 2414.8,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 3,
|
| 26 |
+
"agent_resets": 24,
|
| 27 |
+
"agent_sim_steps": 648,
|
| 28 |
+
"agent_records": 1,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 4.554,
|
| 35 |
+
"peak_memory_gb": 11.881,
|
| 36 |
+
"peak_processes": 11,
|
| 37 |
+
"peak_disk_gb": 0.089,
|
| 38 |
+
"peak_cpus": 8.16,
|
| 39 |
+
"peak_pids": 977,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-food-packing3-cans-i00-privileged--stgsjzp.mp4",
|
| 59 |
+
"duration_s": 45.267,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 679,
|
| 62 |
+
"sha256": "5ca1e50f20da884a98123e2fe5da759f5a44fcf138fc0da3a47cc9dd266bb136"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 3,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 2,
|
| 70 |
+
"final": 2,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"spam_can_in_bin": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [
|
| 75 |
+
[
|
| 76 |
+
21.5,
|
| 77 |
+
null
|
| 78 |
+
]
|
| 79 |
+
],
|
| 80 |
+
"final": true,
|
| 81 |
+
"evidence": [
|
| 82 |
+
{
|
| 83 |
+
"t": 21.5,
|
| 84 |
+
"log_step": null,
|
| 85 |
+
"text_zh": "观察：视频 14-21 s 夹爪夹起绿盖蓝身的午餐肉罐并移向箱子，约 22 s 起该罐落在深灰箱内并一直留到视频结束（45.3 s）。"
|
| 86 |
+
}
|
| 87 |
+
],
|
| 88 |
+
"contact_actual": [
|
| 89 |
+
{
|
| 90 |
+
"who": "手指/夹爪",
|
| 91 |
+
"how": "抓握",
|
| 92 |
+
"note_zh": "Franka 的 Robotiq 夹爪夹住午餐肉罐搬入箱内（视频约 14-22 s）"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"tomato_soup_can_in_bin": {
|
| 97 |
+
"method": "visual",
|
| 98 |
+
"intervals": [],
|
| 99 |
+
"final": false,
|
| 100 |
+
"evidence": [
|
| 101 |
+
{
|
| 102 |
+
"t": 6.0,
|
| 103 |
+
"log_step": null,
|
| 104 |
+
"text_zh": "观察：视频 0-3 s 夹爪下探到立在 Jell-O 盒上的番茄汤罐，3.5-5.5 s 腕部视角罐被夹在两指之间（仍在盒上方/刚离盒）；约 6 s 罐离开夹爪，6.5 s 起立/躺在盒旁桌面；此后直到 45.3 s 一直在桌面（最后一帧在箱外），夹爪再未回到它。"
|
| 105 |
+
}
|
| 106 |
+
],
|
| 107 |
+
"contact_actual": [
|
| 108 |
+
{
|
| 109 |
+
"who": "手指/夹爪",
|
| 110 |
+
"how": "抓握",
|
| 111 |
+
"note_zh": "观察：夹爪夹住番茄罐并把它抬离 Jell-O 盒（视频约 3.5-5.5 s），约 6 s 放落到盒旁桌面，未送入箱"
|
| 112 |
+
}
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"tuna_can_in_bin": {
|
| 116 |
+
"method": "visual",
|
| 117 |
+
"intervals": [
|
| 118 |
+
[
|
| 119 |
+
40.0,
|
| 120 |
+
null
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"final": true,
|
| 124 |
+
"evidence": [
|
| 125 |
+
{
|
| 126 |
+
"t": 40.0,
|
| 127 |
+
"log_step": null,
|
| 128 |
+
"text_zh": "观察：视频约 28-40 s 夹爪夹起桌面蓝色金枪鱼罐，绕到箱上方；约 40 s 后箱内俯视视角可见其落入箱内（最后一帧右侧视角箱后部深色圆盘），左侧视角被箱壁遮挡。推断：评分 0.6667 与番茄罐留在桌上一致，说明金枪鱼罐入箱。时间约 ±2 s。"
|
| 129 |
+
}
|
| 130 |
+
],
|
| 131 |
+
"contact_actual": [
|
| 132 |
+
{
|
| 133 |
+
"who": "手指/夹爪",
|
| 134 |
+
"how": "抓握",
|
| 135 |
+
"note_zh": "夹爪夹住金枪鱼罐搬运并松入箱内（视频约 28-42 s）"
|
| 136 |
+
}
|
| 137 |
+
]
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"constraints": {}
|
| 141 |
+
},
|
| 142 |
+
"native_metrics": [],
|
| 143 |
+
"failure": {
|
| 144 |
+
"breakpoint": {
|
| 145 |
+
"ref": "tomato_soup_can_in_bin",
|
| 146 |
+
"t": 6.0,
|
| 147 |
+
"log_step": null,
|
| 148 |
+
"where": "操作中",
|
| 149 |
+
"evidence_zh": "观察：视频约 3.5-5.5 s 夹爪夹住站在 Jell-O 盒上的番茄汤罐，约 6 s 罐落到盒旁桌面而不是箱内；之后机器人转去做午餐肉罐和金枪鱼罐，番茄罐至视频结束（45.3 s）仍在箱外桌面，该步从未修复。"
|
| 150 |
+
},
|
| 151 |
+
"phenomena": [
|
| 152 |
+
{
|
| 153 |
+
"cat": "运动",
|
| 154 |
+
"item": "位姿不准",
|
| 155 |
+
"t": 6.0,
|
| 156 |
+
"log_step": null,
|
| 157 |
+
"evidence_zh": "观察：视频 3.5-5.5 s 番茄罐被夹持，约 6 s 在箱外的桌面松开/落下，6.5 s 起在盒旁桌面，没有碰翻事件。推断：松手时物体还不在目标（箱）里，按分类为位姿不准（TAXONOMY_v2 接触行）；无法从帧排除夹持打滑（没保持住），故不强断。"
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
+
"root_causes": [],
|
| 161 |
+
"gap_zh": "根因证据不足：日志只有 agent 的调试脚本与生成轨迹的过程，没有说明番茄罐为何被放在桌面而没送入箱；视频也分不清是有意放下还是夹持打滑，故根因留空。",
|
| 162 |
+
"unmet": {
|
| 163 |
+
"spam_can_in_bin": true,
|
| 164 |
+
"tomato_soup_can_in_bin": false,
|
| 165 |
+
"tuna_can_in_bin": true
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"summary_zh": "观察：图形化结果为 2/3 罐入箱——午餐肉罐约视频 21.5 s、金枪鱼罐约 40 s 入箱，番茄汤罐在视频 3.5-5.5 s 被夹住抬离 Jell-O 盒，约 6 s 落到盒旁桌面后始终未入箱，评分 0.6667、success 0。断点在番茄汤罐入箱步（操作中，位姿不准，推断）。无状态日志，金枪鱼罐入箱时间约 ±2 s，根因未能判定。",
|
| 169 |
+
"conf": 6,
|
| 170 |
+
"review": {
|
| 171 |
+
"status": "agreed",
|
| 172 |
+
"rounds": 2,
|
| 173 |
+
"reviewers": [
|
| 174 |
+
{
|
| 175 |
+
"engine": "claude",
|
| 176 |
+
"model": "claude-sonnet-5-5",
|
| 177 |
+
"round": 1,
|
| 178 |
+
"verdict": "fix",
|
| 179 |
+
"conf": 7,
|
| 180 |
+
"summary_zh": "番茄汤罐的接触与断点现象读错：视频 4-5.5 s 夹爪已夹住该罐（腕部视角罐在两指间），约 6 s 前后才离开 Jell-O 盒并落到盒旁桌面，不是 3.5-4 s 被碰翻；contact_actual 应为抓握，现象不应是被挡/碰撞。其余节点（午餐肉、金枪鱼入箱、得分 0.6667）与视频一致。",
|
| 181 |
+
"n_issues": 3,
|
| 182 |
+
"n_major": 2
|
| 183 |
+
},
|
| 184 |
+
{
|
| 185 |
+
"engine": "claude",
|
| 186 |
+
"model": "claude-sonnet-5-5",
|
| 187 |
+
"round": 2,
|
| 188 |
+
"verdict": "agree",
|
| 189 |
+
"conf": 7,
|
| 190 |
+
"summary_zh": "节点、接触、断点（番茄汤罐入箱步，约视频 6 s 罐落到盒旁桌面）与视频一致；位姿不准加根因留空并写 gap_zh 合理。",
|
| 191 |
+
"n_issues": 0,
|
| 192 |
+
"n_major": 0
|
| 193 |
+
}
|
| 194 |
+
],
|
| 195 |
+
"open_zh": []
|
| 196 |
+
},
|
| 197 |
+
"provenance": {
|
| 198 |
+
"prompt": "prompts/03_trajectory.md",
|
| 199 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 200 |
+
"engine": "claude",
|
| 201 |
+
"model": "claude-sonnet-5-5",
|
| 202 |
+
"effort": "high",
|
| 203 |
+
"created": "2026-11-08T22:09:47Z",
|
| 204 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 205 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 206 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 207 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 208 |
+
"calls": [
|
| 209 |
+
{
|
| 210 |
+
"stage": "traj",
|
| 211 |
+
"round": 0,
|
| 212 |
+
"ok": true,
|
| 213 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--stgsjzp/03_label"
|
| 214 |
+
},
|
| 215 |
+
{
|
| 216 |
+
"stage": "traj_review",
|
| 217 |
+
"round": 1,
|
| 218 |
+
"ok": true,
|
| 219 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--stgsjzp/04_review_r1"
|
| 220 |
+
},
|
| 221 |
+
{
|
| 222 |
+
"stage": "reconcile",
|
| 223 |
+
"round": 1,
|
| 224 |
+
"ok": true,
|
| 225 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--stgsjzp/05_reconcile_r1"
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"stage": "traj_review",
|
| 229 |
+
"round": 2,
|
| 230 |
+
"ok": true,
|
| 231 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--stgsjzp/04_review_r2"
|
| 232 |
+
}
|
| 233 |
+
],
|
| 234 |
+
"review_engine": "claude",
|
| 235 |
+
"review_model": "claude-sonnet-5-5",
|
| 236 |
+
"inputs": {
|
| 237 |
+
"run_json_sha256": "eb10f63bccecfdbf1c30bd179666311f0491f596e03f6ca3313ef59cd23254b6",
|
| 238 |
+
"video_sha256": "5ca1e50f20da884a98123e2fe5da759f5a44fcf138fc0da3a47cc9dd266bb136",
|
| 239 |
+
"states_sha256": null,
|
| 240 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 241 |
+
},
|
| 242 |
+
"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."
|
| 243 |
+
}
|
| 244 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--vteosgv.json
ADDED
|
@@ -0,0 +1,223 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-food-packing3-cans-i00-privileged--vteosgv",
|
| 5 |
+
"taskKey": "robolab/food_packing3_cans",
|
| 6 |
+
"dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.6667,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 1176,
|
| 18 |
+
"sim_steps": 1206,
|
| 19 |
+
"final_reward": 0.6667,
|
| 20 |
+
"replay_wall_s": 1428.1,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 6,
|
| 26 |
+
"agent_resets": 3,
|
| 27 |
+
"agent_sim_steps": 1843,
|
| 28 |
+
"agent_records": 4,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 6.436,
|
| 35 |
+
"peak_memory_gb": 21.648,
|
| 36 |
+
"peak_processes": 15,
|
| 37 |
+
"peak_disk_gb": 0.245,
|
| 38 |
+
"peak_cpus": 8.11,
|
| 39 |
+
"peak_pids": 998,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-food-packing3-cans-i00-privileged--vteosgv.mp4",
|
| 59 |
+
"duration_s": 80.467,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 1207,
|
| 62 |
+
"sha256": "b017cb9d31f6921b43e46893837d45865a7eee652d4fe7c84de50fb13cc15984"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 3,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 2,
|
| 70 |
+
"final": 2,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"spam_can_in_bin": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [
|
| 75 |
+
[
|
| 76 |
+
49,
|
| 77 |
+
null
|
| 78 |
+
]
|
| 79 |
+
],
|
| 80 |
+
"final": true,
|
| 81 |
+
"evidence": [
|
| 82 |
+
{
|
| 83 |
+
"t": 55,
|
| 84 |
+
"log_step": null,
|
| 85 |
+
"text_zh": "观察：视频 49-61 s 夹爪夹着绿色午餐肉罐停在箱内上方并下放，约 61-63 s 松手，之后罐留在箱内（视频 65 s）。时间约 ±3 s，持物期间进入箱范围的起点不确定。"
|
| 86 |
+
}
|
| 87 |
+
],
|
| 88 |
+
"contact_actual": [
|
| 89 |
+
{
|
| 90 |
+
"who": "手指/夹爪",
|
| 91 |
+
"how": "抓握",
|
| 92 |
+
"note_zh": "夹爪夹住午餐肉罐搬入箱内后释放。"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"tomato_soup_can_in_bin": {
|
| 97 |
+
"method": "visual",
|
| 98 |
+
"intervals": [],
|
| 99 |
+
"final": false,
|
| 100 |
+
"evidence": [
|
| 101 |
+
{
|
| 102 |
+
"t": 72,
|
| 103 |
+
"log_step": null,
|
| 104 |
+
"text_zh": "观察：视频 66-72 s 夹爪抬起番茄汤罐，72-80 s 罐侧躺在箱外左壁旁的桌面上，未进入箱内；agent 自述罐在抓握中滑脱（log step 75）。"
|
| 105 |
+
}
|
| 106 |
+
],
|
| 107 |
+
"contact_actual": [
|
| 108 |
+
{
|
| 109 |
+
"who": "手指/夹爪",
|
| 110 |
+
"how": "抓握",
|
| 111 |
+
"note_zh": "夹爪抓起番茄汤罐搬向箱子，途中滑脱落在箱外桌面。"
|
| 112 |
+
}
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"tuna_can_in_bin": {
|
| 116 |
+
"method": "visual",
|
| 117 |
+
"intervals": [
|
| 118 |
+
[
|
| 119 |
+
19.5,
|
| 120 |
+
null
|
| 121 |
+
]
|
| 122 |
+
],
|
| 123 |
+
"final": true,
|
| 124 |
+
"evidence": [
|
| 125 |
+
{
|
| 126 |
+
"t": 21,
|
| 127 |
+
"log_step": null,
|
| 128 |
+
"text_zh": "观察：视频 19-21 s 机器人夹爪把蓝色金枪鱼罐送入箱内并松开，罐立在箱内芥末瓶旁，此后一直在箱内；agent 自述该罐卡在夹爪间需借芥末瓶挤出（log step 75）。"
|
| 129 |
+
}
|
| 130 |
+
],
|
| 131 |
+
"contact_actual": [
|
| 132 |
+
{
|
| 133 |
+
"who": "手指/夹爪",
|
| 134 |
+
"how": "抓握",
|
| 135 |
+
"note_zh": "Franka 夹爪顶抓金枪鱼罐搬入箱内，罐卡在张开的指垫间，靠箱内芥末瓶把罐挤脱。"
|
| 136 |
+
}
|
| 137 |
+
]
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"constraints": {}
|
| 141 |
+
},
|
| 142 |
+
"native_metrics": [],
|
| 143 |
+
"failure": {
|
| 144 |
+
"breakpoint": {
|
| 145 |
+
"ref": "tomato_soup_can_in_bin",
|
| 146 |
+
"where": "操作中",
|
| 147 |
+
"t": 72,
|
| 148 |
+
"log_step": 75,
|
| 149 |
+
"evidence_zh": "观察：视频 66-72 s 夹爪抬起番茄汤罐，随后罐侧躺在箱外桌面（72-80 s 直至视频结束）；其余两罐已在箱内，评分 0.6667。"
|
| 150 |
+
},
|
| 151 |
+
"phenomena": [
|
| 152 |
+
{
|
| 153 |
+
"label": "没保持住",
|
| 154 |
+
"t": 72,
|
| 155 |
+
"log_step": 75,
|
| 156 |
+
"evidence_zh": "观察：番茄汤罐被夹起后在运往箱子途中脱手，侧躺在箱外桌面（视频 72 s 起）。agent 自述罐在抓握中滑脱（log step 75）。",
|
| 157 |
+
"cat": "接触",
|
| 158 |
+
"item": "没保持住"
|
| 159 |
+
}
|
| 160 |
+
],
|
| 161 |
+
"root_causes": [],
|
| 162 |
+
"gap_zh": "根因：视频未能显示滑脱原因（抓取姿态、布丁杯支撑面等），agent 自述仅为会话说明，不足以定根因，故留空。",
|
| 163 |
+
"unmet": {
|
| 164 |
+
"spam_can_in_bin": true,
|
| 165 |
+
"tomato_soup_can_in_bin": false,
|
| 166 |
+
"tuna_can_in_bin": true
|
| 167 |
+
}
|
| 168 |
+
},
|
| 169 |
+
"summary_zh": "观察：视频中金枪鱼罐（约 19.5 s）和午餐肉罐（约 49 s，时间有 ±3 s 不确定）入箱，番茄汤罐被夹起后滑脱，侧躺在箱外桌面，3 个节点中 2 个达成（评分 0.6667）。��点为番茄汤罐入箱，现象为没保持住；根因证据不足。无状态日志，节点时间为目视估计。",
|
| 170 |
+
"conf": 6,
|
| 171 |
+
"review": {
|
| 172 |
+
"status": "agreed",
|
| 173 |
+
"rounds": 1,
|
| 174 |
+
"reviewers": [
|
| 175 |
+
{
|
| 176 |
+
"engine": "claude",
|
| 177 |
+
"model": "claude-sonnet-5-5",
|
| 178 |
+
"round": 1,
|
| 179 |
+
"verdict": "agree",
|
| 180 |
+
"conf": 6,
|
| 181 |
+
"summary_zh": "视频帧支持标签：金枪鱼罐约19.5-21 s入箱，午餐肉罐持物在箱上方约46-61 s后松手留箱内，番茄汤罐约72 s滑脱落在箱外桌面；断点与现象(没保持住)合理，根因留空有gap_zh。",
|
| 182 |
+
"n_issues": 0,
|
| 183 |
+
"n_major": 0
|
| 184 |
+
}
|
| 185 |
+
],
|
| 186 |
+
"open_zh": []
|
| 187 |
+
},
|
| 188 |
+
"provenance": {
|
| 189 |
+
"prompt": "prompts/03_trajectory.md",
|
| 190 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 191 |
+
"engine": "claude",
|
| 192 |
+
"model": "claude-sonnet-5-5",
|
| 193 |
+
"effort": "high",
|
| 194 |
+
"created": "2026-11-08T22:07:48Z",
|
| 195 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 196 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 197 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 198 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 199 |
+
"calls": [
|
| 200 |
+
{
|
| 201 |
+
"stage": "traj",
|
| 202 |
+
"round": 0,
|
| 203 |
+
"ok": true,
|
| 204 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--vteosgv/03_label"
|
| 205 |
+
},
|
| 206 |
+
{
|
| 207 |
+
"stage": "traj_review",
|
| 208 |
+
"round": 1,
|
| 209 |
+
"ok": true,
|
| 210 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--vteosgv/04_review_r1"
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"review_engine": "claude",
|
| 214 |
+
"review_model": "claude-sonnet-5-5",
|
| 215 |
+
"inputs": {
|
| 216 |
+
"run_json_sha256": "0c9f787384bdfdb064e025f614ecc4641fcd9dccc47f152645448659928a0482",
|
| 217 |
+
"video_sha256": "b017cb9d31f6921b43e46893837d45865a7eee652d4fe7c84de50fb13cc15984",
|
| 218 |
+
"states_sha256": null,
|
| 219 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 220 |
+
},
|
| 221 |
+
"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."
|
| 222 |
+
}
|
| 223 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--wnlnnpt.json
ADDED
|
@@ -0,0 +1,206 @@
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-food-packing3-cans-i00-privileged--wnlnnpt",
|
| 5 |
+
"taskKey": "robolab/food_packing3_cans",
|
| 6 |
+
"dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 1017,
|
| 18 |
+
"sim_steps": 1047,
|
| 19 |
+
"final_reward": 0.0,
|
| 20 |
+
"replay_wall_s": 1385.9,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 7,
|
| 26 |
+
"agent_resets": 0,
|
| 27 |
+
"agent_sim_steps": 1507,
|
| 28 |
+
"agent_records": 3,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 6.057,
|
| 35 |
+
"peak_memory_gb": 21.636,
|
| 36 |
+
"peak_processes": 13,
|
| 37 |
+
"peak_disk_gb": 0.315,
|
| 38 |
+
"peak_cpus": 8.1,
|
| 39 |
+
"peak_pids": 804,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-food-packing3-cans-i00-privileged--wnlnnpt.mp4",
|
| 59 |
+
"duration_s": 69.867,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 1048,
|
| 62 |
+
"sha256": "4433114b7fc4720ab21ba27595214f1dbd03483a2d016c8d74892d47c7a8d327"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 3,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 0,
|
| 70 |
+
"final": 0,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"spam_can_in_bin": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [],
|
| 75 |
+
"final": false,
|
| 76 |
+
"evidence": [
|
| 77 |
+
{
|
| 78 |
+
"t": 69.5,
|
| 79 |
+
"log_step": null,
|
| 80 |
+
"text_zh": "观察：视频 0 s 与 69.5 s 的正面视角中午餐肉罐都在原桌面位置，箱内只有黄色芥末瓶；机器人全程只在金枪鱼罐上方作业。"
|
| 81 |
+
}
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"tomato_soup_can_in_bin": {
|
| 85 |
+
"method": "visual",
|
| 86 |
+
"intervals": [],
|
| 87 |
+
"final": false,
|
| 88 |
+
"evidence": [
|
| 89 |
+
{
|
| 90 |
+
"t": 69.5,
|
| 91 |
+
"log_step": null,
|
| 92 |
+
"text_zh": "观察：视频 0 s 与 69.5 s 的正面视角中番茄汤罐都在原桌面位置，箱内只有黄色芥末瓶；机器人全程只在金枪鱼罐上方作业。"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"tuna_can_in_bin": {
|
| 97 |
+
"method": "visual",
|
| 98 |
+
"intervals": [],
|
| 99 |
+
"final": false,
|
| 100 |
+
"evidence": [
|
| 101 |
+
{
|
| 102 |
+
"t": 40,
|
| 103 |
+
"log_step": null,
|
| 104 |
+
"text_zh": "观察：视频 20 s、40 s、69.5 s 腕部相机里夹爪反复下压金枪鱼罐，罐始终留在桌面，从未被抬起或送入箱内。"
|
| 105 |
+
}
|
| 106 |
+
],
|
| 107 |
+
"contact_actual": [
|
| 108 |
+
{
|
| 109 |
+
"who": "手指/夹爪",
|
| 110 |
+
"how": "压/擦",
|
| 111 |
+
"note_zh": "观察：Robotiq 二指夹爪在金枪鱼罐上反复闭合/下压，罐未被夹起；agent 自述（log step 81）罐被挤出或抬升时滑脱。"
|
| 112 |
+
}
|
| 113 |
+
]
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
"constraints": {}
|
| 117 |
+
},
|
| 118 |
+
"native_metrics": [],
|
| 119 |
+
"failure": {
|
| 120 |
+
"breakpoint": {
|
| 121 |
+
"ref": "tuna_can_in_bin",
|
| 122 |
+
"t": 20,
|
| 123 |
+
"log_step": 81,
|
| 124 |
+
"where": "操作中",
|
| 125 |
+
"evidence_zh": "观察：视频约 20-69.5 s 夹爪反复抓金枪鱼罐（直径约 85.6 mm，夹爪最大开度约 85 mm），罐始终在桌面，三罐无一入箱。"
|
| 126 |
+
},
|
| 127 |
+
"unmet": {
|
| 128 |
+
"spam_can_in_bin": false,
|
| 129 |
+
"tomato_soup_can_in_bin": false,
|
| 130 |
+
"tuna_can_in_bin": false
|
| 131 |
+
},
|
| 132 |
+
"phenomena": [
|
| 133 |
+
{
|
| 134 |
+
"cat": "接触",
|
| 135 |
+
"item": "没建立接触",
|
| 136 |
+
"t": 40,
|
| 137 |
+
"log_step": 81,
|
| 138 |
+
"evidence_zh": "观察：视频 40 s、69.5 s 腕部相机显示夹爪在罐上方/两侧，罐留在桌面，没有形成稳定夹持；agent 自述（log step 81）罐被挤出或抬起时滑脱。"
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"root_causes": [
|
| 142 |
+
{
|
| 143 |
+
"cat": "控制",
|
| 144 |
+
"item": "抓取和接触设计",
|
| 145 |
+
"alt_feasible": "未知",
|
| 146 |
+
"evidence_zh": "agent 自述（log step 81）金枪鱼罐直径 85.6 mm 而夹爪开度约 85 mm，竖直抓取几乎无夹持余量；视频显示每次尝试罐仍在桌面。未验证侧向或其他抓法是否可行。",
|
| 147 |
+
"source_zh": "agent 自述 / 视频"
|
| 148 |
+
}
|
| 149 |
+
],
|
| 150 |
+
"gap_zh": "无状态日志，罐位置只能从视频判断；agent 对失败机理的解释为自述，未逐帧验证夹持滑脱的瞬间。"
|
| 151 |
+
},
|
| 152 |
+
"summary_zh": "观察：三罐均未入箱，0/3。机器人在视频 20-69.5 s 反复尝试抓金枪鱼罐，始终未能抬起，午餐肉罐与番茄汤罐从未被触碰。推断：断点是金枪鱼罐入箱的抓取，原因是罐径约等于夹爪最大开度（agent 自述）；缺口是无状态日志。",
|
| 153 |
+
"conf": 6,
|
| 154 |
+
"review": {
|
| 155 |
+
"status": "agreed",
|
| 156 |
+
"rounds": 1,
|
| 157 |
+
"reviewers": [
|
| 158 |
+
{
|
| 159 |
+
"engine": "claude",
|
| 160 |
+
"model": "claude-sonnet-5-5",
|
| 161 |
+
"round": 1,
|
| 162 |
+
"verdict": "agree",
|
| 163 |
+
"conf": 6,
|
| 164 |
+
"summary_zh": "三罐均未入箱、断点为金枪鱼罐、没建立接触＋抓取和接触设计与视频一致：腕部视角反复下探金枪鱼罐，夹爪闭合在罐沿处，罐始终留在桌面，午餐肉罐与番茄汤罐未被触碰。agent 的 85.6 mm vs 85 mm 解释已标为自述，未被当作观察。",
|
| 165 |
+
"n_issues": 0,
|
| 166 |
+
"n_major": 0
|
| 167 |
+
}
|
| 168 |
+
],
|
| 169 |
+
"open_zh": []
|
| 170 |
+
},
|
| 171 |
+
"provenance": {
|
| 172 |
+
"prompt": "prompts/03_trajectory.md",
|
| 173 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 174 |
+
"engine": "claude",
|
| 175 |
+
"model": "claude-sonnet-5-5",
|
| 176 |
+
"effort": "high",
|
| 177 |
+
"created": "2026-11-08T22:07:17Z",
|
| 178 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 179 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 180 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 181 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 182 |
+
"calls": [
|
| 183 |
+
{
|
| 184 |
+
"stage": "traj",
|
| 185 |
+
"round": 0,
|
| 186 |
+
"ok": true,
|
| 187 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--wnlnnpt/03_label"
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"stage": "traj_review",
|
| 191 |
+
"round": 1,
|
| 192 |
+
"ok": true,
|
| 193 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--wnlnnpt/04_review_r1"
|
| 194 |
+
}
|
| 195 |
+
],
|
| 196 |
+
"review_engine": "claude",
|
| 197 |
+
"review_model": "claude-sonnet-5-5",
|
| 198 |
+
"inputs": {
|
| 199 |
+
"run_json_sha256": "9329b5ba1a81f46b8d275988af3968840bfa398a6a5dc2ced834dced1f0dd8e3",
|
| 200 |
+
"video_sha256": "4433114b7fc4720ab21ba27595214f1dbd03483a2d016c8d74892d47c7a8d327",
|
| 201 |
+
"states_sha256": null,
|
| 202 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 203 |
+
},
|
| 204 |
+
"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."
|
| 205 |
+
}
|
| 206 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--xbbtsif.json
ADDED
|
@@ -0,0 +1,239 @@
|
|
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|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-food-packing3-cans-i00-privileged--xbbtsif",
|
| 5 |
+
"taskKey": "robolab/food_packing3_cans",
|
| 6 |
+
"dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.3333,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 798,
|
| 18 |
+
"sim_steps": 828,
|
| 19 |
+
"final_reward": 0.3333,
|
| 20 |
+
"replay_wall_s": 494.3,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 16,
|
| 26 |
+
"agent_resets": 12,
|
| 27 |
+
"agent_sim_steps": 311,
|
| 28 |
+
"agent_records": 3,
|
| 29 |
+
"agent_replays": 2,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 4.616,
|
| 35 |
+
"peak_memory_gb": 7.577,
|
| 36 |
+
"peak_processes": 10,
|
| 37 |
+
"peak_disk_gb": 0.086,
|
| 38 |
+
"peak_cpus": 7.82,
|
| 39 |
+
"peak_pids": 118,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-food-packing3-cans-i00-privileged--xbbtsif.mp4",
|
| 59 |
+
"duration_s": 55.267,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 829,
|
| 62 |
+
"sha256": "19a9638b502a569b10f17aa1c5faf9bd0e9666cdeccc7dc8744343fc1d8cfc99"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 3,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 1,
|
| 70 |
+
"final": 1,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"spam_can_in_bin": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [],
|
| 75 |
+
"final": false,
|
| 76 |
+
"evidence": [
|
| 77 |
+
{
|
| 78 |
+
"t": 24.0,
|
| 79 |
+
"log_step": null,
|
| 80 |
+
"text_zh": "观察：视频 22-25 s 夹爪下到午餐肉罐上，25.2 s 罐被碰得倾斜，之后罐歪躺在桌面（视频 26、34、44、55 s 帧，55 s 横躺），未被带起、从未入箱；夹指是否合拢看不清（未知）。"
|
| 81 |
+
}
|
| 82 |
+
],
|
| 83 |
+
"contact_actual": [
|
| 84 |
+
{
|
| 85 |
+
"who": "手指/夹爪",
|
| 86 |
+
"how": "抓握",
|
| 87 |
+
"note_zh": "观察：视频 22-25 s 夹爪下到午餐肉罐上，25.2 s 罐被碰倾斜，罐未被带起，未形成有效抓握；夹指是否合拢看不清（未知）。"
|
| 88 |
+
}
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"tomato_soup_can_in_bin": {
|
| 92 |
+
"method": "visual",
|
| 93 |
+
"intervals": [
|
| 94 |
+
[
|
| 95 |
+
13.0,
|
| 96 |
+
null
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"final": true,
|
| 100 |
+
"evidence": [
|
| 101 |
+
{
|
| 102 |
+
"t": 13.0,
|
| 103 |
+
"log_step": null,
|
| 104 |
+
"text_zh": "观察：视频 11-13 s 夹爪夹着番茄汤罐越过箱沿，13-14 s 罐体已在箱内，14 s 松手；此后直至视频 55 s 罐一直躺在箱内（视频 20 s、44 s、55 s 帧）。"
|
| 105 |
+
}
|
| 106 |
+
],
|
| 107 |
+
"contact_actual": [
|
| 108 |
+
{
|
| 109 |
+
"who": "手指/夹爪",
|
| 110 |
+
"how": "抓握",
|
| 111 |
+
"note_zh": "观察：视频 10-14 s 夹爪夹住番茄汤罐搬入箱内并松手。"
|
| 112 |
+
}
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"tuna_can_in_bin": {
|
| 116 |
+
"method": "visual",
|
| 117 |
+
"intervals": [],
|
| 118 |
+
"final": false,
|
| 119 |
+
"evidence": [
|
| 120 |
+
{
|
| 121 |
+
"t": 42.0,
|
| 122 |
+
"log_step": null,
|
| 123 |
+
"text_zh": "观察：视频 40-42 s 夹爪移到金枪鱼罐上方，之后罐仍在原位（视频 47、55 s 帧），从未入箱。"
|
| 124 |
+
}
|
| 125 |
+
],
|
| 126 |
+
"contact_actual": [
|
| 127 |
+
{
|
| 128 |
+
"who": "手指/夹爪",
|
| 129 |
+
"how": "抓握",
|
| 130 |
+
"note_zh": "观察：视频 40-42 s 夹爪移到金枪鱼罐上方尝试抓取，罐未被带起。"
|
| 131 |
+
}
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"constraints": {}
|
| 136 |
+
},
|
| 137 |
+
"native_metrics": [],
|
| 138 |
+
"failure": {
|
| 139 |
+
"breakpoint": {
|
| 140 |
+
"ref": "spam_can_in_bin",
|
| 141 |
+
"t": 25.0,
|
| 142 |
+
"log_step": null,
|
| 143 |
+
"where": "操作中",
|
| 144 |
+
"evidence_zh": "观察：番茄汤罐入箱后，机器人转去午餐肉罐，视频 22-25 s 夹爪下到罐上，25.2 s 罐被碰倾斜，之后歪躺在桌面、未被带起（26 s 起）；之后金枪鱼罐同样未被拿起。午餐肉罐是第一个未修复的步骤。"
|
| 145 |
+
},
|
| 146 |
+
"phenomena": [
|
| 147 |
+
{
|
| 148 |
+
"cat": "运动",
|
| 149 |
+
"item": "位姿不准",
|
| 150 |
+
"t": 25.0,
|
| 151 |
+
"log_step": null,
|
| 152 |
+
"evidence_zh": "观察：视频 24-26 s 夹爪在午餐肉罐上的位置不对，25.2 s 罐被碰倾斜，之后歪躺桌面、未被夹起；40-42 s 金枪鱼罐处同样未带起。夹指是否合拢看不清。"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"root_causes": [],
|
| 156 |
+
"unmet": {
|
| 157 |
+
"spam_can_in_bin": false,
|
| 158 |
+
"tomato_soup_can_in_bin": true,
|
| 159 |
+
"tuna_can_in_bin": false
|
| 160 |
+
},
|
| 161 |
+
"gap_zh": "根因层为空：视频只能显示抓取未带起罐，无法区分抓取高度、夹宽（agent 自述金枪鱼罐直径 85.4 mm 接近夹爪最大开口 85 mm，log step 130，仅为 agent 自述）还是其他原因；无状态日志。"
|
| 162 |
+
},
|
| 163 |
+
"summary_zh": "观察：回放视��中机器人先把番茄汤罐搬入箱内（约视频 13 s 到达），再去抓午餐肉罐（22-25 s）和金枪鱼罐（40-42 s），两罐都未被带起，最终 1/3（reward 0.3333）。断点为午餐肉罐入箱，现象位姿不准（夹爪相对罐位置不对、罐被碰倾斜），根因无足够证据。无状态日志，时间来自视频帧。",
|
| 164 |
+
"conf": 6,
|
| 165 |
+
"review": {
|
| 166 |
+
"status": "agreed",
|
| 167 |
+
"rounds": 2,
|
| 168 |
+
"reviewers": [
|
| 169 |
+
{
|
| 170 |
+
"engine": "claude",
|
| 171 |
+
"model": "claude-sonnet-5-5",
|
| 172 |
+
"round": 1,
|
| 173 |
+
"verdict": "fix",
|
| 174 |
+
"conf": 6,
|
| 175 |
+
"summary_zh": "番茄汤罐约 13 s 入箱、1/3、断点在午餐肉罐基本成立；但午餐肉罐证据写成“夹爪合拢后空手抬起、罐一直留在原位”与帧不符：24.4–26.4 s 夹爪停在罐旁，罐在 25.2 s 倾斜、之后翻倒横放，夹指在 24–25 s 是否合拢看不出。",
|
| 176 |
+
"n_issues": 2,
|
| 177 |
+
"n_major": 0
|
| 178 |
+
},
|
| 179 |
+
{
|
| 180 |
+
"engine": "claude",
|
| 181 |
+
"model": "claude-sonnet-5-5",
|
| 182 |
+
"round": 2,
|
| 183 |
+
"verdict": "agree",
|
| 184 |
+
"conf": 7,
|
| 185 |
+
"summary_zh": "番茄汤罐约视频 13 s 入箱并保持到 55 s、午餐肉罐与金枪鱼罐未入箱、1/3、断点在午餐肉罐，均与帧一致；第 1 轮指出的“合拢”措辞已改为未知，未发现新错误。",
|
| 186 |
+
"n_issues": 0,
|
| 187 |
+
"n_major": 0
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"open_zh": []
|
| 191 |
+
},
|
| 192 |
+
"provenance": {
|
| 193 |
+
"prompt": "prompts/03_trajectory.md",
|
| 194 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 195 |
+
"engine": "claude",
|
| 196 |
+
"model": "claude-sonnet-5-5",
|
| 197 |
+
"effort": "high",
|
| 198 |
+
"created": "2026-11-08T22:10:25Z",
|
| 199 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 200 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 201 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 202 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 203 |
+
"calls": [
|
| 204 |
+
{
|
| 205 |
+
"stage": "traj",
|
| 206 |
+
"round": 0,
|
| 207 |
+
"ok": true,
|
| 208 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--xbbtsif/03_label"
|
| 209 |
+
},
|
| 210 |
+
{
|
| 211 |
+
"stage": "traj_review",
|
| 212 |
+
"round": 1,
|
| 213 |
+
"ok": true,
|
| 214 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--xbbtsif/04_review_r1"
|
| 215 |
+
},
|
| 216 |
+
{
|
| 217 |
+
"stage": "reconcile",
|
| 218 |
+
"round": 1,
|
| 219 |
+
"ok": true,
|
| 220 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--xbbtsif/05_reconcile_r1"
|
| 221 |
+
},
|
| 222 |
+
{
|
| 223 |
+
"stage": "traj_review",
|
| 224 |
+
"round": 2,
|
| 225 |
+
"ok": true,
|
| 226 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-privileged--xbbtsif/04_review_r2"
|
| 227 |
+
}
|
| 228 |
+
],
|
| 229 |
+
"review_engine": "claude",
|
| 230 |
+
"review_model": "claude-sonnet-5-5",
|
| 231 |
+
"inputs": {
|
| 232 |
+
"run_json_sha256": "08ecd74771c500b2062d96fbdae96b2c040f89428c69057921e4eb5c92016b5e",
|
| 233 |
+
"video_sha256": "19a9638b502a569b10f17aa1c5faf9bd0e9666cdeccc7dc8744343fc1d8cfc99",
|
| 234 |
+
"states_sha256": null,
|
| 235 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 236 |
+
},
|
| 237 |
+
"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."
|
| 238 |
+
}
|
| 239 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--7qq2bec.json
ADDED
|
@@ -0,0 +1,253 @@
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|
|
|
|
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|
|
|
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|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-food-packing3-cans-i00-standard--7qq2bec",
|
| 5 |
+
"taskKey": "robolab/food_packing3_cans",
|
| 6 |
+
"dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 2002,
|
| 19 |
+
"sim_steps": 2002,
|
| 20 |
+
"physics_steps": 16016,
|
| 21 |
+
"steps": 59,
|
| 22 |
+
"elapsed_s": 3459.0,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 669,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.249,
|
| 44 |
+
"peak_processes": 10,
|
| 45 |
+
"peak_disk_gb": 1.257,
|
| 46 |
+
"peak_cpus": 0.95,
|
| 47 |
+
"peak_pids": 125,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-food-packing3-cans-i00-standard--7qq2bec.mp4",
|
| 65 |
+
"duration_s": 133.8,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 669,
|
| 68 |
+
"sha256": "007c9d5df5828884c742f5244dd7f8a97cf4dc66acefa82d9e723ef007871fdd"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 3,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 1,
|
| 76 |
+
"final": 1,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"spam_can_in_bin": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [
|
| 81 |
+
[
|
| 82 |
+
7.5,
|
| 83 |
+
null
|
| 84 |
+
]
|
| 85 |
+
],
|
| 86 |
+
"final": true,
|
| 87 |
+
"evidence": [
|
| 88 |
+
{
|
| 89 |
+
"t": 7.5,
|
| 90 |
+
"log_step": 44,
|
| 91 |
+
"text_zh": "观察：视频 7 s 夹爪夹着午餐肉罐在箱上方，8-9 s 起罐已在深灰色箱内（与芥末瓶相邻），此后各帧一直在箱内；log step 44 agent 自述已松手入箱。推断：入箱时刻约视频 7-8 s。"
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"contact_actual": [
|
| 95 |
+
{
|
| 96 |
+
"who": "手指/夹爪",
|
| 97 |
+
"how": "抓握",
|
| 98 |
+
"note_zh": "观察：Franka 的 Robotiq 夹爪夹住午餐肉罐，抬起并搬到箱内后松开（视频约 5-8 s）。"
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"tomato_soup_can_in_bin": {
|
| 103 |
+
"method": "visual",
|
| 104 |
+
"intervals": [],
|
| 105 |
+
"final": false,
|
| 106 |
+
"evidence": [
|
| 107 |
+
{
|
| 108 |
+
"t": 100.0,
|
| 109 |
+
"log_step": 142,
|
| 110 |
+
"text_zh": "观察：视频 60 s、100 s、120 s、133 s 的帧中番茄汤罐都侧躺在桌面布丁盒旁，从未进入箱内；视频约 30 s 起夹爪夹它时罐滑脱/被推倒（log step 52、91、95、152 自述多次滑脱，仅作旁证）。"
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"contact_actual": [
|
| 114 |
+
{
|
| 115 |
+
"who": "手指/夹爪",
|
| 116 |
+
"how": "抓握",
|
| 117 |
+
"note_zh": "观察：夹爪多次尝试夹住番茄汤罐（先竖直、后侧夹、再夹端部），均未能提起；后期用夹爪推罐（推/扫）。"
|
| 118 |
+
}
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
"tuna_can_in_bin": {
|
| 122 |
+
"method": "visual",
|
| 123 |
+
"intervals": [],
|
| 124 |
+
"final": false,
|
| 125 |
+
"evidence": [
|
| 126 |
+
{
|
| 127 |
+
"t": 100.0,
|
| 128 |
+
"log_step": 142,
|
| 129 |
+
"text_zh": "观察：视频 100 s、120 s 的帧中桌面已不见金枪鱼罐（60 s 时仍在桌面），夹爪夹取时被弹出桌外；从未进箱。log step 142 agent 自述罐被弹出到够不着处。"
|
| 130 |
+
}
|
| 131 |
+
],
|
| 132 |
+
"contact_actual": [
|
| 133 |
+
{
|
| 134 |
+
"who": "手指/夹爪",
|
| 135 |
+
"how": "抓握",
|
| 136 |
+
"note_zh": "观察：夹爪（含旋转后从罐沿一侧）尝试夹金枪鱼罐，整宽夹时只是推动，后夹时罐被弹出；未能抬起。"
|
| 137 |
+
}
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"constraints": {}
|
| 142 |
+
},
|
| 143 |
+
"native_metrics": [],
|
| 144 |
+
"failure": {
|
| 145 |
+
"breakpoint": {
|
| 146 |
+
"ref": "tomato_soup_can_in_bin",
|
| 147 |
+
"t": 30.0,
|
| 148 |
+
"log_step": 52,
|
| 149 |
+
"where": "操作中",
|
| 150 |
+
"evidence_zh": "观察：午餐肉罐入箱后，机器人转去抓番茄汤罐（视频约 30 s，罐立在布丁盒上），抬升时罐滑脱，之后倒下侧躺；视频 60-133 s 的帧中它始终在桌面、从未入箱，该步没有修复。金枪鱼罐之后又被弹出桌外，但汤罐一步在先且从未完成。"
|
| 151 |
+
},
|
| 152 |
+
"phenomena": [
|
| 153 |
+
{
|
| 154 |
+
"cat": "接触",
|
| 155 |
+
"item": "没保持住",
|
| 156 |
+
"t": 30.0,
|
| 157 |
+
"log_step": 52,
|
| 158 |
+
"evidence_zh": "观察：视频约 30 s 夹爪合拢后抬起番茄汤罐，罐从夹指间滑脱落回布丁盒/桌面（log step 52、91、95 agent 自述多次滑脱，仅作旁证）。"
|
| 159 |
+
}
|
| 160 |
+
],
|
| 161 |
+
"root_causes": [
|
| 162 |
+
{
|
| 163 |
+
"cat": "控制",
|
| 164 |
+
"item": "抓取和接触设计",
|
| 165 |
+
"alt_feasible": "未知",
|
| 166 |
+
"evidence_zh": "观察：汤罐立在布丁盒上、旁边有箱壁和 Cheez-It 盒时，夹持位置与姿态反复不稳（竖夹、侧夹、夹端部均失败），罐倒下后更难夹；是否存在可行抓法未验证。",
|
| 167 |
+
"source_zh": "视频 / agent 自述"
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"gap_zh": "无状态日志，罐的接触与滑脱只能从视频和 agent 日志推断；视频 5 fps，滑脱瞬间被遮挡。",
|
| 171 |
+
"unmet": {
|
| 172 |
+
"spam_can_in_bin": true,
|
| 173 |
+
"tomato_soup_can_in_bin": false,
|
| 174 |
+
"tuna_can_in_bin": false
|
| 175 |
+
}
|
| 176 |
+
},
|
| 177 |
+
"summary_zh": "观察：graded 实时 episode 中 3 个节点只完成 1 个：午餐肉罐约视频 7-8 s 入箱；番茄汤罐在视频约 30 s 起多次抓取滑脱、倒在桌面；金枪鱼罐在夹取时被弹出桌外。断点在番茄汤罐入箱，现象为没保持住，推断根因为抓取和接触设计不合适；无状态日志，时间限制 3600 s 到时仍在推汤罐。",
|
| 178 |
+
"conf": 6,
|
| 179 |
+
"review": {
|
| 180 |
+
"status": "agreed",
|
| 181 |
+
"rounds": 2,
|
| 182 |
+
"reviewers": [
|
| 183 |
+
{
|
| 184 |
+
"engine": "claude",
|
| 185 |
+
"model": "claude-sonnet-5-5",
|
| 186 |
+
"round": 1,
|
| 187 |
+
"verdict": "fix",
|
| 188 |
+
"conf": 7,
|
| 189 |
+
"summary_zh": "午餐肉罐入箱时刻错：视频约 7-8 s 夹爪在箱上方松手，8 s 起罐已躺在箱内，而文件标 18 s（晚约 10 s）。其余节点、断点与现象基本与帧一致。",
|
| 190 |
+
"n_issues": 2,
|
| 191 |
+
"n_major": 1
|
| 192 |
+
},
|
| 193 |
+
{
|
| 194 |
+
"engine": "claude",
|
| 195 |
+
"model": "claude-sonnet-5-5",
|
| 196 |
+
"round": 2,
|
| 197 |
+
"verdict": "agree",
|
| 198 |
+
"conf": 7,
|
| 199 |
+
"summary_zh": "午餐肉罐约视频 7-8 s 入箱、汤罐与金枪鱼罐至 133 s 均未入箱，与帧一致；断点（汤罐）、现象（没保持住）与根因（抓取和接触设计，alt_feasible 未知）有视频支持，未发现需改内容的错误。",
|
| 200 |
+
"n_issues": 0,
|
| 201 |
+
"n_major": 0
|
| 202 |
+
}
|
| 203 |
+
],
|
| 204 |
+
"open_zh": []
|
| 205 |
+
},
|
| 206 |
+
"provenance": {
|
| 207 |
+
"prompt": "prompts/03_trajectory.md",
|
| 208 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 209 |
+
"engine": "claude",
|
| 210 |
+
"model": "claude-sonnet-5-5",
|
| 211 |
+
"effort": "high",
|
| 212 |
+
"created": "2026-11-08T22:10:32Z",
|
| 213 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 214 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 215 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 216 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 217 |
+
"calls": [
|
| 218 |
+
{
|
| 219 |
+
"stage": "traj",
|
| 220 |
+
"round": 0,
|
| 221 |
+
"ok": true,
|
| 222 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--7qq2bec/03_label"
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"stage": "traj_review",
|
| 226 |
+
"round": 1,
|
| 227 |
+
"ok": true,
|
| 228 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--7qq2bec/04_review_r1"
|
| 229 |
+
},
|
| 230 |
+
{
|
| 231 |
+
"stage": "reconcile",
|
| 232 |
+
"round": 1,
|
| 233 |
+
"ok": true,
|
| 234 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--7qq2bec/05_reconcile_r1"
|
| 235 |
+
},
|
| 236 |
+
{
|
| 237 |
+
"stage": "traj_review",
|
| 238 |
+
"round": 2,
|
| 239 |
+
"ok": true,
|
| 240 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--7qq2bec/04_review_r2"
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"review_engine": "claude",
|
| 244 |
+
"review_model": "claude-sonnet-5-5",
|
| 245 |
+
"inputs": {
|
| 246 |
+
"run_json_sha256": "b1549655ec6608098c2c9f41b14938b1d35a3b00969ae860e664b10f9f8eab59",
|
| 247 |
+
"video_sha256": "007c9d5df5828884c742f5244dd7f8a97cf4dc66acefa82d9e723ef007871fdd",
|
| 248 |
+
"states_sha256": null,
|
| 249 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 250 |
+
},
|
| 251 |
+
"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."
|
| 252 |
+
}
|
| 253 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--g4fp9gd.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-food-packing3-cans-i00-standard--g4fp9gd",
|
| 5 |
+
"taskKey": "robolab/food_packing3_cans",
|
| 6 |
+
"dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487",
|
| 7 |
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"outcome": {
|
| 8 |
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"success": 0,
|
| 9 |
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"reward": 0.0,
|
| 10 |
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"source": "catalog",
|
| 11 |
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"raw": {
|
| 12 |
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"success": 0,
|
| 13 |
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"live_success": 0,
|
| 14 |
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"graded_by_live": 1,
|
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"replays": 0,
|
| 16 |
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"finalized": 1,
|
| 17 |
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"missing_log": 0,
|
| 18 |
+
"n_actions": 353,
|
| 19 |
+
"sim_steps": 353,
|
| 20 |
+
"physics_steps": 2824,
|
| 21 |
+
"steps": 200,
|
| 22 |
+
"elapsed_s": 3448.1,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 119,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.52,
|
| 44 |
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"peak_processes": 9,
|
| 45 |
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"peak_disk_gb": 0.421,
|
| 46 |
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"peak_cpus": 0.76,
|
| 47 |
+
"peak_pids": 87,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
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"resource_emergency_kills": 0,
|
| 54 |
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"resource_limit_exceeded": 0,
|
| 55 |
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"resource_cpu_throttles": 0,
|
| 56 |
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"resource_cpu_throttled_sec": 0.0,
|
| 57 |
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"resource_oom_kills": 0,
|
| 58 |
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"resource_host_oom_kills": 0,
|
| 59 |
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"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-food-packing3-cans-i00-standard--g4fp9gd.mp4",
|
| 65 |
+
"duration_s": 23.8,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 119,
|
| 68 |
+
"sha256": "624be4697c54184a943fe5506f9905544249ffdc60a14bb56970a3ed25443d47"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 3,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"spam_can_in_bin": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 23.6,
|
| 85 |
+
"log_step": null,
|
| 86 |
+
"text_zh": "观察：视频 3-22 s 三个视角中午餐肉罐始终在桌面（9-18 s 夹爪在其上方下探/夹取），任何帧里都不在深灰色箱内；22-23.6 s 箱体被碰翻，罐头仍在桌面。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "抓握",
|
| 93 |
+
"note_zh": "观察：视频 9-18 s Robotiq 夹爪下探到午餐肉罐并夹取，罐头没有被搬入箱内。"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"tomato_soup_can_in_bin": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 23.6,
|
| 104 |
+
"log_step": null,
|
| 105 |
+
"text_zh": "观察：视频 0-3 s 夹爪在布丁盒上的番茄汤罐上方抓取，6 s 时番茄汤罐已落到桌面（离开布丁盒），之后从未进入箱内。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "手指/夹爪",
|
| 111 |
+
"how": "抓握",
|
| 112 |
+
"note_zh": "观察：视频约 2-5 s 夹爪抓取/提起番茄汤罐，罐头滚落到盒外，没有被搬入箱。"
|
| 113 |
+
}
|
| 114 |
+
]
|
| 115 |
+
},
|
| 116 |
+
"tuna_can_in_bin": {
|
| 117 |
+
"method": "visual",
|
| 118 |
+
"intervals": [],
|
| 119 |
+
"final": false,
|
| 120 |
+
"evidence": [
|
| 121 |
+
{
|
| 122 |
+
"t": 23.6,
|
| 123 |
+
"log_step": null,
|
| 124 |
+
"text_zh": "观察：视频全程金枪鱼罐停在桌面原位（约 10 s 处于桌面左侧），未被触碰，也不在箱内。"
|
| 125 |
+
}
|
| 126 |
+
]
|
| 127 |
+
}
|
| 128 |
+
},
|
| 129 |
+
"constraints": {}
|
| 130 |
+
},
|
| 131 |
+
"native_metrics": [],
|
| 132 |
+
"failure": {
|
| 133 |
+
"breakpoint": {
|
| 134 |
+
"ref": "tomato_soup_can_in_bin",
|
| 135 |
+
"t": 5.0,
|
| 136 |
+
"log_step": null,
|
| 137 |
+
"where": "操作中",
|
| 138 |
+
"evidence_zh": "观察：视频 0-3 s 机器人先对番茄汤罐下手，约 6 s 时罐头已从布丁盒滚落到桌面，之后机器人转去处理午餐肉罐，番茄汤罐再未被拾起放入箱，此步从未修复。"
|
| 139 |
+
},
|
| 140 |
+
"phenomena": [
|
| 141 |
+
{
|
| 142 |
+
"cat": "运动",
|
| 143 |
+
"item": "被挡/碰撞",
|
| 144 |
+
"t": 5.0,
|
| 145 |
+
"log_step": null,
|
| 146 |
+
"evidence_zh": "观察：视频 3-6 s 夹爪下探番茄汤罐后，罐头从布丁盒上落到桌面；22-23.6 s 夹爪又把深灰色箱子碰翻倾斜。推断：碰动其他物体，具体接触帧未逐帧核对。"
|
| 147 |
+
}
|
| 148 |
+
],
|
| 149 |
+
"root_causes": [],
|
| 150 |
+
"gap_zh": "无状态日志，未逐帧确认番茄汤罐落下的接触细节；日志（log step 60 agent 自述罐头从盒上滚落）只是自述。根因证据不足故留空。本次运行最后在 log step 125/97 遇到 Gemini 过滤器拦截，但图像是已评分的 episode，按正常标注。",
|
| 151 |
+
"unmet": {
|
| 152 |
+
"spam_can_in_bin": false,
|
| 153 |
+
"tomato_soup_can_in_bin": false,
|
| 154 |
+
"tuna_can_in_bin": false
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"summary_zh": "观察：已评分视频（23.8 s）中三罐均未入箱，0/3。机器人先抓番茄汤罐使其滚落布丁盒，随后夹取午餐肉罐未能搬入箱，视频末段碰翻了箱体；断点为番茄汤罐入箱（操作中）。无状态日志，根因缺证据。",
|
| 158 |
+
"conf": 5,
|
| 159 |
+
"review": {
|
| 160 |
+
"status": "agreed",
|
| 161 |
+
"rounds": 1,
|
| 162 |
+
"reviewers": [
|
| 163 |
+
{
|
| 164 |
+
"engine": "claude",
|
| 165 |
+
"model": "claude-sonnet-5-5",
|
| 166 |
+
"round": 1,
|
| 167 |
+
"verdict": "agree",
|
| 168 |
+
"conf": 6,
|
| 169 |
+
"summary_zh": "三罐均未入箱、0/3，与视频一致；断点为番茄汤罐入箱（操作中），被挡/碰撞现象与视频中罐头从布丁盒落下相符，根因留空并附 gap_zh 可接受。",
|
| 170 |
+
"n_issues": 0,
|
| 171 |
+
"n_major": 0
|
| 172 |
+
}
|
| 173 |
+
],
|
| 174 |
+
"open_zh": []
|
| 175 |
+
},
|
| 176 |
+
"provenance": {
|
| 177 |
+
"prompt": "prompts/03_trajectory.md",
|
| 178 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 179 |
+
"engine": "claude",
|
| 180 |
+
"model": "claude-sonnet-5-5",
|
| 181 |
+
"effort": "high",
|
| 182 |
+
"created": "2026-11-08T22:13:21Z",
|
| 183 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 184 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 185 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 186 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 187 |
+
"calls": [
|
| 188 |
+
{
|
| 189 |
+
"stage": "traj",
|
| 190 |
+
"round": 0,
|
| 191 |
+
"ok": true,
|
| 192 |
+
"space": "work_rerun1/runs/robolab-food-packing3-cans-i00-standard--g4fp9gd/03_label"
|
| 193 |
+
},
|
| 194 |
+
{
|
| 195 |
+
"stage": "traj_review",
|
| 196 |
+
"round": 1,
|
| 197 |
+
"ok": true,
|
| 198 |
+
"space": "work_rerun1/runs/robolab-food-packing3-cans-i00-standard--g4fp9gd/04_review_r1"
|
| 199 |
+
}
|
| 200 |
+
],
|
| 201 |
+
"review_engine": "claude",
|
| 202 |
+
"review_model": "claude-sonnet-5-5",
|
| 203 |
+
"inputs": {
|
| 204 |
+
"run_json_sha256": "ab833e99697094f84c3308eb2df22fe5982eb78723c0f02e38fc977543356c80",
|
| 205 |
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"video_sha256": "624be4697c54184a943fe5506f9905544249ffdc60a14bb56970a3ed25443d47",
|
| 206 |
+
"states_sha256": null,
|
| 207 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 208 |
+
},
|
| 209 |
+
"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."
|
| 210 |
+
}
|
| 211 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--pniwntg.json
ADDED
|
@@ -0,0 +1,258 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-food-packing3-cans-i00-standard--pniwntg",
|
| 5 |
+
"taskKey": "robolab/food_packing3_cans",
|
| 6 |
+
"dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 5371,
|
| 19 |
+
"sim_steps": 5371,
|
| 20 |
+
"physics_steps": 42968,
|
| 21 |
+
"steps": 219,
|
| 22 |
+
"elapsed_s": 3152.5,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 1792,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.371,
|
| 44 |
+
"peak_processes": 11,
|
| 45 |
+
"peak_disk_gb": 1.022,
|
| 46 |
+
"peak_cpus": 1.58,
|
| 47 |
+
"peak_pids": 84,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-food-packing3-cans-i00-standard--pniwntg.mp4",
|
| 65 |
+
"duration_s": 358.4,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 1792,
|
| 68 |
+
"sha256": "5022517342d44c46bf4f6ad3e0728feaa1cfcbe2aacc1b1aef35b6ca2c49f5af"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 3,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 2,
|
| 76 |
+
"final": 2,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"spam_can_in_bin": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [
|
| 81 |
+
[
|
| 82 |
+
118,
|
| 83 |
+
null
|
| 84 |
+
]
|
| 85 |
+
],
|
| 86 |
+
"final": true,
|
| 87 |
+
"evidence": [
|
| 88 |
+
{
|
| 89 |
+
"t": 118,
|
| 90 |
+
"log_step": null,
|
| 91 |
+
"text_zh": "观察：视频 100-116 s 夹爪夹着午餐肉罐停在箱口上方，约 118-124 s 松开后罐落在箱内（视频 132 s 起一直在箱底）。进入时刻约 ±15 s。推断：视频 322-332 s 机械臂碰动并拖走箱体，箱体连同内容物离开桌面，此后罐的位置看不到，终值按“箱内”保留，不确定。"
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"contact_actual": [
|
| 95 |
+
{
|
| 96 |
+
"who": "手指/夹爪",
|
| 97 |
+
"how": "抓握",
|
| 98 |
+
"note_zh": "观察：Franka 的 Robotiq 夹爪夹住罐身，从桌面搬到箱上方后松开。"
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"tomato_soup_can_in_bin": {
|
| 103 |
+
"method": "visual",
|
| 104 |
+
"intervals": [
|
| 105 |
+
[
|
| 106 |
+
188,
|
| 107 |
+
null
|
| 108 |
+
]
|
| 109 |
+
],
|
| 110 |
+
"final": true,
|
| 111 |
+
"evidence": [
|
| 112 |
+
{
|
| 113 |
+
"t": 188,
|
| 114 |
+
"log_step": null,
|
| 115 |
+
"text_zh": "观察：视频 160-186 s 夹爪夹着番茄汤罐移到箱上方，约 188-192 s 松开落入箱内（视频 196 s 起在箱底）。推断：视频 322 s 起机械臂碰动箱体，终态不确定。"
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"contact_actual": [
|
| 119 |
+
{
|
| 120 |
+
"who": "手指/夹爪",
|
| 121 |
+
"how": "抓握",
|
| 122 |
+
"note_zh": "观察：Franka 的 Robotiq 夹爪夹住罐身，从桌面搬到箱上方后松开。"
|
| 123 |
+
}
|
| 124 |
+
]
|
| 125 |
+
},
|
| 126 |
+
"tuna_can_in_bin": {
|
| 127 |
+
"method": "visual",
|
| 128 |
+
"final": false,
|
| 129 |
+
"evidence": [
|
| 130 |
+
{
|
| 131 |
+
"t": 357.6,
|
| 132 |
+
"log_step": 107,
|
| 133 |
+
"text_zh": "观察：视频 0-330 s 金枪鱼罐（蓝色扁圆罐）一直原位在桌面，夹爪未靠近或夹住它；视频 322-336 s 箱体被带动拖出桌面，此后画面只剩空桌。推断（日志）：STATUS control_steps=4753（log step 103）≈ 视频 316.9 s（5371 步/358.4 s=15 步/s），此后执行的是 tuna3.py（log step 107），其首段路径从箱内 tcp[0.719,0.387,0.192] 直线移向金枪鱼罐 (0.338,-0.17,z=0.16)。"
|
| 134 |
+
}
|
| 135 |
+
],
|
| 136 |
+
"contact_actual": [
|
| 137 |
+
{
|
| 138 |
+
"who": "手指/夹爪",
|
| 139 |
+
"how": "其他",
|
| 140 |
+
"note_zh": "观察：视频 322-336 s 夹爪/手臂在箱内横向移出时碰动并拖走箱体（碰撞，非抓握）；金枪鱼罐本身未被接触。"
|
| 141 |
+
}
|
| 142 |
+
],
|
| 143 |
+
"intervals": []
|
| 144 |
+
}
|
| 145 |
+
},
|
| 146 |
+
"constraints": {}
|
| 147 |
+
},
|
| 148 |
+
"native_metrics": [],
|
| 149 |
+
"failure": {
|
| 150 |
+
"breakpoint": {
|
| 151 |
+
"ref": "tuna_can_in_bin",
|
| 152 |
+
"where": "转场",
|
| 153 |
+
"t": 322.0,
|
| 154 |
+
"log_step": 107,
|
| 155 |
+
"evidence_zh": "观察：视频 192-317 s 夹爪停在箱上方；约 317 s 起（control_steps 4753 ≈ 316.9 s）执行 tuna3.py（log step 107），夹爪从箱内向金枪鱼罐方向横向移动尚未接近，322-336 s 碰动并拖走箱体，金枪鱼罐始终留在桌面原位。"
|
| 156 |
+
},
|
| 157 |
+
"phenomena": [
|
| 158 |
+
{
|
| 159 |
+
"cat": "运动",
|
| 160 |
+
"item": "被挡/碰撞",
|
| 161 |
+
"t": 330.0,
|
| 162 |
+
"log_step": 107,
|
| 163 |
+
"evidence_zh": "观察：视频 322-336 s 三视角可见夹爪在箱内带动箱体，箱体被拖出桌面。推断：tuna3 首段路径从箱内 [0.7187,0.387,0.1917] 直线到 [0.338,-0.1705,0.16]，未先抬高越过箱壁（log step 107 脚本）。"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"root_causes": [
|
| 167 |
+
{
|
| 168 |
+
"cat": "控制",
|
| 169 |
+
"item": "轨迹或逆解",
|
| 170 |
+
"alt_feasible": "未知",
|
| 171 |
+
"evidence_zh": "推断：目标与抓取方案可行，但 tuna3 直线路径从箱内穿过箱壁，规划未避让；先抬高再横移是否可行未验证。",
|
| 172 |
+
"source_zh": "日志 / 视频"
|
| 173 |
+
}
|
| 174 |
+
],
|
| 175 |
+
"gap_zh": "根因为推断：tuna3 路径与箱壁冲突来自脚本（log step 107）与视频 322-336 s 的对照，未见状态日志碰撞读数；替代路径可行性未验证（alt_feasible 未知）。箱体被拖出后画面只剩空桌，两罐终态无法确认。",
|
| 176 |
+
"unmet": {
|
| 177 |
+
"spam_can_in_bin": true,
|
| 178 |
+
"tomato_soup_can_in_bin": true,
|
| 179 |
+
"tuna_can_in_bin": false
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"summary_zh": "观察：午餐肉罐约视频 118 s、番茄汤罐约 188 s 抓入箱内（2/3）。约 317 s 起 agent 执行 tuna3 抓取脚本，夹爪从箱内直线移向金枪鱼罐，322-336 s 碰动并拖走箱体（断点：金枪鱼罐入箱，转场，被挡/碰撞），金枪鱼罐始终未被接近。根因推断为轨迹未避让箱壁（alt_feasible 未知）；此后画面只剩空桌，两罐终态不确定。",
|
| 183 |
+
"conf": 6,
|
| 184 |
+
"review": {
|
| 185 |
+
"status": "agreed",
|
| 186 |
+
"rounds": 2,
|
| 187 |
+
"reviewers": [
|
| 188 |
+
{
|
| 189 |
+
"engine": "claude",
|
| 190 |
+
"model": "claude-sonnet-5-5",
|
| 191 |
+
"round": 1,
|
| 192 |
+
"verdict": "fix",
|
| 193 |
+
"conf": 7,
|
| 194 |
+
"summary_zh": "两罐入箱的时间与接触基本可信，但断点与现象有误：视频 322 s 起的机械臂动作正是 agent 的金枪鱼抓取脚本 tuna3 的执行（control step 4753≈视频 316.9 s，按 15 steps/s = 5 fps×3 steps/帧换算），不是“没尝试”。该动作从箱内直接横向移向金枪鱼罐，碰动并拖走了箱体，应标为尝试后被挡/碰撞，而不是首步前没尝试；根因也不应留空。",
|
| 195 |
+
"n_issues": 3,
|
| 196 |
+
"n_major": 2
|
| 197 |
+
},
|
| 198 |
+
{
|
| 199 |
+
"engine": "claude",
|
| 200 |
+
"model": "claude-sonnet-5-5",
|
| 201 |
+
"round": 2,
|
| 202 |
+
"verdict": "agree",
|
| 203 |
+
"conf": 7,
|
| 204 |
+
"summary_zh": "第二轮标注与视频一致：午餐肉罐、番茄汤罐约 118 s / 188 s 入箱，金枪鱼罐始终留在桌面；317 s 起 tuna3 从箱内横移，322-336 s 碰动并拖走箱体；断点、现象、根因和不确定性说明均有证据支持。",
|
| 205 |
+
"n_issues": 0,
|
| 206 |
+
"n_major": 0
|
| 207 |
+
}
|
| 208 |
+
],
|
| 209 |
+
"open_zh": []
|
| 210 |
+
},
|
| 211 |
+
"provenance": {
|
| 212 |
+
"prompt": "prompts/03_trajectory.md",
|
| 213 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 214 |
+
"engine": "claude",
|
| 215 |
+
"model": "claude-sonnet-5-5",
|
| 216 |
+
"effort": "high",
|
| 217 |
+
"created": "2026-11-08T22:10:46Z",
|
| 218 |
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"review_prompt": "prompts/04_trajectory_review.md",
|
| 219 |
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"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 220 |
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"reconcile_prompt": "prompts/05_reconcile.md",
|
| 221 |
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"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 222 |
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"calls": [
|
| 223 |
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{
|
| 224 |
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"stage": "traj",
|
| 225 |
+
"round": 0,
|
| 226 |
+
"ok": true,
|
| 227 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--pniwntg/03_label"
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"stage": "traj_review",
|
| 231 |
+
"round": 1,
|
| 232 |
+
"ok": true,
|
| 233 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--pniwntg/04_review_r1"
|
| 234 |
+
},
|
| 235 |
+
{
|
| 236 |
+
"stage": "reconcile",
|
| 237 |
+
"round": 1,
|
| 238 |
+
"ok": true,
|
| 239 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--pniwntg/05_reconcile_r1"
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"stage": "traj_review",
|
| 243 |
+
"round": 2,
|
| 244 |
+
"ok": true,
|
| 245 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--pniwntg/04_review_r2"
|
| 246 |
+
}
|
| 247 |
+
],
|
| 248 |
+
"review_engine": "claude",
|
| 249 |
+
"review_model": "claude-sonnet-5-5",
|
| 250 |
+
"inputs": {
|
| 251 |
+
"run_json_sha256": "4138b2b3bdebfb61402ec35b436bf104c04f5e85a2b1d44e5dd1fa82a3b34995",
|
| 252 |
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"video_sha256": "5022517342d44c46bf4f6ad3e0728feaa1cfcbe2aacc1b1aef35b6ca2c49f5af",
|
| 253 |
+
"states_sha256": null,
|
| 254 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 255 |
+
},
|
| 256 |
+
"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."
|
| 257 |
+
}
|
| 258 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--tudufzp.json
ADDED
|
@@ -0,0 +1,246 @@
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|
| 1 |
+
{
|
| 2 |
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"schema": "efe-trajectory-labels/1",
|
| 3 |
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"taxonomy": "v2",
|
| 4 |
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"runId": "robolab-food-packing3-cans-i00-standard--tudufzp",
|
| 5 |
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"taskKey": "robolab/food_packing3_cans",
|
| 6 |
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"dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487",
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"success": 0,
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"source": "catalog",
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"finalized": 1,
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"sim_steps": 2680,
|
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"physics_steps": 21440,
|
| 21 |
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"steps": 130,
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| 22 |
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"elapsed_s": 1676.0,
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"settle_steps": 30,
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"settle_error": 0,
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"video_rendered": 1,
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"video_frames": 895,
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"instance_mismatch": 0,
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"instance_exact": 1,
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| 30 |
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"grader_error": 0,
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"infra_error": 0,
|
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"gave_up": 0,
|
| 33 |
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"sim_crashed_on_call": 0,
|
| 34 |
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"sim_startups": 1,
|
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"resumes": 0,
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"resume_state_mismatch": 0,
|
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"resume_max_tcp_dev_m": 0.0,
|
| 38 |
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"resume_max_joint_dev": 0.0,
|
| 39 |
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"resource_enforced": 0,
|
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"limits_violation_observed": 0,
|
| 41 |
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"resource_monitor_missing": 0,
|
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"peak_gpu_memory_gb": 0,
|
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"peak_memory_gb": 0.326,
|
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"peak_processes": 9,
|
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"peak_disk_gb": 0.374,
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"peak_cpus": 5.44,
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"peak_pids": 42,
|
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"resource_memory_kills": 0,
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"resource_pids_kills": 0,
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"resource_disk_kills": 0,
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"resource_gpu_memory_kills": 0,
|
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"resource_monitor_kills": 0,
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"resource_emergency_kills": 0,
|
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"resource_limit_exceeded": 0,
|
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"resource_cpu_throttles": 0,
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"resource_cpu_throttled_sec": 0.0,
|
| 57 |
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"resource_oom_kills": 0,
|
| 58 |
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"resource_host_oom_kills": 0,
|
| 59 |
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"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-food-packing3-cans-i00-standard--tudufzp.mp4",
|
| 65 |
+
"duration_s": 179.0,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 895,
|
| 68 |
+
"sha256": "8c9b854b2f5a0fd75044624d303313743d9c4325e68405c073ea413453afe572"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 3,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 1,
|
| 76 |
+
"final": 1,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"spam_can_in_bin": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [
|
| 81 |
+
[
|
| 82 |
+
38.5,
|
| 83 |
+
null
|
| 84 |
+
]
|
| 85 |
+
],
|
| 86 |
+
"final": true,
|
| 87 |
+
"evidence": [
|
| 88 |
+
{
|
| 89 |
+
"t": 38.5,
|
| 90 |
+
"log_step": null,
|
| 91 |
+
"text_zh": "观察：视频 34-38 s 夹爪夹着蓝/绿午餐肉罐在箱口上方，约 38.5 s 起罐位于箱内，此后至视频 178 s 的箱内视角一直可见罐留在箱内。"
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"contact_actual": [
|
| 95 |
+
{
|
| 96 |
+
"who": "手指/夹爪",
|
| 97 |
+
"how": "抓握",
|
| 98 |
+
"note_zh": "观察：Franka 夹爪夹住午餐肉罐搬入箱内（视频约 30-38 s）。"
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"tomato_soup_can_in_bin": {
|
| 103 |
+
"method": "visual",
|
| 104 |
+
"intervals": [],
|
| 105 |
+
"final": false,
|
| 106 |
+
"evidence": [
|
| 107 |
+
{
|
| 108 |
+
"t": 42,
|
| 109 |
+
"log_step": null,
|
| 110 |
+
"text_zh": "观察：视频 38-42 s 及之后前视角中番茄汤罐仍留在桌面（番茄汤罐侧躺、金枪鱼罐在原处），箱内视角只有午餐肉罐，未见番茄汤罐入箱。"
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"contact_actual": [
|
| 114 |
+
{
|
| 115 |
+
"who": "手指/夹爪",
|
| 116 |
+
"how": "抓握",
|
| 117 |
+
"note_zh": "观察：视频 60-110 s 腕部视角夹爪在侧躺番茄汤罐上闭合尝试；服务读数提升后开度 1.8 mm，罐未被带起（log step 98/122）。金枪鱼罐同样出现 1.8 mm 读数（step 124）。"
|
| 118 |
+
}
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
"tuna_can_in_bin": {
|
| 122 |
+
"method": "visual",
|
| 123 |
+
"intervals": [],
|
| 124 |
+
"final": false,
|
| 125 |
+
"evidence": [
|
| 126 |
+
{
|
| 127 |
+
"t": 42,
|
| 128 |
+
"log_step": null,
|
| 129 |
+
"text_zh": "观察：视频 38-42 s 及之后前视角中金枪鱼罐仍留在桌面（番茄汤罐侧躺、金枪鱼罐在原处），箱内视角只有午餐肉罐，未见金枪鱼罐入箱。"
|
| 130 |
+
}
|
| 131 |
+
],
|
| 132 |
+
"contact_actual": [
|
| 133 |
+
{
|
| 134 |
+
"who": "未知",
|
| 135 |
+
"how": "未知",
|
| 136 |
+
"note_zh": "同上，无法确认夹爪与金枪鱼罐的接触。"
|
| 137 |
+
}
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"constraints": {}
|
| 142 |
+
},
|
| 143 |
+
"native_metrics": [],
|
| 144 |
+
"failure": {
|
| 145 |
+
"breakpoint": {
|
| 146 |
+
"ref": "tomato_soup_can_in_bin",
|
| 147 |
+
"where": "操作中",
|
| 148 |
+
"t": 42,
|
| 149 |
+
"evidence_zh": "观察：午餐肉罐入箱后，视频 42 s 至 178 s 前视角中番茄汤罐、金枪鱼罐始终留在桌面，没有再被搬入箱。推断：机器人转去处理番茄汤罐但从未完成。",
|
| 150 |
+
"log_step": null
|
| 151 |
+
},
|
| 152 |
+
"phenomena": [
|
| 153 |
+
{
|
| 154 |
+
"cat": "接触",
|
| 155 |
+
"item": "没建立接触",
|
| 156 |
+
"t": 100,
|
| 157 |
+
"log_step": 98,
|
| 158 |
+
"evidence_zh": "观察：视频 100 s 腕部视角夹爪在番茄汤罐旁，罐仍在桌面；服务读数（单次实时 episode）log step 98、122、124 提升后夹爪开度 1.8 mm（完全闭合，指间无罐），脚本报 'Dropped during lift'。推断：夹爪闭合时指间没有罐，抓取没成立；是从未夹住还是夹住后滑脱，现有读数分不开。",
|
| 159 |
+
"note_zh": "若为夹住后滑脱则应为没保持住。"
|
| 160 |
+
}
|
| 161 |
+
],
|
| 162 |
+
"root_causes": [],
|
| 163 |
+
"gap_zh": "根因证据不足：侧躺番茄汤罐的抓取位姿是否可行（alt_feasible）未验证，日志 agent 自述不作根因证据。视频约 150 s 后服务读数 proprio 为 nan（log step 218-236，/status control_steps 仍在增加）且相机视角移出桌面，末段无法判断；这是看不清的原因，不据此给机器人失败标签。",
|
| 164 |
+
"unmet": {
|
| 165 |
+
"spam_can_in_bin": true,
|
| 166 |
+
"tomato_soup_can_in_bin": false,
|
| 167 |
+
"tuna_can_in_bin": false
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"summary_zh": "观察：视频 38.5 s 午餐肉罐被夹入箱内，番茄汤罐和金枪鱼罐直到视频结束（178 s）仍在桌面，完成 1/3。断点在番茄汤罐入箱；因第二、三罐的操作画面看不清，现象与根因留空（见 gap_zh）。 断点处夹爪多次闭合但指间无罐（开度 1.8 mm），罐留在桌面。",
|
| 171 |
+
"conf": 5,
|
| 172 |
+
"review": {
|
| 173 |
+
"status": "agreed",
|
| 174 |
+
"rounds": 2,
|
| 175 |
+
"reviewers": [
|
| 176 |
+
{
|
| 177 |
+
"engine": "claude",
|
| 178 |
+
"model": "claude-sonnet-5-5",
|
| 179 |
+
"round": 1,
|
| 180 |
+
"verdict": "fix",
|
| 181 |
+
"conf": 6,
|
| 182 |
+
"summary_zh": "进度(1/3)、各节点时间和断点位置经视频核对无误；但 failure 的现象/根因整层留空，而服务侧读数(夹爪闭合到 1.8 mm 并报告 'Dropped during lift')和视频显示对番茄汤罐/金枪鱼罐的多次抓取都没有把罐子夹住提起，应至少给出一个现象。",
|
| 183 |
+
"n_issues": 3,
|
| 184 |
+
"n_major": 1
|
| 185 |
+
},
|
| 186 |
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{
|
| 187 |
+
"engine": "claude",
|
| 188 |
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"model": "claude-sonnet-5-5",
|
| 189 |
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"round": 2,
|
| 190 |
+
"verdict": "agree",
|
| 191 |
+
"conf": 6,
|
| 192 |
+
"summary_zh": "第二轮：进度 1/3、午餐肉罐约 38.5 s 入箱、断点在番茄汤罐、没建立接触现象（注明与没保持住分不开）及空的根因层（有 gap_zh）与视频和服务读数一致，未发现需要修改的错误。",
|
| 193 |
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"n_issues": 0,
|
| 194 |
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"n_major": 0
|
| 195 |
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}
|
| 196 |
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],
|
| 197 |
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"open_zh": []
|
| 198 |
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},
|
| 199 |
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"provenance": {
|
| 200 |
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"prompt": "prompts/03_trajectory.md",
|
| 201 |
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"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
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| 202 |
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"engine": "claude",
|
| 203 |
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"model": "claude-sonnet-5-5",
|
| 204 |
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"effort": "high",
|
| 205 |
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"created": "2026-11-08T22:10:40Z",
|
| 206 |
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"review_prompt": "prompts/04_trajectory_review.md",
|
| 207 |
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"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 208 |
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"reconcile_prompt": "prompts/05_reconcile.md",
|
| 209 |
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"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
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| 210 |
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"calls": [
|
| 211 |
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{
|
| 212 |
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"stage": "traj",
|
| 213 |
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"round": 0,
|
| 214 |
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"ok": true,
|
| 215 |
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"space": "work/runs/robolab-food-packing3-cans-i00-standard--tudufzp/03_label"
|
| 216 |
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},
|
| 217 |
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{
|
| 218 |
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"stage": "traj_review",
|
| 219 |
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"round": 1,
|
| 220 |
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"ok": true,
|
| 221 |
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"space": "work/runs/robolab-food-packing3-cans-i00-standard--tudufzp/04_review_r1"
|
| 222 |
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},
|
| 223 |
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{
|
| 224 |
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"stage": "reconcile",
|
| 225 |
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"round": 1,
|
| 226 |
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"ok": true,
|
| 227 |
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"space": "work/runs/robolab-food-packing3-cans-i00-standard--tudufzp/05_reconcile_r1"
|
| 228 |
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},
|
| 229 |
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{
|
| 230 |
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"stage": "traj_review",
|
| 231 |
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"round": 2,
|
| 232 |
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"ok": true,
|
| 233 |
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"space": "work/runs/robolab-food-packing3-cans-i00-standard--tudufzp/04_review_r2"
|
| 234 |
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}
|
| 235 |
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],
|
| 236 |
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"review_engine": "claude",
|
| 237 |
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"review_model": "claude-sonnet-5-5",
|
| 238 |
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"inputs": {
|
| 239 |
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"run_json_sha256": "062ff6bf148f48c8ef40dbda5ef01311a38d7453e733e5afaf56557dd80397d0",
|
| 240 |
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"video_sha256": "8c9b854b2f5a0fd75044624d303313743d9c4325e68405c073ea413453afe572",
|
| 241 |
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"states_sha256": null,
|
| 242 |
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"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 243 |
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},
|
| 244 |
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"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."
|
| 245 |
+
}
|
| 246 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--vcpi6oy.json
ADDED
|
@@ -0,0 +1,250 @@
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| 1 |
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{
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| 2 |
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|
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},
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"video": {
|
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"kind": "media",
|
| 64 |
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"url": "media:robolab-food-packing3-cans-i00-standard--vcpi6oy.mp4",
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| 65 |
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"duration_s": 81.0,
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"fps": 5.0,
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"frames": 405,
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|
| 69 |
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},
|
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"state": null,
|
| 71 |
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"progress": {
|
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"method": "visual",
|
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|
| 74 |
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|
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"peak": 1,
|
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|
| 77 |
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"nodes": {
|
| 78 |
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"spam_can_in_bin": {
|
| 79 |
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"method": "visual",
|
| 80 |
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"intervals": [
|
| 81 |
+
[
|
| 82 |
+
16.6,
|
| 83 |
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73.0
|
| 84 |
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]
|
| 85 |
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],
|
| 86 |
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"final": null,
|
| 87 |
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"evidence": [
|
| 88 |
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{
|
| 89 |
+
"t": 17.0,
|
| 90 |
+
"log_step": 18,
|
| 91 |
+
"text_zh": "观察：视频 8 s 夹爪夹着午餐肉罐越过箱沿，16 s 左右罐从夹爪滑落，视频 17 s 起罐立在箱内芥末瓶旁，之后一直在箱内。"
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"t": 73.0,
|
| 95 |
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"log_step": 38,
|
| 96 |
+
"text_zh": "观察：视频 72-73 s 手臂突然大幅乱摆撞到箱体，箱体翻倒，之后箱与午餐肉罐均不在画面中；推断：罐随箱移动时与箱的空间关系未必丢失，翻倒后罐位置不可见，终态无法判定（final 未知；整体失败由番茄汤罐未入箱决定）。"
|
| 97 |
+
}
|
| 98 |
+
],
|
| 99 |
+
"contact_actual": [
|
| 100 |
+
{
|
| 101 |
+
"who": "手指/夹爪",
|
| 102 |
+
"how": "抓握",
|
| 103 |
+
"note_zh": "夹爪抓握午餐肉罐搬向箱，移动中滑落进箱"
|
| 104 |
+
}
|
| 105 |
+
]
|
| 106 |
+
},
|
| 107 |
+
"tomato_soup_can_in_bin": {
|
| 108 |
+
"method": "visual",
|
| 109 |
+
"intervals": [],
|
| 110 |
+
"final": false,
|
| 111 |
+
"evidence": [
|
| 112 |
+
{
|
| 113 |
+
"t": 49.5,
|
| 114 |
+
"log_step": 29,
|
| 115 |
+
"text_zh": "观察：视频 40-49 s 夹爪在布丁盒上方夹住番茄汤罐并抬起，约 49.5 s 后罐从桌面和画面消失（掉落/被带走），之后任何帧都不在箱内；整段未进箱。"
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"contact_actual": [
|
| 119 |
+
{
|
| 120 |
+
"who": "手指/夹爪",
|
| 121 |
+
"how": "抓握",
|
| 122 |
+
"note_zh": "夹爪第二次抓握番茄汤罐抬起，移向箱的第一步即掉落"
|
| 123 |
+
}
|
| 124 |
+
]
|
| 125 |
+
},
|
| 126 |
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"tuna_can_in_bin": {
|
| 127 |
+
"method": "visual",
|
| 128 |
+
"intervals": [],
|
| 129 |
+
"final": false,
|
| 130 |
+
"evidence": [
|
| 131 |
+
{
|
| 132 |
+
"t": 81.0,
|
| 133 |
+
"log_step": 38,
|
| 134 |
+
"text_zh": "观察：金枪鱼罐自始至终留在桌面左侧（视频 0-81 s），机器人从未靠近它；agent 自述其宽度约等于夹爪最大开度（log step 38）。"
|
| 135 |
+
}
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"constraints": {}
|
| 140 |
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},
|
| 141 |
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"native_metrics": [],
|
| 142 |
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"failure": {
|
| 143 |
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"breakpoint": {
|
| 144 |
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"ref": "tomato_soup_can_in_bin",
|
| 145 |
+
"where": "操作中",
|
| 146 |
+
"t": 49.5,
|
| 147 |
+
"log_step": 29,
|
| 148 |
+
"evidence_zh": "观察：视频约 49.5 s 夹爪抬起的番茄汤罐离开画面，罐不在桌面也不在箱内；agent 自述“可罐在途中掉落”（log step 38）。此后 72-73 s 手臂乱摆把箱打翻，未再尝试补救。"
|
| 149 |
+
},
|
| 150 |
+
"phenomena": [
|
| 151 |
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{
|
| 152 |
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"cat": "接触",
|
| 153 |
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"item": "没保持住",
|
| 154 |
+
"t": 49.5,
|
| 155 |
+
"log_step": 29,
|
| 156 |
+
"evidence_zh": "观察：视频 40-49 s 夹爪夹住番茄汤罐抬起，约 49.5 s 后罐消失于桌面，未进箱（持住后又丢失）。"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"root_causes": [
|
| 160 |
+
{
|
| 161 |
+
"cat": "控制",
|
| 162 |
+
"item": "控制",
|
| 163 |
+
"evidence_zh": "agent 自述用末端位姿接口分小步移动时第一步手臂大幅偏离目标、罐掉落，随后撤退动作让手臂到达异常姿态并打翻箱（log step 38）；视频 72-73 s 可见手臂乱摆撞箱。",
|
| 164 |
+
"source_zh": "agent 自述 + 视频"
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"gap_zh": "无状态日志；罐掉落的瞬间���去向、以及箱翻倒后午餐肉罐的位置在画面外，故午餐肉罐终态和罐掉落细节无法直接确认。",
|
| 168 |
+
"unmet": {
|
| 169 |
+
"spam_can_in_bin": null,
|
| 170 |
+
"tomato_soup_can_in_bin": false,
|
| 171 |
+
"tuna_can_in_bin": false
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"summary_zh": "任务设计无问题。观察：午餐肉罐在视频约 16.6 s 入箱（途中滑落进箱），番茄汤罐抬起后约 49.5 s 掉落、从未入箱，金枪鱼罐未尝试；约 72-73 s 手臂乱摆把箱打翻，最终 0/3。断点为番茄汤罐入箱（操作中），现象没保持住，根因归为控制（末端位姿接口移动失准，来自 agent 自述与视频）。无状态日志，箱翻倒后午餐肉罐位置不可见，其终态未知（null）。",
|
| 175 |
+
"conf": 6,
|
| 176 |
+
"review": {
|
| 177 |
+
"status": "agreed",
|
| 178 |
+
"rounds": 2,
|
| 179 |
+
"reviewers": [
|
| 180 |
+
{
|
| 181 |
+
"engine": "claude",
|
| 182 |
+
"model": "claude-sonnet-5-5",
|
| 183 |
+
"round": 1,
|
| 184 |
+
"verdict": "fix",
|
| 185 |
+
"conf": 6,
|
| 186 |
+
"summary_zh": "WHERE 标签（番茄汤罐断点、49.5 s 附近丢罐、金枪鱼未尝试）与视频和 log 一致；唯一问题是午餐肉罐终态 false 的推断自相矛盾：罐在箱内，箱被打翻后罐随箱移动并不意味着失去箱内关系，视频与 log 都无法判定罐是否留在箱中。",
|
| 187 |
+
"n_issues": 1,
|
| 188 |
+
"n_major": 1
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"engine": "claude",
|
| 192 |
+
"model": "claude-sonnet-5-5",
|
| 193 |
+
"round": 2,
|
| 194 |
+
"verdict": "agree",
|
| 195 |
+
"conf": 6,
|
| 196 |
+
"summary_zh": "第二轮：午餐肉罐 final 已改 unknown，其余 WHERE 标签（番茄汤罐断点约 49.5 s、金枪鱼未尝试、箱内午餐肉罐 17-60 s 可见）与帧一致，未发现需改内容的错误。",
|
| 197 |
+
"n_issues": 0,
|
| 198 |
+
"n_major": 0
|
| 199 |
+
}
|
| 200 |
+
],
|
| 201 |
+
"open_zh": []
|
| 202 |
+
},
|
| 203 |
+
"provenance": {
|
| 204 |
+
"prompt": "prompts/03_trajectory.md",
|
| 205 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 206 |
+
"engine": "claude",
|
| 207 |
+
"model": "claude-sonnet-5-5",
|
| 208 |
+
"effort": "high",
|
| 209 |
+
"created": "2026-11-08T22:09:53Z",
|
| 210 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 211 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 212 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 213 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 214 |
+
"calls": [
|
| 215 |
+
{
|
| 216 |
+
"stage": "traj",
|
| 217 |
+
"round": 0,
|
| 218 |
+
"ok": true,
|
| 219 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--vcpi6oy/03_label"
|
| 220 |
+
},
|
| 221 |
+
{
|
| 222 |
+
"stage": "traj_review",
|
| 223 |
+
"round": 1,
|
| 224 |
+
"ok": true,
|
| 225 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--vcpi6oy/04_review_r1"
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"stage": "reconcile",
|
| 229 |
+
"round": 1,
|
| 230 |
+
"ok": true,
|
| 231 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--vcpi6oy/05_reconcile_r1"
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"stage": "traj_review",
|
| 235 |
+
"round": 2,
|
| 236 |
+
"ok": true,
|
| 237 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--vcpi6oy/04_review_r2"
|
| 238 |
+
}
|
| 239 |
+
],
|
| 240 |
+
"review_engine": "claude",
|
| 241 |
+
"review_model": "claude-sonnet-5-5",
|
| 242 |
+
"inputs": {
|
| 243 |
+
"run_json_sha256": "f7360234eaffe9c0fe3efe9bce040c118cac93f660f755533ea291e47171f06f",
|
| 244 |
+
"video_sha256": "b26395ec412cd369ac2749e15c0acd72aee9e5c6b3bb05c2099a9335ce8db5b9",
|
| 245 |
+
"states_sha256": null,
|
| 246 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 247 |
+
},
|
| 248 |
+
"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."
|
| 249 |
+
}
|
| 250 |
+
}
|
phaseR/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--zqx7jxe.json
ADDED
|
@@ -0,0 +1,253 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-food-packing3-cans-i00-standard--zqx7jxe",
|
| 5 |
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"taskKey": "robolab/food_packing3_cans",
|
| 6 |
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"dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487",
|
| 7 |
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"outcome": {
|
| 8 |
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"success": 0,
|
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"reward": 0.0,
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| 10 |
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"source": "catalog",
|
| 11 |
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"raw": {
|
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"success": 0,
|
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"live_success": 0,
|
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"graded_by_live": 1,
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| 15 |
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"replays": 0,
|
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"finalized": 1,
|
| 17 |
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"missing_log": 0,
|
| 18 |
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"n_actions": 3336,
|
| 19 |
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"sim_steps": 3336,
|
| 20 |
+
"physics_steps": 26688,
|
| 21 |
+
"steps": 113,
|
| 22 |
+
"elapsed_s": 2867.0,
|
| 23 |
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"settle_steps": 30,
|
| 24 |
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"settle_error": 0,
|
| 25 |
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"video_rendered": 1,
|
| 26 |
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"video_frames": 1114,
|
| 27 |
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|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
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"sim_startups": 1,
|
| 35 |
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"resumes": 0,
|
| 36 |
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"resume_state_mismatch": 0,
|
| 37 |
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"resume_max_tcp_dev_m": 0.0,
|
| 38 |
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"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
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"limits_violation_observed": 0,
|
| 41 |
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"resource_monitor_missing": 0,
|
| 42 |
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"peak_gpu_memory_gb": 0,
|
| 43 |
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"peak_memory_gb": 0.315,
|
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"peak_processes": 11,
|
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"peak_disk_gb": 0.339,
|
| 46 |
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"peak_cpus": 1.27,
|
| 47 |
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"peak_pids": 92,
|
| 48 |
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"resource_memory_kills": 0,
|
| 49 |
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"resource_pids_kills": 0,
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| 50 |
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"resource_disk_kills": 0,
|
| 51 |
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"resource_gpu_memory_kills": 0,
|
| 52 |
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"resource_monitor_kills": 0,
|
| 53 |
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"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
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"resource_cpu_throttles": 0,
|
| 56 |
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"resource_cpu_throttled_sec": 0.0,
|
| 57 |
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"resource_oom_kills": 0,
|
| 58 |
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"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-food-packing3-cans-i00-standard--zqx7jxe.mp4",
|
| 65 |
+
"duration_s": 222.8,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 1114,
|
| 68 |
+
"sha256": "fb395b6566a548cbd3745698050f0c608e470efa08d412b718b1d24dc8754f3a"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 3,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 1,
|
| 76 |
+
"final": 1,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"spam_can_in_bin": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [
|
| 81 |
+
[
|
| 82 |
+
44.0,
|
| 83 |
+
null
|
| 84 |
+
]
|
| 85 |
+
],
|
| 86 |
+
"final": true,
|
| 87 |
+
"evidence": [
|
| 88 |
+
{
|
| 89 |
+
"t": 44.0,
|
| 90 |
+
"log_step": null,
|
| 91 |
+
"text_zh": "观察：视频约 40-48 s 左肩视角中，夹爪把绿色罐身的午餐肉罐搬到箱口上方并松开，之后它留在箱内；后续约 80-100 s 箱体被碰倒滑出桌面，罐头随箱而去。推断：入箱时刻约 44 s（±4 s），箱倒后罐仍在箱内（agent 自述罐在箱内，仅作旁证），故最终保持为真。"
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"contact_actual": [
|
| 95 |
+
{
|
| 96 |
+
"who": "手指/夹爪",
|
| 97 |
+
"how": "抓握",
|
| 98 |
+
"note_zh": "观察：Robotiq 夹爪夹住午餐肉罐罐身搬入箱内并松开。"
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"tomato_soup_can_in_bin": {
|
| 103 |
+
"method": "visual",
|
| 104 |
+
"intervals": [],
|
| 105 |
+
"final": false,
|
| 106 |
+
"evidence": [
|
| 107 |
+
{
|
| 108 |
+
"t": 6.0,
|
| 109 |
+
"log_step": null,
|
| 110 |
+
"text_zh": "观察：视频约 3-9 s 夹爪对番茄汤罐的第一次抓取落空并把罐碰离布丁盒，之后全程番茄罐停在桌面，没有进入箱内（视频 205-222 s 桌面上仍有罐头，箱已不在桌上）。"
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"contact_actual": [
|
| 114 |
+
{
|
| 115 |
+
"who": "手指/夹爪",
|
| 116 |
+
"how": "推/扫",
|
| 117 |
+
"note_zh": "观察：夹爪合拢未夹住，把番茄汤罐碰倒/碰离原位。"
|
| 118 |
+
}
|
| 119 |
+
]
|
| 120 |
+
},
|
| 121 |
+
"tuna_can_in_bin": {
|
| 122 |
+
"method": "visual",
|
| 123 |
+
"intervals": [],
|
| 124 |
+
"final": false,
|
| 125 |
+
"evidence": [
|
| 126 |
+
{
|
| 127 |
+
"t": null,
|
| 128 |
+
"log_step": 63,
|
| 129 |
+
"text_zh": "观察：log step 63 agent 对金枪鱼罐位置(0.339,-0.168)发起抓取调用（Pick up tuna can），调用超时 600 s 被终止；视频中罐未被抬起、未入箱，末段仍在桌面，箱体已不在桌上。"
|
| 130 |
+
}
|
| 131 |
+
],
|
| 132 |
+
"contact_actual": [
|
| 133 |
+
{
|
| 134 |
+
"who": "手指/夹爪",
|
| 135 |
+
"how": "未知",
|
| 136 |
+
"note_zh": "抓取尝试，帧上看不出是否接触"
|
| 137 |
+
}
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"constraints": {}
|
| 142 |
+
},
|
| 143 |
+
"native_metrics": [],
|
| 144 |
+
"failure": {
|
| 145 |
+
"breakpoint": {
|
| 146 |
+
"ref": "tomato_soup_can_in_bin",
|
| 147 |
+
"where": "操作中",
|
| 148 |
+
"t": 6.0,
|
| 149 |
+
"log_step": null,
|
| 150 |
+
"evidence_zh": "观察：视频约 3-9 s 番茄汤罐首次抓取落空，罐被碰离布丁盒，此后该步从未完成（agent 自述 first soup-can grasp failed，close 开度 0.0018，仅作旁证）。"
|
| 151 |
+
},
|
| 152 |
+
"phenomena": [
|
| 153 |
+
{
|
| 154 |
+
"cat": "接触",
|
| 155 |
+
"item": "没建立接触",
|
| 156 |
+
"t": 6.0,
|
| 157 |
+
"log_step": null,
|
| 158 |
+
"evidence_zh": "观察：视频约 3-9 s 夹爪合拢时罐体未被夹住，罐被碰掉；日志自述合拢开度 0.0018（空夹）。"
|
| 159 |
+
}
|
| 160 |
+
],
|
| 161 |
+
"root_causes": [
|
| 162 |
+
{
|
| 163 |
+
"cat": "控制",
|
| 164 |
+
"item": "抓取和接触设计",
|
| 165 |
+
"evidence_zh": "推断：夹爪对位后合拢落空，打倒细高罐，抓取接触设计/定位偏差；子类型不明。",
|
| 166 |
+
"source_zh": "视频、agent 自述",
|
| 167 |
+
"alt_feasible": "未知"
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"gap_zh": "视频为三视角轮播，箱体被碰倒的精确时刻及��倒后午餐肉罐是否仍在箱凸包内无法直接看到（箱滑出画面），按 agent 自述与最后可见帧推断；金枪鱼罐的抓取尝试见 log step 63（超时），帧上看不出是否接触。agent 称服务调用超时后箱被撞离桌面，属会话证据，未单独标注现象。",
|
| 171 |
+
"unmet": {
|
| 172 |
+
"spam_can_in_bin": true,
|
| 173 |
+
"tomato_soup_can_in_bin": false,
|
| 174 |
+
"tuna_can_in_bin": false
|
| 175 |
+
}
|
| 176 |
+
},
|
| 177 |
+
"summary_zh": "观察：三罐中仅午餐肉罐在视频约 44 s 入箱（1/3）；番茄汤罐首次抓取落空，后来箱体被碰出桌面，金枪鱼罐未完成。断点为番茄汤罐入箱（操作中），现象没建立接触，根因控制。证据缺口：箱倒时刻与午餐肉罐终态由推断。",
|
| 178 |
+
"conf": 5,
|
| 179 |
+
"review": {
|
| 180 |
+
"status": "agreed",
|
| 181 |
+
"rounds": 2,
|
| 182 |
+
"reviewers": [
|
| 183 |
+
{
|
| 184 |
+
"engine": "claude",
|
| 185 |
+
"model": "claude-sonnet-5-5",
|
| 186 |
+
"round": 1,
|
| 187 |
+
"verdict": "fix",
|
| 188 |
+
"conf": 6,
|
| 189 |
+
"summary_zh": "WHERE 标签（午餐肉罐约 44 s 入箱、番茄汤罐首抓落空为断点 t≈6 s、没建立接触）与视频一致；唯一需改的是金枪鱼罐节点：它其实被尝试过，证据文字与 contact_actual 写成「未见动作/未知」不准确。",
|
| 190 |
+
"n_issues": 1,
|
| 191 |
+
"n_major": 0
|
| 192 |
+
},
|
| 193 |
+
{
|
| 194 |
+
"engine": "claude",
|
| 195 |
+
"model": "claude-sonnet-5-5",
|
| 196 |
+
"round": 2,
|
| 197 |
+
"verdict": "agree",
|
| 198 |
+
"conf": 6,
|
| 199 |
+
"summary_zh": "午餐肉罐约 44 s 起在箱口上方被夹持入箱范围、番茄汤罐首抓落空为断点（t≈6 s）、金枪鱼罐未完成，均与视频一致；现象「没建立接触」与根因「抓取和接触设计」有 log step 39-42 的空夹（开度 0.0018）和视频支持，未发现需要改的内容。",
|
| 200 |
+
"n_issues": 0,
|
| 201 |
+
"n_major": 0
|
| 202 |
+
}
|
| 203 |
+
],
|
| 204 |
+
"open_zh": []
|
| 205 |
+
},
|
| 206 |
+
"provenance": {
|
| 207 |
+
"prompt": "prompts/03_trajectory.md",
|
| 208 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 209 |
+
"engine": "claude",
|
| 210 |
+
"model": "claude-sonnet-5-5",
|
| 211 |
+
"effort": "high",
|
| 212 |
+
"created": "2026-11-08T22:11:45Z",
|
| 213 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 214 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 215 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 216 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 217 |
+
"calls": [
|
| 218 |
+
{
|
| 219 |
+
"stage": "traj",
|
| 220 |
+
"round": 0,
|
| 221 |
+
"ok": true,
|
| 222 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--zqx7jxe/03_label"
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"stage": "traj_review",
|
| 226 |
+
"round": 1,
|
| 227 |
+
"ok": true,
|
| 228 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--zqx7jxe/04_review_r1"
|
| 229 |
+
},
|
| 230 |
+
{
|
| 231 |
+
"stage": "reconcile",
|
| 232 |
+
"round": 1,
|
| 233 |
+
"ok": true,
|
| 234 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--zqx7jxe/05_reconcile_r1"
|
| 235 |
+
},
|
| 236 |
+
{
|
| 237 |
+
"stage": "traj_review",
|
| 238 |
+
"round": 2,
|
| 239 |
+
"ok": true,
|
| 240 |
+
"space": "work/runs/robolab-food-packing3-cans-i00-standard--zqx7jxe/04_review_r2"
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"review_engine": "claude",
|
| 244 |
+
"review_model": "claude-sonnet-5-5",
|
| 245 |
+
"inputs": {
|
| 246 |
+
"run_json_sha256": "48627c08ba3c7bb5e9316156b0a5b14c6e7259c51f0138e0b9636981ee442e6e",
|
| 247 |
+
"video_sha256": "fb395b6566a548cbd3745698050f0c608e470efa08d412b718b1d24dc8754f3a",
|
| 248 |
+
"states_sha256": null,
|
| 249 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 250 |
+
},
|
| 251 |
+
"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."
|
| 252 |
+
}
|
| 253 |
+
}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--3v4igxu.json
ADDED
|
@@ -0,0 +1,184 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-put-two-mugs-on-shelf-i00-privileged--3v4igxu",
|
| 5 |
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"taskKey": "robolab/put_two_mugs_on_shelf",
|
| 6 |
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"dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e",
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|
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"reward": 0.0,
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"source": "catalog",
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"raw": {
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"deterministic": 1,
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"instance_ok": 1,
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"instance_exact": 1,
|
| 17 |
+
"n_actions": 12,
|
| 18 |
+
"sim_steps": 42,
|
| 19 |
+
"final_reward": 0.0,
|
| 20 |
+
"replay_wall_s": 447.0,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
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+
"grader_error": 0,
|
| 23 |
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"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 4,
|
| 26 |
+
"agent_resets": 9,
|
| 27 |
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"agent_sim_steps": 0,
|
| 28 |
+
"agent_records": 0,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 5.945,
|
| 35 |
+
"peak_memory_gb": 20.484,
|
| 36 |
+
"peak_processes": 12,
|
| 37 |
+
"peak_disk_gb": 0.247,
|
| 38 |
+
"peak_cpus": 8.16,
|
| 39 |
+
"peak_pids": 814,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
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"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
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"resource_oom_kills": 0,
|
| 50 |
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"resource_host_oom_kills": 0,
|
| 51 |
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"resource_service_oom_kills": 0,
|
| 52 |
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"session_log_tampered": 0,
|
| 53 |
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"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-put-two-mugs-on-shelf-i00-privileged--3v4igxu.mp4",
|
| 59 |
+
"duration_s": 2.867,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 43,
|
| 62 |
+
"sha256": "84a3593cb24244ccef4a57b0a9746b76244e4ffef75f87c53011fa699b2ac79d"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 0,
|
| 70 |
+
"final": 0,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"mugs_on_shelf_1": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [],
|
| 75 |
+
"final": false,
|
| 76 |
+
"evidence": [
|
| 77 |
+
{
|
| 78 |
+
"t": 2.8,
|
| 79 |
+
"log_step": 91,
|
| 80 |
+
"text_zh": "观察：视频 0 s 与 2.87 s 的帧对比，三只杯子（白杯、蓝白纹杯在桌面，红杯在盘中）位置不变，网架上无杯子；机械臂在视频中几乎未动。log step 91 agent 自述交付的是12行空动作。"
|
| 81 |
+
}
|
| 82 |
+
],
|
| 83 |
+
"contact_actual": [
|
| 84 |
+
{
|
| 85 |
+
"who": "不适用",
|
| 86 |
+
"how": "不适用",
|
| 87 |
+
"note_zh": "未交付有效轨迹（12行空动作），视频中夹爪未接触任何杯子。"
|
| 88 |
+
}
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"mugs_on_shelf_2": {
|
| 92 |
+
"method": "visual",
|
| 93 |
+
"intervals": [],
|
| 94 |
+
"final": false,
|
| 95 |
+
"evidence": [
|
| 96 |
+
{
|
| 97 |
+
"t": 2.8,
|
| 98 |
+
"log_step": 91,
|
| 99 |
+
"text_zh": "观察：视频 0 s 与 2.87 s 的帧对比，三只杯子（白杯、蓝白纹杯在桌面，红杯在盘中）位置不变，网架上无杯子；机械臂在视频中几乎未动。log step 91 agent 自述交付的是12行空动作。"
|
| 100 |
+
}
|
| 101 |
+
],
|
| 102 |
+
"contact_actual": [
|
| 103 |
+
{
|
| 104 |
+
"who": "不适用",
|
| 105 |
+
"how": "不适用",
|
| 106 |
+
"note_zh": "未交付有效轨迹（12行空动作），视频中夹爪未接触任何杯子。"
|
| 107 |
+
}
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"constraints": {}
|
| 112 |
+
},
|
| 113 |
+
"native_metrics": [],
|
| 114 |
+
"failure": {
|
| 115 |
+
"breakpoint": {
|
| 116 |
+
"ref": "mugs_on_shelf_1",
|
| 117 |
+
"t": 0,
|
| 118 |
+
"log_step": 91,
|
| 119 |
+
"where": "首步前",
|
| 120 |
+
"evidence_zh": "观察：视频 0-2.87 s 杯子全程未动、网架上无杯；log step 87/91 显示最终交付的是12行空动作兜底文件，真正的抓取脚本未跑完。"
|
| 121 |
+
},
|
| 122 |
+
"unmet": {
|
| 123 |
+
"mugs_on_shelf_1": false,
|
| 124 |
+
"mugs_on_shelf_2": false
|
| 125 |
+
},
|
| 126 |
+
"phenomena": [],
|
| 127 |
+
"root_causes": [],
|
| 128 |
+
"gap_zh": "未交付有效轨迹：agent 会话中夹爪夹不住杯子（log step 91 自述杯口约10 cm 大于夹爪开口8.5 cm）属会话证据，不能作为受评轨迹的现象；故现象与根因留空。"
|
| 129 |
+
},
|
| 130 |
+
"summary_zh": "受评交付为12行空动作（log step 87、91），视频 0-2.87 s 中三只杯子均未移动，两个节点都未达成，断点在第1杯上架（首步前）。agent 会话中多次抓取尝试失败并耗尽时间，但这些不属于受评轨迹；现象与根因无证据，留空。",
|
| 131 |
+
"conf": 8,
|
| 132 |
+
"review": {
|
| 133 |
+
"status": "agreed",
|
| 134 |
+
"rounds": 1,
|
| 135 |
+
"reviewers": [
|
| 136 |
+
{
|
| 137 |
+
"engine": "claude",
|
| 138 |
+
"model": "claude-sonnet-5-5",
|
| 139 |
+
"round": 1,
|
| 140 |
+
"verdict": "agree",
|
| 141 |
+
"conf": 8,
|
| 142 |
+
"summary_zh": "受评交付为 agent 在 log step 87 写的12行空动作兜底文件；视频首尾帧三只杯子位置不变、网架无杯，两节点未达成，断点首步前，现象/根因留空并有 gap_zh，符合 OPEN-16 / FAIL-22。",
|
| 143 |
+
"n_issues": 0,
|
| 144 |
+
"n_major": 0
|
| 145 |
+
}
|
| 146 |
+
],
|
| 147 |
+
"open_zh": []
|
| 148 |
+
},
|
| 149 |
+
"provenance": {
|
| 150 |
+
"prompt": "prompts/03_trajectory.md",
|
| 151 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 152 |
+
"engine": "claude",
|
| 153 |
+
"model": "claude-sonnet-5-5",
|
| 154 |
+
"effort": "high",
|
| 155 |
+
"created": "2026-11-08T22:05:45Z",
|
| 156 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 157 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 158 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 159 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 160 |
+
"calls": [
|
| 161 |
+
{
|
| 162 |
+
"stage": "traj",
|
| 163 |
+
"round": 0,
|
| 164 |
+
"ok": true,
|
| 165 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--3v4igxu/03_label"
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"stage": "traj_review",
|
| 169 |
+
"round": 1,
|
| 170 |
+
"ok": true,
|
| 171 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--3v4igxu/04_review_r1"
|
| 172 |
+
}
|
| 173 |
+
],
|
| 174 |
+
"review_engine": "claude",
|
| 175 |
+
"review_model": "claude-sonnet-5-5",
|
| 176 |
+
"inputs": {
|
| 177 |
+
"run_json_sha256": "14279391191a541b827e50a559b4f135096a8f1134bf88ad8f025bc4ca50830d",
|
| 178 |
+
"video_sha256": "84a3593cb24244ccef4a57b0a9746b76244e4ffef75f87c53011fa699b2ac79d",
|
| 179 |
+
"states_sha256": null,
|
| 180 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 181 |
+
},
|
| 182 |
+
"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."
|
| 183 |
+
}
|
| 184 |
+
}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--7j4ifpb.json
ADDED
|
@@ -0,0 +1,179 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-put-two-mugs-on-shelf-i00-privileged--7j4ifpb",
|
| 5 |
+
"taskKey": "robolab/put_two_mugs_on_shelf",
|
| 6 |
+
"dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 1,
|
| 9 |
+
"reward": 1.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 1,
|
| 13 |
+
"all_success": 1,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 937,
|
| 18 |
+
"sim_steps": 937,
|
| 19 |
+
"final_reward": 1.0,
|
| 20 |
+
"replay_wall_s": 1795.9,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 15,
|
| 26 |
+
"agent_resets": 3,
|
| 27 |
+
"agent_sim_steps": 1874,
|
| 28 |
+
"agent_records": 8,
|
| 29 |
+
"agent_replays": 2,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 8.783,
|
| 35 |
+
"peak_memory_gb": 13.571,
|
| 36 |
+
"peak_processes": 13,
|
| 37 |
+
"peak_disk_gb": 0.276,
|
| 38 |
+
"peak_cpus": 8.18,
|
| 39 |
+
"peak_pids": 1352,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-put-two-mugs-on-shelf-i00-privileged--7j4ifpb.mp4",
|
| 59 |
+
"duration_s": 62.534,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 938,
|
| 62 |
+
"sha256": "27e2a379935023e273cbbc5126eff40f30b4c47508e7b86d5647d9bd61ab85fa"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 2,
|
| 70 |
+
"final": 2,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"mugs_on_shelf_1": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [
|
| 75 |
+
[
|
| 76 |
+
24.0,
|
| 77 |
+
null
|
| 78 |
+
]
|
| 79 |
+
],
|
| 80 |
+
"final": true,
|
| 81 |
+
"evidence": [
|
| 82 |
+
{
|
| 83 |
+
"t": 24.0,
|
| 84 |
+
"log_step": null,
|
| 85 |
+
"text_zh": "观察：视频 22.5-25 s 蓝白纹杯被夹爪送到金属网架处，约视频 24 s 松开后杯子挂靠在网架上，此后一直留在网架（视频 34-62 s 外部视角可见）。推断：时刻约 ±1.5 s。"
|
| 86 |
+
}
|
| 87 |
+
],
|
| 88 |
+
"contact_actual": [
|
| 89 |
+
{
|
| 90 |
+
"who": "手指/夹爪",
|
| 91 |
+
"how": "抓握",
|
| 92 |
+
"note_zh": "观察：Franka 的 Robotiq 夹爪抓取蓝白纹杯的杯柄，抬起后送到网架并松手。"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"mugs_on_shelf_2": {
|
| 97 |
+
"method": "visual",
|
| 98 |
+
"intervals": [
|
| 99 |
+
[
|
| 100 |
+
62.0,
|
| 101 |
+
null
|
| 102 |
+
]
|
| 103 |
+
],
|
| 104 |
+
"final": true,
|
| 105 |
+
"evidence": [
|
| 106 |
+
{
|
| 107 |
+
"t": 62.0,
|
| 108 |
+
"log_step": null,
|
| 109 |
+
"text_zh": "观察：视频 52-62.5 s 白杯被夹爪持住在网架上方，末帧（视频 62.5 s）腕部视角白杯仍在夹爪指间靠近网线，无法直接看到松手。推断：评分器 937 步 success=1、all_success=1，目标节点按评分器记为已达成，时刻取视频末尾，不确定。"
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"contact_actual": [
|
| 113 |
+
{
|
| 114 |
+
"who": "手指/夹爪",
|
| 115 |
+
"how": "抓握",
|
| 116 |
+
"note_zh": "观察：夹爪抓取白杯杯柄并搬到网架处。"
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"constraints": {}
|
| 122 |
+
},
|
| 123 |
+
"native_metrics": [],
|
| 124 |
+
"failure": null,
|
| 125 |
+
"summary_zh": "成功：观察到蓝白纹杯约视频 24 s 放上网架；白杯在视频 62.5 s 末帧仍在夹爪中靠近网架，第2杯的达成时刻无法在画面中直接确认，按评分器 success=1 判为已达成（时间不确定，约视频末尾）。无失败标签。",
|
| 126 |
+
"conf": 6,
|
| 127 |
+
"review": {
|
| 128 |
+
"status": "agreed",
|
| 129 |
+
"rounds": 1,
|
| 130 |
+
"reviewers": [
|
| 131 |
+
{
|
| 132 |
+
"engine": "claude",
|
| 133 |
+
"model": "claude-sonnet-5-5",
|
| 134 |
+
"round": 1,
|
| 135 |
+
"verdict": "agree",
|
| 136 |
+
"conf": 6,
|
| 137 |
+
"summary_zh": "两个目标节点的取值与时间与视频及评分器 success=1 一致（第1杯约视频24-26 s上架，第2杯依评分器记末尾，已声明不确定）；成功运行无失败标签，未发现需改动的错误。",
|
| 138 |
+
"n_issues": 0,
|
| 139 |
+
"n_major": 0
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"open_zh": []
|
| 143 |
+
},
|
| 144 |
+
"provenance": {
|
| 145 |
+
"prompt": "prompts/03_trajectory.md",
|
| 146 |
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"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 147 |
+
"engine": "claude",
|
| 148 |
+
"model": "claude-sonnet-5-5",
|
| 149 |
+
"effort": "high",
|
| 150 |
+
"created": "2026-11-08T22:06:21Z",
|
| 151 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 152 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 153 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 154 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 155 |
+
"calls": [
|
| 156 |
+
{
|
| 157 |
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"stage": "traj",
|
| 158 |
+
"round": 0,
|
| 159 |
+
"ok": true,
|
| 160 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--7j4ifpb/03_label"
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"stage": "traj_review",
|
| 164 |
+
"round": 1,
|
| 165 |
+
"ok": true,
|
| 166 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--7j4ifpb/04_review_r1"
|
| 167 |
+
}
|
| 168 |
+
],
|
| 169 |
+
"review_engine": "claude",
|
| 170 |
+
"review_model": "claude-sonnet-5-5",
|
| 171 |
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"inputs": {
|
| 172 |
+
"run_json_sha256": "8ec1510b965154a3448affa1f63997539a7dd18a966ac52f48f5409ec76db61c",
|
| 173 |
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"video_sha256": "27e2a379935023e273cbbc5126eff40f30b4c47508e7b86d5647d9bd61ab85fa",
|
| 174 |
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"states_sha256": null,
|
| 175 |
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"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 176 |
+
},
|
| 177 |
+
"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."
|
| 178 |
+
}
|
| 179 |
+
}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--djvcgxm.json
ADDED
|
@@ -0,0 +1,179 @@
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| 1 |
+
{
|
| 2 |
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|
| 3 |
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"taxonomy": "v2",
|
| 4 |
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"runId": "robolab-put-two-mugs-on-shelf-i00-privileged--djvcgxm",
|
| 5 |
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| 10 |
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| 11 |
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| 12 |
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|
| 13 |
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|
| 14 |
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|
| 19 |
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|
| 20 |
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| 21 |
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| 22 |
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|
| 28 |
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| 30 |
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| 31 |
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|
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|
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|
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|
| 36 |
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|
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|
| 38 |
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|
| 39 |
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|
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|
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|
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|
| 43 |
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|
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|
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|
| 47 |
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|
| 48 |
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|
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|
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|
| 56 |
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"video": {
|
| 57 |
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"kind": "media",
|
| 58 |
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"url": "media:robolab-put-two-mugs-on-shelf-i00-privileged--djvcgxm.mp4",
|
| 59 |
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|
| 60 |
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|
| 62 |
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| 63 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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| 72 |
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|
| 73 |
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|
| 74 |
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"intervals": [
|
| 75 |
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[
|
| 76 |
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34.0,
|
| 77 |
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null
|
| 78 |
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]
|
| 79 |
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],
|
| 80 |
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"final": true,
|
| 81 |
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"evidence": [
|
| 82 |
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{
|
| 83 |
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"t": 35.0,
|
| 84 |
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|
| 85 |
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"text_zh": "观察：视频 33 s 夹爪托着白杯在网架上方，35 s 起白杯斜靠在网架层面上、夹爪已离开；agent 自述白杯已计为放置（log step 75）。推断：约视频 34 s 达成。"
|
| 86 |
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}
|
| 87 |
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],
|
| 88 |
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"contact_actual": [
|
| 89 |
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{
|
| 90 |
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"who": "手指/夹爪",
|
| 91 |
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"how": "抓握",
|
| 92 |
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"note_zh": "观察：Franka 的 Robotiq 夹爪夹住白杯杯沿搬运并放到网架（视频 29-34 s）。"
|
| 93 |
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}
|
| 94 |
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]
|
| 95 |
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},
|
| 96 |
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"mugs_on_shelf_2": {
|
| 97 |
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|
| 98 |
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| 99 |
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[
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| 100 |
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58.4,
|
| 101 |
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null
|
| 102 |
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]
|
| 103 |
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],
|
| 104 |
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"final": true,
|
| 105 |
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"evidence": [
|
| 106 |
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{
|
| 107 |
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"t": 58.4,
|
| 108 |
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|
| 109 |
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"text_zh": "观察：视频 56 s 夹爪持红杯在网架上方，最后一帧（58.5 s）红杯已脱离夹爪、倾斜在网架顶部上方，腕部视角夹爪已空；白杯仍在网架上。评分器 success=1、final_reward=1.0（replay 在第 878 步终止）。推断：红杯在最后一刻落到网架上，节点时间约 58.4 s，不确定；按成功评分记为达成。"
|
| 110 |
+
}
|
| 111 |
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],
|
| 112 |
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"contact_actual": [
|
| 113 |
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{
|
| 114 |
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"who": "手指/夹爪",
|
| 115 |
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"how": "抓握",
|
| 116 |
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"note_zh": "观察：夹爪夹住红杯杯沿，视频约 50-57 s 搬运至网架上方后松开。"
|
| 117 |
+
}
|
| 118 |
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]
|
| 119 |
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}
|
| 120 |
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},
|
| 121 |
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"constraints": {}
|
| 122 |
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},
|
| 123 |
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|
| 124 |
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"failure": null,
|
| 125 |
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"summary_zh": "成功：白杯约视频 34 s 靠在网架上（第1杯），红杯在视频最后约 58.4 s 松手落向网架，评分器判 success=1（恰好两杯）。证据缺口：最后一帧红杯仍在空中倾斜，其接触网架的瞬间未在视频中直接看到，第2杯时间依评分结果推断；蓝杯留在桌面（agent 曾抓取滑落，log step 80）。",
|
| 126 |
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"conf": 6,
|
| 127 |
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|
| 128 |
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"status": "agreed",
|
| 129 |
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| 130 |
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| 131 |
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{
|
| 132 |
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|
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"verdict": "agree",
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| 136 |
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"conf": 7,
|
| 137 |
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"summary_zh": "成功运行标注基本成立：白杯约视频34 s 靠上网架、夹爪张开；红杯在最后一帧脱手，评分器 success=1 约束了节点2；蓝杯留在桌面。无需改动。",
|
| 138 |
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"n_issues": 0,
|
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|
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"effort": "high",
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"created": "2026-11-08T22:06:28Z",
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| 151 |
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"reconcile_prompt": "prompts/05_reconcile.md",
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|
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| 163 |
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| 167 |
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| 170 |
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| 175 |
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"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 176 |
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},
|
| 177 |
+
"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."
|
| 178 |
+
}
|
| 179 |
+
}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--mjeian9.json
ADDED
|
@@ -0,0 +1,222 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-put-two-mugs-on-shelf-i00-privileged--mjeian9",
|
| 5 |
+
"taskKey": "robolab/put_two_mugs_on_shelf",
|
| 6 |
+
"dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.5,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 411,
|
| 18 |
+
"sim_steps": 441,
|
| 19 |
+
"final_reward": 0.5,
|
| 20 |
+
"replay_wall_s": 1156.6,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 1,
|
| 26 |
+
"agent_resets": 34,
|
| 27 |
+
"agent_sim_steps": 0,
|
| 28 |
+
"agent_records": 3,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 4.413,
|
| 35 |
+
"peak_memory_gb": 12.617,
|
| 36 |
+
"peak_processes": 13,
|
| 37 |
+
"peak_disk_gb": 0.091,
|
| 38 |
+
"peak_cpus": 8.12,
|
| 39 |
+
"peak_pids": 977,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-put-two-mugs-on-shelf-i00-privileged--mjeian9.mp4",
|
| 59 |
+
"duration_s": 29.467,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 442,
|
| 62 |
+
"sha256": "745468d0443f99348666cb0ac64ecbd70334e840c2ae5b183a2a8762cb51d17c"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 0,
|
| 70 |
+
"final": 0,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"mugs_on_shelf_1": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [],
|
| 75 |
+
"final": false,
|
| 76 |
+
"evidence": [
|
| 77 |
+
{
|
| 78 |
+
"t": 29.4,
|
| 79 |
+
"log_step": null,
|
| 80 |
+
"text_zh": "观察：视频 0-29.4 s 全程，白杯始终在桌面原处，蓝白纹杯在视频约 2-7 s 被夹爪碰动、位置/朝向改变后仍留在桌面；红杯在视频约 19-22 s 被夹爪从盘子里夹起，视频 25.5-29.4 s 仍被夹爪握在桌面上方、网架旁，腕部视角可见杯子在夹爪内而未放到网架上。没有任何一只杯子落到网架层面。"
|
| 81 |
+
}
|
| 82 |
+
],
|
| 83 |
+
"contact_actual": [
|
| 84 |
+
{
|
| 85 |
+
"who": "手指/夹爪",
|
| 86 |
+
"how": "抓握",
|
| 87 |
+
"note_zh": "观察：Robotiq 夹爪夹住红杯并抬离盘子，搬向网架，至视频结束未松手；蓝白纹杯曾被夹爪靠近/触碰但未被带离桌面。"
|
| 88 |
+
}
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"mugs_on_shelf_2": {
|
| 92 |
+
"method": "visual",
|
| 93 |
+
"intervals": [],
|
| 94 |
+
"final": false,
|
| 95 |
+
"evidence": [
|
| 96 |
+
{
|
| 97 |
+
"t": 29.4,
|
| 98 |
+
"log_step": null,
|
| 99 |
+
"text_zh": "观察：视频 0-29.4 s 全程，白杯和蓝白纹杯始终在桌面原处（蓝白纹杯在视频约 2-7 s 被夹爪触碰、略微倾斜后留在桌面）；红杯在视频约 19-22 s 被夹爪从盘子里夹起，视频 25.5-29.4 s 仍被夹爪握在桌面上方、网架旁，腕部视角可见杯子在夹爪内而未放到网架上。没有任何一只杯子落到网架层面。"
|
| 100 |
+
}
|
| 101 |
+
],
|
| 102 |
+
"contact_actual": [
|
| 103 |
+
{
|
| 104 |
+
"who": "手指/夹爪",
|
| 105 |
+
"how": "抓握",
|
| 106 |
+
"note_zh": "观察：Robotiq 夹爪夹住红杯并抬离盘子，搬向网架，至视频结束未松手；蓝白纹杯曾被夹爪靠近/触碰但未被带离桌面。"
|
| 107 |
+
}
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"constraints": {}
|
| 112 |
+
},
|
| 113 |
+
"native_metrics": [],
|
| 114 |
+
"failure": {
|
| 115 |
+
"breakpoint": {
|
| 116 |
+
"ref": "mugs_on_shelf_1",
|
| 117 |
+
"where": "操作中",
|
| 118 |
+
"t": 29.4,
|
| 119 |
+
"evidence_zh": "观察：视频 25.5-29.4 s 红杯被夹爪握着在网架旁的空中，直到视频结束仍未放上网架；前面对蓝白纹杯的尝试（视频约 2-7 s）也没有把它带到网架。第1杯上架从未完成。",
|
| 120 |
+
"log_step": null
|
| 121 |
+
},
|
| 122 |
+
"phenomena": [
|
| 123 |
+
{
|
| 124 |
+
"cat": "运动",
|
| 125 |
+
"item": "位姿不准",
|
| 126 |
+
"t": 29.4,
|
| 127 |
+
"log_step": null,
|
| 128 |
+
"evidence_zh": "观察：红杯被抬起搬运，视频结束时（29.4 s）仍握在夹爪中、位于网架外侧上方，没有进入网架并松手；该轨迹在视频结束时没有到达放置位姿。"
|
| 129 |
+
}
|
| 130 |
+
],
|
| 131 |
+
"root_causes": [
|
| 132 |
+
{
|
| 133 |
+
"cat": "交付",
|
| 134 |
+
"item": "交付操作出错",
|
| 135 |
+
"evidence_zh": "观察：log 156 从会话 step 431 续录 part 2 并（若成功）与已有 trajectory.npz 拼接；log 160 重写 gen.py，log 164 仅检查文件形状（411 步），agent_replays=0，从未重放。推断：评分重放（红杯被夹到网架旁未放下，白杯留在桌面）与会话读数（log 153 白杯 z≈0.347 在网架高度）不一致源于此。",
|
| 136 |
+
"log_step": 156,
|
| 137 |
+
"source_zh": "agent 自述 / 状态日志"
|
| 138 |
+
}
|
| 139 |
+
],
|
| 140 |
+
"gap_zh": "无状态日志，节点按视频判断；视频只有 29.4 s（441 步动作），在红杯放置前结束。根因按 log 153/156/160/164 的拼接且从未重放写为交付操作出错（推断）。",
|
| 141 |
+
"unmet": {
|
| 142 |
+
"mugs_on_shelf_1": false,
|
| 143 |
+
"mugs_on_shelf_2": false
|
| 144 |
+
}
|
| 145 |
+
},
|
| 146 |
+
"summary_zh": "观察：评分视频 29.4 s 内三只杯子无一放上网架（0/2 节点），final_reward 0.5 但视频不支持任何杯子在架上。断点为第1杯上架（操作中）：蓝白纹杯被触碰后留在桌面，红杯被抬起搬向网架，视频结束时仍在夹爪中。推断：agent 会话里的结果（log step 153）未被交付轨迹复现，根因证据不足；无状态日志。",
|
| 147 |
+
"conf": 6,
|
| 148 |
+
"review": {
|
| 149 |
+
"status": "agreed",
|
| 150 |
+
"rounds": 2,
|
| 151 |
+
"reviewers": [
|
| 152 |
+
{
|
| 153 |
+
"engine": "claude",
|
| 154 |
+
"model": "claude-sonnet-5-5",
|
| 155 |
+
"round": 1,
|
| 156 |
+
"verdict": "fix",
|
| 157 |
+
"conf": 7,
|
| 158 |
+
"summary_zh": "WHERE 标签（两个节点未达、断点 mugs_on_shelf_1 操作中、红杯至视频末仍在夹爪）与视频一致；缺少根因：交付的轨迹（411 步）由 agent 在会话中分段录制/续接（log 156 从 step 431 起录“part 2”并拼接，log 160 重写 gen.py 后只在 step 164 检查文件、agent_replays=0），从未重放，会话里的结果（log 153 白杯在网架高度）与评分视频不符，应写根因 交付·交付操作出错，而不是留空。",
|
| 159 |
+
"n_issues": 2,
|
| 160 |
+
"n_major": 1
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"engine": "claude",
|
| 164 |
+
"model": "claude-sonnet-5-5",
|
| 165 |
+
"round": 2,
|
| 166 |
+
"verdict": "agree",
|
| 167 |
+
"conf": 7,
|
| 168 |
+
"summary_zh": "视频 20 s 与 29 s 帧与标签一致：红杯被夹起搬到网架旁、至结束未放上网架，白杯与蓝白纹杯留在桌面；两节点未达、断点 mugs_on_shelf_1 操作中、位姿不准、根因交付操作出错（第一轮已有证据并被接受）均成立。",
|
| 169 |
+
"n_issues": 0,
|
| 170 |
+
"n_major": 0
|
| 171 |
+
}
|
| 172 |
+
],
|
| 173 |
+
"open_zh": []
|
| 174 |
+
},
|
| 175 |
+
"provenance": {
|
| 176 |
+
"prompt": "prompts/03_trajectory.md",
|
| 177 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 178 |
+
"engine": "claude",
|
| 179 |
+
"model": "claude-sonnet-5-5",
|
| 180 |
+
"effort": "high",
|
| 181 |
+
"created": "2026-11-08T22:10:36Z",
|
| 182 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 183 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 184 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 185 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 186 |
+
"calls": [
|
| 187 |
+
{
|
| 188 |
+
"stage": "traj",
|
| 189 |
+
"round": 0,
|
| 190 |
+
"ok": true,
|
| 191 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--mjeian9/03_label"
|
| 192 |
+
},
|
| 193 |
+
{
|
| 194 |
+
"stage": "traj_review",
|
| 195 |
+
"round": 1,
|
| 196 |
+
"ok": true,
|
| 197 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--mjeian9/04_review_r1"
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"stage": "reconcile",
|
| 201 |
+
"round": 1,
|
| 202 |
+
"ok": true,
|
| 203 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--mjeian9/05_reconcile_r1"
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"stage": "traj_review",
|
| 207 |
+
"round": 2,
|
| 208 |
+
"ok": true,
|
| 209 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--mjeian9/04_review_r2"
|
| 210 |
+
}
|
| 211 |
+
],
|
| 212 |
+
"review_engine": "claude",
|
| 213 |
+
"review_model": "claude-sonnet-5-5",
|
| 214 |
+
"inputs": {
|
| 215 |
+
"run_json_sha256": "007230cc529e9f61b07850595590192aca56a9733a44048941893933aa12cdbf",
|
| 216 |
+
"video_sha256": "745468d0443f99348666cb0ac64ecbd70334e840c2ae5b183a2a8762cb51d17c",
|
| 217 |
+
"states_sha256": null,
|
| 218 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 219 |
+
},
|
| 220 |
+
"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."
|
| 221 |
+
}
|
| 222 |
+
}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--ndjydzq.json
ADDED
|
@@ -0,0 +1,176 @@
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-put-two-mugs-on-shelf-i00-privileged--ndjydzq",
|
| 5 |
+
"taskKey": "robolab/put_two_mugs_on_shelf",
|
| 6 |
+
"dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"deterministic": 0,
|
| 14 |
+
"grader_error": 0,
|
| 15 |
+
"infra_error": 0,
|
| 16 |
+
"missing_trajectory": 1,
|
| 17 |
+
"agent_sessions": 7,
|
| 18 |
+
"agent_resets": 0,
|
| 19 |
+
"agent_sim_steps": 40,
|
| 20 |
+
"agent_records": 2,
|
| 21 |
+
"agent_replays": 0,
|
| 22 |
+
"agent_cost_self_reported": 1,
|
| 23 |
+
"resource_enforced": 0,
|
| 24 |
+
"limits_violation_observed": 0,
|
| 25 |
+
"resource_monitor_missing": 0,
|
| 26 |
+
"peak_gpu_memory_gb": 8.816,
|
| 27 |
+
"peak_memory_gb": 25.606,
|
| 28 |
+
"peak_processes": 18,
|
| 29 |
+
"peak_disk_gb": 1.016,
|
| 30 |
+
"peak_cpus": 8.1,
|
| 31 |
+
"peak_pids": 1181,
|
| 32 |
+
"resource_memory_kills": 0,
|
| 33 |
+
"resource_pids_kills": 0,
|
| 34 |
+
"resource_disk_kills": 0,
|
| 35 |
+
"resource_gpu_memory_kills": 0,
|
| 36 |
+
"resource_monitor_kills": 0,
|
| 37 |
+
"resource_emergency_kills": 0,
|
| 38 |
+
"resource_limit_exceeded": 0,
|
| 39 |
+
"resource_cpu_throttles": 0,
|
| 40 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 41 |
+
"resource_oom_kills": 0,
|
| 42 |
+
"resource_host_oom_kills": 0,
|
| 43 |
+
"resource_service_oom_kills": 0,
|
| 44 |
+
"session_log_tampered": 0,
|
| 45 |
+
"session_log_from_monitor": 0
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
"video": {
|
| 49 |
+
"kind": "none",
|
| 50 |
+
"url": null,
|
| 51 |
+
"duration_s": null,
|
| 52 |
+
"fps": null,
|
| 53 |
+
"frames": null,
|
| 54 |
+
"sha256": null
|
| 55 |
+
},
|
| 56 |
+
"state": null,
|
| 57 |
+
"progress": {
|
| 58 |
+
"method": "log",
|
| 59 |
+
"denominator": 2,
|
| 60 |
+
"base": null,
|
| 61 |
+
"peak": null,
|
| 62 |
+
"final": 0,
|
| 63 |
+
"nodes": {
|
| 64 |
+
"mugs_on_shelf_1": {
|
| 65 |
+
"method": "log",
|
| 66 |
+
"intervals": null,
|
| 67 |
+
"final": false,
|
| 68 |
+
"evidence": [
|
| 69 |
+
{
|
| 70 |
+
"t": null,
|
| 71 |
+
"log_step": 141,
|
| 72 |
+
"text_zh": "观察：无视频、无状态日志；评分器字段 missing_trajectory=1、success=0，agent 最终报告（log step 142）自述 /app/output/trajectory.npz 不存在，即没有轨迹被交付评分。推断：没有被评分的轨迹，故该节点 final 为 false（来自评分器总结果，非视频）。"
|
| 73 |
+
}
|
| 74 |
+
],
|
| 75 |
+
"contact_actual": [
|
| 76 |
+
{
|
| 77 |
+
"who": "不适用",
|
| 78 |
+
"how": "不适用",
|
| 79 |
+
"note_zh": "没有交付轨迹；agent 仅在会话内用脚本试验夹持（log step 105-139），不属于被评分的回合。"
|
| 80 |
+
}
|
| 81 |
+
]
|
| 82 |
+
},
|
| 83 |
+
"mugs_on_shelf_2": {
|
| 84 |
+
"method": "log",
|
| 85 |
+
"intervals": null,
|
| 86 |
+
"final": false,
|
| 87 |
+
"evidence": [
|
| 88 |
+
{
|
| 89 |
+
"t": null,
|
| 90 |
+
"log_step": 141,
|
| 91 |
+
"text_zh": "观察：无视频、无状态日志；评分器字段 missing_trajectory=1、success=0，agent 最终报告（log step 142）自述 /app/output/trajectory.npz 不存在，即没有轨迹被交付评分。推断：没有被评分的轨迹，故该节点 final 为 false（来自评分器总结果，非视频）。"
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"contact_actual": [
|
| 95 |
+
{
|
| 96 |
+
"who": "不适用",
|
| 97 |
+
"how": "不适用",
|
| 98 |
+
"note_zh": "没有交付轨迹；agent 仅在会话内用脚本试验夹持（log step 105-139），不属于被评分的回合。"
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
}
|
| 102 |
+
},
|
| 103 |
+
"constraints": {}
|
| 104 |
+
},
|
| 105 |
+
"native_metrics": [],
|
| 106 |
+
"failure": {
|
| 107 |
+
"breakpoint": {
|
| 108 |
+
"ref": "mugs_on_shelf_1",
|
| 109 |
+
"t": null,
|
| 110 |
+
"log_step": 141,
|
| 111 |
+
"where": "首步前",
|
| 112 |
+
"evidence_zh": "观察：agent 的 gen.py 多次运行均未抓起杯子（log step 118 “mug not held”，step 134/139 脚本报错或未完成），最终 /app/output/trajectory.npz 不存在（log step 141-142），评分器 missing_trajectory=1。没有被评分的轨迹，第1杯上架从未开始。"
|
| 113 |
+
},
|
| 114 |
+
"unmet": {
|
| 115 |
+
"mugs_on_shelf_1": false,
|
| 116 |
+
"mugs_on_shelf_2": false
|
| 117 |
+
},
|
| 118 |
+
"phenomena": [],
|
| 119 |
+
"root_causes": [],
|
| 120 |
+
"gap_zh": "无视频、无状态日志，且没有交付轨迹（agent 因会话预算耗尽未产出文件）；agent 侧原因导致无交付，会话内试验不作为现象或根因，故现象与根因层留空。"
|
| 121 |
+
},
|
| 122 |
+
"summary_zh": "观察：agent 在会话内花大量时间读取源码并多次生成脚本尝试夹杯柄/侧向抓取，均未成功抓起杯子，最终未交付 trajectory.npz（评分器 missing_trajectory=1，success=0）。两个节点均未达成，断点为第1杯上架（首步前）。无视频与状态日志，现象与根因无法由被评分回合给出。",
|
| 123 |
+
"conf": 7,
|
| 124 |
+
"review": {
|
| 125 |
+
"status": "agreed",
|
| 126 |
+
"rounds": 1,
|
| 127 |
+
"reviewers": [
|
| 128 |
+
{
|
| 129 |
+
"engine": "claude",
|
| 130 |
+
"model": "claude-sonnet-5-5",
|
| 131 |
+
"round": 1,
|
| 132 |
+
"verdict": "agree",
|
| 133 |
+
"conf": 8,
|
| 134 |
+
"summary_zh": "无视频、无交付；评分器 missing_trajectory=1、success=0，两节点 final=false 有据。agent 自身预算耗尽且无交付，现象/根因层留空并写 gap_zh，符合 D23；会话内试验未当作现象。未发现需修改之处。",
|
| 135 |
+
"n_issues": 0,
|
| 136 |
+
"n_major": 0
|
| 137 |
+
}
|
| 138 |
+
],
|
| 139 |
+
"open_zh": []
|
| 140 |
+
},
|
| 141 |
+
"provenance": {
|
| 142 |
+
"prompt": "prompts/03_trajectory.md",
|
| 143 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 144 |
+
"engine": "claude",
|
| 145 |
+
"model": "claude-sonnet-5-5",
|
| 146 |
+
"effort": "high",
|
| 147 |
+
"created": "2026-11-08T22:04:02Z",
|
| 148 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 149 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 150 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 151 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 152 |
+
"calls": [
|
| 153 |
+
{
|
| 154 |
+
"stage": "traj",
|
| 155 |
+
"round": 0,
|
| 156 |
+
"ok": true,
|
| 157 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--ndjydzq/03_label"
|
| 158 |
+
},
|
| 159 |
+
{
|
| 160 |
+
"stage": "traj_review",
|
| 161 |
+
"round": 1,
|
| 162 |
+
"ok": true,
|
| 163 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--ndjydzq/04_review_r1"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"review_engine": "claude",
|
| 167 |
+
"review_model": "claude-sonnet-5-5",
|
| 168 |
+
"inputs": {
|
| 169 |
+
"run_json_sha256": "61de67bc92f4ec00abc0d0b66f13c06277146007fce6cd1fc935c3d5f7f2d236",
|
| 170 |
+
"video_sha256": null,
|
| 171 |
+
"states_sha256": null,
|
| 172 |
+
"video_choice": "HF replay.mp4 status 404; no local video"
|
| 173 |
+
},
|
| 174 |
+
"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."
|
| 175 |
+
}
|
| 176 |
+
}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--uxned7f.json
ADDED
|
@@ -0,0 +1,178 @@
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-put-two-mugs-on-shelf-i00-privileged--uxned7f",
|
| 5 |
+
"taskKey": "robolab/put_two_mugs_on_shelf",
|
| 6 |
+
"dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 60,
|
| 18 |
+
"sim_steps": 90,
|
| 19 |
+
"final_reward": 0.0,
|
| 20 |
+
"replay_wall_s": 300.8,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 31,
|
| 26 |
+
"agent_resets": 0,
|
| 27 |
+
"agent_sim_steps": 5450,
|
| 28 |
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"agent_records": 2,
|
| 29 |
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"agent_replays": 0,
|
| 30 |
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"agent_cost_self_reported": 1,
|
| 31 |
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"resource_enforced": 0,
|
| 32 |
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"limits_violation_observed": 0,
|
| 33 |
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"resource_monitor_missing": 0,
|
| 34 |
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"peak_gpu_memory_gb": 9.827,
|
| 35 |
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"peak_memory_gb": 10.711,
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| 36 |
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"peak_processes": 14,
|
| 37 |
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"peak_disk_gb": 0.097,
|
| 38 |
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"peak_cpus": 7.91,
|
| 39 |
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"peak_pids": 269,
|
| 40 |
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"resource_memory_kills": 0,
|
| 41 |
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"resource_pids_kills": 0,
|
| 42 |
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"resource_disk_kills": 0,
|
| 43 |
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"resource_gpu_memory_kills": 0,
|
| 44 |
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"resource_monitor_kills": 0,
|
| 45 |
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"resource_emergency_kills": 0,
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| 46 |
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"resource_limit_exceeded": 0,
|
| 47 |
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"resource_cpu_throttles": 0,
|
| 48 |
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"resource_cpu_throttled_sec": 0.0,
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| 49 |
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"resource_oom_kills": 0,
|
| 50 |
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"resource_host_oom_kills": 0,
|
| 51 |
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"resource_service_oom_kills": 0,
|
| 52 |
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"session_log_tampered": 0,
|
| 53 |
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"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-put-two-mugs-on-shelf-i00-privileged--uxned7f.mp4",
|
| 59 |
+
"duration_s": 6.067,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 91,
|
| 62 |
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"sha256": "1ec9bb51faf0715276fd1e8dc669d5c3580bd64a815aa6d164ce8c7e673f6eb6"
|
| 63 |
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},
|
| 64 |
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"state": null,
|
| 65 |
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"progress": {
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| 66 |
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"method": "visual",
|
| 67 |
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|
| 68 |
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"base": 0,
|
| 69 |
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"peak": 0,
|
| 70 |
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"final": 0,
|
| 71 |
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"nodes": {
|
| 72 |
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"mugs_on_shelf_1": {
|
| 73 |
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"method": "visual",
|
| 74 |
+
"intervals": [],
|
| 75 |
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"final": false,
|
| 76 |
+
"evidence": [
|
| 77 |
+
{
|
| 78 |
+
"t": 6.0,
|
| 79 |
+
"log_step": 388,
|
| 80 |
+
"text_zh": "观察：视频 0 s 与 6.0 s 的三个视角（外部、斜视、腕部）画面一致：白杯、蓝白纹杯仍在桌面，红杯仍在盘上，机械臂未动；第1杯从未上架。log step 388 显示交付的是 60 步恒定关节姿态的后备轨迹。"
|
| 81 |
+
}
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"mugs_on_shelf_2": {
|
| 85 |
+
"method": "visual",
|
| 86 |
+
"intervals": [],
|
| 87 |
+
"final": false,
|
| 88 |
+
"evidence": [
|
| 89 |
+
{
|
| 90 |
+
"t": 6.0,
|
| 91 |
+
"log_step": 388,
|
| 92 |
+
"text_zh": "观察：视频 0 s 与 6.0 s 的三个视角（外部、斜视、腕部）画面一致：白杯、蓝白纹杯仍在桌面，红杯仍在盘上，机械臂未动；第2杯从未上架。log step 388 显示交付的是 60 步恒定关节姿态的后备轨迹。"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
"constraints": {}
|
| 98 |
+
},
|
| 99 |
+
"native_metrics": [],
|
| 100 |
+
"failure": {
|
| 101 |
+
"breakpoint": {
|
| 102 |
+
"ref": "mugs_on_shelf_1",
|
| 103 |
+
"t": 0.0,
|
| 104 |
+
"log_step": 388,
|
| 105 |
+
"where": "首步前",
|
| 106 |
+
"evidence_zh": "观察：视频 0–6.07 s 机械臂静止，无抓取、搬运。观察：log step 388 agent 将 60 个重复的初始关节位置 q0 存为 trajectory.npz（自述“fallback trajectory”），交付的是不含任务动作的基线；此前 log step 386 的 gen.py 抓放脚本未被运行、验证或交付。"
|
| 107 |
+
},
|
| 108 |
+
"phenomena": [
|
| 109 |
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{
|
| 110 |
+
"cat": "没尝试",
|
| 111 |
+
"item": "没尝试",
|
| 112 |
+
"t": 0.0,
|
| 113 |
+
"log_step": 388,
|
| 114 |
+
"evidence_zh": "观察：视频全程画面无变化，杯子从未被接触；交付轨迹为恒定 q0 动作（log step 388）。"
|
| 115 |
+
}
|
| 116 |
+
],
|
| 117 |
+
"root_causes": [],
|
| 118 |
+
"gap_zh": "根因层留空：交付的是后备空轨迹，不能仅凭没尝试或缺失交付推断根因；会话中大量测试（log step 359-380）失败原因未在图中核实。无状态日志，节点按视频判定。",
|
| 119 |
+
"unmet": {
|
| 120 |
+
"mugs_on_shelf_1": false,
|
| 121 |
+
"mugs_on_shelf_2": false
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
"summary_zh": "观察：交付的是恒定初始姿态的后备轨迹，视频 0–6.07 s 机械臂不动，两只杯子均未上架（0/2）。断点为第1杯上架，首步前，现象没尝试；根因无证据，留空。",
|
| 125 |
+
"conf": 8,
|
| 126 |
+
"review": {
|
| 127 |
+
"status": "agreed",
|
| 128 |
+
"rounds": 1,
|
| 129 |
+
"reviewers": [
|
| 130 |
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{
|
| 131 |
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"engine": "claude",
|
| 132 |
+
"model": "claude-sonnet-5-5",
|
| 133 |
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"round": 1,
|
| 134 |
+
"verdict": "agree",
|
| 135 |
+
"conf": 8,
|
| 136 |
+
"summary_zh": "标注与证据一致：视频 0 s 与 6.07 s 画面相同，机械臂未动，两杯均未上架；log step 388 交付的是 60 步恒定 q0 后备轨迹，断点首步前/没尝试合理，根因层留空并附 gap_zh 符合 FAIL-22 的允许写法。",
|
| 137 |
+
"n_issues": 0,
|
| 138 |
+
"n_major": 0
|
| 139 |
+
}
|
| 140 |
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],
|
| 141 |
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"open_zh": []
|
| 142 |
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},
|
| 143 |
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"provenance": {
|
| 144 |
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"prompt": "prompts/03_trajectory.md",
|
| 145 |
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"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 146 |
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"engine": "claude",
|
| 147 |
+
"model": "claude-sonnet-5-5",
|
| 148 |
+
"effort": "high",
|
| 149 |
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"created": "2026-11-08T22:08:17Z",
|
| 150 |
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"review_prompt": "prompts/04_trajectory_review.md",
|
| 151 |
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"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 152 |
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"reconcile_prompt": "prompts/05_reconcile.md",
|
| 153 |
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"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 154 |
+
"calls": [
|
| 155 |
+
{
|
| 156 |
+
"stage": "traj",
|
| 157 |
+
"round": 0,
|
| 158 |
+
"ok": true,
|
| 159 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--uxned7f/03_label"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"stage": "traj_review",
|
| 163 |
+
"round": 1,
|
| 164 |
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"ok": true,
|
| 165 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--uxned7f/04_review_r1"
|
| 166 |
+
}
|
| 167 |
+
],
|
| 168 |
+
"review_engine": "claude",
|
| 169 |
+
"review_model": "claude-sonnet-5-5",
|
| 170 |
+
"inputs": {
|
| 171 |
+
"run_json_sha256": "bf2732aed093ca903a7468c85a3225594965b040a786f6da9c6e7dfc31e10d7c",
|
| 172 |
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"video_sha256": "1ec9bb51faf0715276fd1e8dc669d5c3580bd64a815aa6d164ce8c7e673f6eb6",
|
| 173 |
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"states_sha256": null,
|
| 174 |
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"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 175 |
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},
|
| 176 |
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"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."
|
| 177 |
+
}
|
| 178 |
+
}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--beqffbv.json
ADDED
|
@@ -0,0 +1,220 @@
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| 1 |
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{
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|
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},
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"video": {
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"evidence": [
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{
|
| 84 |
+
"t": 224.6,
|
| 85 |
+
"log_step": 90,
|
| 86 |
+
"text_zh": "观察：视频 224.6 s 外部斜视视角，蓝白纹杯与白杯都仍在桌面上、网架之外，与视频 0 s 的位置基本相同；没有杯子在网架层面上。agent 自述“白杯已在架上”（log step 81/89）与画面不符，以视频为准。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "抓握",
|
| 93 |
+
"note_zh": "观察：视频 4.6 s 腕部视角红杯在两指之间、仍在盘上，5.0 s 仍在盘上，5.8 s 红杯已离开盘子飞出桌面（15 s 帧见其在桌外地面）。推断：这是一次抓握尝试，杯子未被夹住而被弹出。"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"mugs_on_shelf_2": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 224.6,
|
| 104 |
+
"log_step": 90,
|
| 105 |
+
"text_zh": "观察：视频 224.6 s 外部斜视视角，蓝白纹杯与白杯都仍在桌面上、网架之外，与视频 0 s 的位置基本相同；没有杯子在网架层面上。agent 自述“白杯已在架上”（log step 81/89）与画面不符，以视频为准。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "未知",
|
| 111 |
+
"how": "未知",
|
| 112 |
+
"note_zh": "第2杯未进行可见的上架尝试。"
|
| 113 |
+
}
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"constraints": {}
|
| 118 |
+
},
|
| 119 |
+
"native_metrics": [],
|
| 120 |
+
"failure": {
|
| 121 |
+
"breakpoint": {
|
| 122 |
+
"ref": "mugs_on_shelf_1",
|
| 123 |
+
"t": 5.5,
|
| 124 |
+
"where": "操作中",
|
| 125 |
+
"evidence_zh": "观察：视频 4.6 s 夹爪两指在红杯口沿/杯壁两侧，杯仍在盘上；5.8 s 红杯已离开盘子落出桌外；白杯、蓝白纹杯直到 224.6 s 仍在桌面，无杯子上架。断点为第1杯（红杯）的上架步骤，操作中。",
|
| 126 |
+
"log_step": null
|
| 127 |
+
},
|
| 128 |
+
"phenomena": [
|
| 129 |
+
{
|
| 130 |
+
"cat": "接触",
|
| 131 |
+
"item": "没保持住",
|
| 132 |
+
"t": 5.5,
|
| 133 |
+
"log_step": null,
|
| 134 |
+
"evidence_zh": "观察：视频 4.6 s 夹爪已夹在红杯两侧，5.0 s 杯仍在盘上，5.8 s 红杯被弹出盘子、落出桌外（视频 15 s 帧见桌外地面红杯）；agent log step 89 也自述 red knocked on its side（仅作旁证）。"
|
| 135 |
+
}
|
| 136 |
+
],
|
| 137 |
+
"root_causes": [],
|
| 138 |
+
"gap_zh": "根因不明：帧只显示抓握时杯被弹出，看不出是对位偏差、夹持力还是控制问题；agent 自述轨迹 not converged（log step 79、81、85）只是会话证据，不足以判定根因，故根因留空。",
|
| 139 |
+
"unmet": {
|
| 140 |
+
"mugs_on_shelf_1": false,
|
| 141 |
+
"mugs_on_shelf_2": false
|
| 142 |
+
}
|
| 143 |
+
},
|
| 144 |
+
"summary_zh": "观察：graded 视频 224.8 s 内没有杯子上到金属网架，两个节点均未达成（0/2）。视频约 5 s 红杯在抓取尝试中被夹爪弹出盘子、落出桌外，白杯与蓝白纹杯留在桌面；agent 自述放好了白杯，与视频不符。断点为第1杯上架（操作中），现象＝没保持住；根因证据不足，留空。",
|
| 145 |
+
"conf": 6,
|
| 146 |
+
"review": {
|
| 147 |
+
"status": "agreed",
|
| 148 |
+
"rounds": 2,
|
| 149 |
+
"reviewers": [
|
| 150 |
+
{
|
| 151 |
+
"engine": "claude",
|
| 152 |
+
"model": "claude-sonnet-5-5",
|
| 153 |
+
"round": 1,
|
| 154 |
+
"verdict": "fix",
|
| 155 |
+
"conf": 6,
|
| 156 |
+
"summary_zh": "无杯上架（0/2）这一结论与视频一致；但红杯被打落的时刻错了：视频 5.0–5.8 s 就被夹爪在盘上推出画面，不是“约视频 20-60 s”，断点 t=60 s 与 gap_zh 的时间都不对；且这一可见事件（夹爪下到红杯口沿后红杯被甩出桌外）足以给出至少一个可见现象，两层全空过于保守。",
|
| 157 |
+
"n_issues": 4,
|
| 158 |
+
"n_major": 3
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"engine": "claude",
|
| 162 |
+
"model": "claude-sonnet-5-5",
|
| 163 |
+
"round": 2,
|
| 164 |
+
"verdict": "agree",
|
| 165 |
+
"conf": 6,
|
| 166 |
+
"summary_zh": "视频 4.6 s 夹爪夹在红杯两侧、5.8 s 红杯被弹出盘子，224.6 s 无杯上架，两节点未达成、断点与现象与帧一致；根因留空并有 gap_zh，可接受。",
|
| 167 |
+
"n_issues": 0,
|
| 168 |
+
"n_major": 0
|
| 169 |
+
}
|
| 170 |
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],
|
| 171 |
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"open_zh": []
|
| 172 |
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},
|
| 173 |
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"provenance": {
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| 174 |
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"prompt": "prompts/03_trajectory.md",
|
| 175 |
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"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
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| 176 |
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"engine": "claude",
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| 177 |
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"model": "claude-sonnet-5-5",
|
| 178 |
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"effort": "high",
|
| 179 |
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"created": "2026-11-08T22:10:12Z",
|
| 180 |
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"review_prompt": "prompts/04_trajectory_review.md",
|
| 181 |
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"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
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| 182 |
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"reconcile_prompt": "prompts/05_reconcile.md",
|
| 183 |
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"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
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| 184 |
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"calls": [
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| 185 |
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{
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| 186 |
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"stage": "traj",
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| 187 |
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"round": 0,
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| 188 |
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"ok": true,
|
| 189 |
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"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--beqffbv/03_label"
|
| 190 |
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},
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| 191 |
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{
|
| 192 |
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"stage": "traj_review",
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| 193 |
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"round": 1,
|
| 194 |
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| 195 |
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"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--beqffbv/04_review_r1"
|
| 196 |
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},
|
| 197 |
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{
|
| 198 |
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"stage": "reconcile",
|
| 199 |
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"round": 1,
|
| 200 |
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"ok": true,
|
| 201 |
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"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--beqffbv/05_reconcile_r1"
|
| 202 |
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},
|
| 203 |
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{
|
| 204 |
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"stage": "traj_review",
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| 205 |
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"round": 2,
|
| 206 |
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"ok": true,
|
| 207 |
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"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--beqffbv/04_review_r2"
|
| 208 |
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}
|
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],
|
| 210 |
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"review_engine": "claude",
|
| 211 |
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|
| 212 |
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| 213 |
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"states_sha256": null,
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| 216 |
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"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 217 |
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},
|
| 218 |
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"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."
|
| 219 |
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}
|
| 220 |
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}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--bqcdx4m.json
ADDED
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@@ -0,0 +1,258 @@
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| 1 |
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{
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},
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"video": {
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"kind": "media",
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"frames": 329,
|
| 68 |
+
"sha256": "5795578fcdd84be3ea0ca32fc3d7eb7ec98829e2d39e74f4a128b6290c21cd18"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"mugs_on_shelf_1": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 65.6,
|
| 85 |
+
"log_step": null,
|
| 86 |
+
"text_zh": "观察：视频 65.6 s 终帧外部视角：白杯在桌面，蓝白杯立在桌上网架立柱旁，不在网架层面上；红杯在视频约 26-27 s 被夹爪带到网架附近后掉到桌外地面（腕部视角 27-31 s 右下角地面可见红色小物，64 s 仍在）。无任何杯子满足位于网架上的判据。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "抓握",
|
| 93 |
+
"note_zh": "观察：Franka 夹爪夹住红杯（视频约 14-26 s）、蓝白杯（约 50-60 s）并向网架搬运，但均未放置到网架上。"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"mugs_on_shelf_2": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 65.6,
|
| 104 |
+
"log_step": null,
|
| 105 |
+
"text_zh": "观察：视频 65.6 s 终帧外部视角：白杯在桌面，蓝白杯立在桌上网架立柱旁，不在网架层面上；红杯在视频约 26-27 s 被夹爪带到网架附近后掉到桌外地面（腕部视角 27-31 s 右下角地面可见红色小物，64 s 仍在）。无任何杯子满足位于网架上的判据。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "手指/夹爪",
|
| 111 |
+
"how": "抓握",
|
| 112 |
+
"note_zh": "观察：Franka 夹爪夹住红杯（视频约 14-26 s）、蓝白杯（约 50-60 s）并向网架搬运，但均未放置到网架上。"
|
| 113 |
+
}
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"constraints": {}
|
| 118 |
+
},
|
| 119 |
+
"native_metrics": [],
|
| 120 |
+
"failure": {
|
| 121 |
+
"breakpoint": {
|
| 122 |
+
"ref": "mugs_on_shelf_1",
|
| 123 |
+
"t": 26.5,
|
| 124 |
+
"where": "操作中",
|
| 125 |
+
"evidence_zh": "观察：视频约 26-27 s 红杯在夹爪中被送到网架附近后消失于桌外，腕部视角此后右下角地面可见红杯；之后蓝白杯搬运（约 50-62 s）也停在网架立柱旁桌面，终帧无杯在网架上。 观察：log step id 54 proprio f15 finger_joint 由 0.4327 突增到 0.704→0.786，而夹爪指令 cmd 仍为 1.0（闭合），即掉落发生在夹持中而非在架上松手。",
|
| 126 |
+
"log_step": 54
|
| 127 |
+
},
|
| 128 |
+
"phenomena": [
|
| 129 |
+
{
|
| 130 |
+
"cat": "接触",
|
| 131 |
+
"item": "没保持住",
|
| 132 |
+
"t": 26.5,
|
| 133 |
+
"log_step": 54,
|
| 134 |
+
"evidence_zh": "观察：视频 22-26 s 红杯被夹爪持住，约 27 s 起红杯不再在夹爪中，落到地面（腕部视角 27-64 s 地面可见红色物）。 观察：log step id 54 proprio f15（TCP y=0.285，尚未到架 y≈0.39）finger_joint 突增至 0.786，cmd 仍=1.0（服务读数，非 agent 叙述）。proprio 帧号不换算为视频时间，视频时间仍取 26-27 s。"
|
| 135 |
+
}
|
| 136 |
+
],
|
| 137 |
+
"root_causes": [
|
| 138 |
+
{
|
| 139 |
+
"cat": "控制",
|
| 140 |
+
"item": "抓取和接触设计",
|
| 141 |
+
"alt_feasible": "未知",
|
| 142 |
+
"evidence_zh": "观察：log step id 54 proprio f00-f14 finger_joint 0.4368→0.4327 缓降（持杯、缓慢滑移），f15 突增到 0.786 且 cmd 仍=1.0，即夹持下滑脱；step id 44 提交说明显示��持点在红杯 +y 内壁与外侧把手之间约 38.8 mm 的薄壁处（仅作设计线索）。推断：该夹持点/构型承载不住搬运；未验证其他夹持点是否可行，故 alt_feasible 未知。蓝白杯 step id 109 finger_joint 同样闭到底 0.762→0.785，为同类抓取失败。",
|
| 143 |
+
"source_zh": "日志"
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"gap_zh": "已查 log step id 54 的 proprio：证实夹持下滑脱，根因标为抓取和接触设计；无法区分是夹持点选择还是夹爪力/控制参数，alt_feasible 未知；红杯掉落瞬间视频被遮挡，视频时间为 26-27 s 的推断，proprio 帧号不换算为视频时间。",
|
| 147 |
+
"unmet": {
|
| 148 |
+
"mugs_on_shelf_1": false,
|
| 149 |
+
"mugs_on_shelf_2": false
|
| 150 |
+
}
|
| 151 |
+
},
|
| 152 |
+
"summary_zh": "观察：视频 65.8 s 内机械臂先抓红杯送向网架，约 26-27 s 红杯掉到地面；再抓蓝白杯搬运但终帧仍在桌面网架立柱旁，0/2 节点达成。断点为第1杯上架（操作中），现象为杯子没保持住；根因标为 控制·抓取和接触设计（log step id 54 夹持下滑脱，alt_feasible 未知）。无状态日志，时间来自视觉。",
|
| 153 |
+
"conf": 5,
|
| 154 |
+
"review": {
|
| 155 |
+
"status": "agreed",
|
| 156 |
+
"rounds": 3,
|
| 157 |
+
"reviewers": [
|
| 158 |
+
{
|
| 159 |
+
"engine": "claude",
|
| 160 |
+
"model": "claude-sonnet-5-5",
|
| 161 |
+
"round": 1,
|
| 162 |
+
"verdict": "fix",
|
| 163 |
+
"conf": 6,
|
| 164 |
+
"summary_zh": "WHERE 标签（0/2 未达成、断点=第1杯上架·操作中、26-27 s 红杯掉落、手指/夹爪·抓握）与视频一致；缺陷在 root_causes 为空：agent 日志 step04 的 proprio（graded 单局的服务读数）给出了掉落的机理证据，标注者自己承认没查日志。",
|
| 165 |
+
"n_issues": 2,
|
| 166 |
+
"n_major": 1
|
| 167 |
+
},
|
| 168 |
+
{
|
| 169 |
+
"engine": "claude",
|
| 170 |
+
"model": "claude-sonnet-5-5",
|
| 171 |
+
"round": 2,
|
| 172 |
+
"verdict": "fix",
|
| 173 |
+
"conf": 7,
|
| 174 |
+
"summary_zh": "WHERE 标签（0/2 未达成、断点=第1杯上架·操作中、红杯约 26-27 s 掉落、手指/夹爪·抓握）与视频一致，第1轮已接受的根因也有 log 证据支持。仅剩 summary_zh 与 root_causes 自相矛盾（写“根因留空”，实际已有根因）。",
|
| 175 |
+
"n_issues": 1,
|
| 176 |
+
"n_major": 0
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"engine": "claude",
|
| 180 |
+
"model": "claude-sonnet-5-5",
|
| 181 |
+
"round": 3,
|
| 182 |
+
"kind": "confirm",
|
| 183 |
+
"verdict": "agree",
|
| 184 |
+
"summary_zh": "I1 已按建议改写 summary_zh，与 failure.root_causes 一致，无新增事实错误。",
|
| 185 |
+
"n_issues": 0,
|
| 186 |
+
"n_checks": 1
|
| 187 |
+
}
|
| 188 |
+
],
|
| 189 |
+
"open_zh": [],
|
| 190 |
+
"confirm": {
|
| 191 |
+
"verdict": "confirmed",
|
| 192 |
+
"summary_zh": "I1 已按建议改写 summary_zh，与 failure.root_causes 一致，无新增事实错误。",
|
| 193 |
+
"checks_ok": "1/1",
|
| 194 |
+
"n_factual_errors": 0
|
| 195 |
+
}
|
| 196 |
+
},
|
| 197 |
+
"provenance": {
|
| 198 |
+
"prompt": "prompts/03_trajectory.md",
|
| 199 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 200 |
+
"engine": "claude",
|
| 201 |
+
"model": "claude-sonnet-5-5",
|
| 202 |
+
"effort": "high",
|
| 203 |
+
"created": "2026-11-08T22:11:04Z",
|
| 204 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 205 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 206 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 207 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 208 |
+
"calls": [
|
| 209 |
+
{
|
| 210 |
+
"stage": "traj",
|
| 211 |
+
"round": 0,
|
| 212 |
+
"ok": true,
|
| 213 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--bqcdx4m/03_label"
|
| 214 |
+
},
|
| 215 |
+
{
|
| 216 |
+
"stage": "traj_review",
|
| 217 |
+
"round": 1,
|
| 218 |
+
"ok": true,
|
| 219 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--bqcdx4m/04_review_r1"
|
| 220 |
+
},
|
| 221 |
+
{
|
| 222 |
+
"stage": "reconcile",
|
| 223 |
+
"round": 1,
|
| 224 |
+
"ok": true,
|
| 225 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--bqcdx4m/05_reconcile_r1"
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"stage": "traj_review",
|
| 229 |
+
"round": 2,
|
| 230 |
+
"ok": true,
|
| 231 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--bqcdx4m/04_review_r2"
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"stage": "reconcile",
|
| 235 |
+
"round": 2,
|
| 236 |
+
"ok": true,
|
| 237 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--bqcdx4m/05_reconcile_r2"
|
| 238 |
+
},
|
| 239 |
+
{
|
| 240 |
+
"stage": "confirm",
|
| 241 |
+
"round": 3,
|
| 242 |
+
"ok": true,
|
| 243 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--bqcdx4m/06_confirm_r3"
|
| 244 |
+
}
|
| 245 |
+
],
|
| 246 |
+
"confirm_prompt": "prompts/06_confirm.md",
|
| 247 |
+
"confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
|
| 248 |
+
"review_engine": "claude",
|
| 249 |
+
"review_model": "claude-sonnet-5-5",
|
| 250 |
+
"inputs": {
|
| 251 |
+
"run_json_sha256": "5fe7c792bf8801396b80920012c9b335ba8e400e500933f460d28c3109364498",
|
| 252 |
+
"video_sha256": "5795578fcdd84be3ea0ca32fc3d7eb7ec98829e2d39e74f4a128b6290c21cd18",
|
| 253 |
+
"states_sha256": null,
|
| 254 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 255 |
+
},
|
| 256 |
+
"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."
|
| 257 |
+
}
|
| 258 |
+
}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--lph76zm.json
ADDED
|
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| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-put-two-mugs-on-shelf-i00-standard--lph76zm",
|
| 5 |
+
"taskKey": "robolab/put_two_mugs_on_shelf",
|
| 6 |
+
"dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
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"finalized": 1,
|
| 17 |
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"missing_log": 0,
|
| 18 |
+
"n_actions": 768,
|
| 19 |
+
"sim_steps": 768,
|
| 20 |
+
"physics_steps": 6144,
|
| 21 |
+
"steps": 151,
|
| 22 |
+
"elapsed_s": 1564.7,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
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"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 258,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
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"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.314,
|
| 44 |
+
"peak_processes": 11,
|
| 45 |
+
"peak_disk_gb": 0.958,
|
| 46 |
+
"peak_cpus": 1.23,
|
| 47 |
+
"peak_pids": 122,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-put-two-mugs-on-shelf-i00-standard--lph76zm.mp4",
|
| 65 |
+
"duration_s": 51.6,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 258,
|
| 68 |
+
"sha256": "4a9b5e2f37b6c9f643a1cf77b5797f9f07f5ac77c05cce26a79091f3394df5ee"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"mugs_on_shelf_1": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 36.0,
|
| 85 |
+
"log_step": 71,
|
| 86 |
+
"text_zh": "观察：视频 12-30 s 夹爪夹着红杯在网架上方，视频 36 s 桌面和网架上均无红杯（agent 自述红杯释放后翻落网架，log step 71）；视频 42 s 夹爪抓着蓝白杯斜举在空中，未在网架上；视频 46-50 s 腕部相机画面失常，杯子散落在地面（agent 自述机器人状态为 NaN，log step 95）。没有杯子在网架上满足判据。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "抓握",
|
| 93 |
+
"note_zh": "夹爪夹住红杯杯沿后搬到网架上方释放，红杯翻落；随后夹住蓝白杯杯沿抬起，未放上网架。"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"mugs_on_shelf_2": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 36.0,
|
| 104 |
+
"log_step": 71,
|
| 105 |
+
"text_zh": "观察：视频 12-30 s 夹爪夹着红杯在网架上方，视频 36 s 桌面和网架上均无红杯（agent 自述红杯释放后翻落网架，log step 71）；视频 42 s 夹爪抓着蓝白杯斜举在空中，未在网架上；视频 46-50 s 腕部相机画面失常，杯子散落在地面（agent 自述机器人状态为 NaN，log step 95）。没有杯子在网架上满足判据。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "手指/夹爪",
|
| 111 |
+
"how": "抓握",
|
| 112 |
+
"note_zh": "夹爪夹住红杯杯沿后搬到网架上方释放，红杯翻落；随后夹住蓝白杯杯沿抬起，未放上网架。"
|
| 113 |
+
}
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"constraints": {}
|
| 118 |
+
},
|
| 119 |
+
"native_metrics": [],
|
| 120 |
+
"failure": {
|
| 121 |
+
"breakpoint": {
|
| 122 |
+
"ref": "mugs_on_shelf_1",
|
| 123 |
+
"t": 29.0,
|
| 124 |
+
"where": "操作中",
|
| 125 |
+
"evidence_zh": "观察：视频 12-30 s 夹爪夹着红杯到网架上方，视频 36 s 红杯已不在网架上；agent 自述红杯释放后翻落（log step 64、71）。第二次尝试蓝白杯至视频 42 s 仍在空中，随后画面失常，从未有杯子留在网架上。",
|
| 126 |
+
"log_step": 64
|
| 127 |
+
},
|
| 128 |
+
"phenomena": [
|
| 129 |
+
{
|
| 130 |
+
"t": 29.0,
|
| 131 |
+
"log_step": 71,
|
| 132 |
+
"evidence_zh": "观察：视频 24-29 s 红杯被夹爪夹着、杯身倾斜悬在网架上方，从未落在网架上；约视频 29-30 s 松手后红杯直接掉落，30 s 起画面中无红杯（agent 自述红杯倾倒后掉下，log step 64、71）。松手时杯子不在目标上，按规则属位姿不准。",
|
| 133 |
+
"cat": "运动",
|
| 134 |
+
"item": "位姿不准"
|
| 135 |
+
}
|
| 136 |
+
],
|
| 137 |
+
"root_causes": [
|
| 138 |
+
{
|
| 139 |
+
"cat": "控制",
|
| 140 |
+
"item": "抓取和接触设计",
|
| 141 |
+
"alt_feasible": "未知",
|
| 142 |
+
"evidence_zh": "观察：视频 24-29 s 红杯以杯沿侧向被夹持，搬运时杯身倾斜，释放位姿不当。推断：这种夹持姿态使杯子倾斜，但无状态日志，是否存在可行替代未验证。",
|
| 143 |
+
"source_zh": "视频 24-29 s 帧观察（夹持姿态）；推断部分无状态日志支持"
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"gap_zh": "无状态日志；松手时刻约视频 29-30 s（已看帧 24、27、29、30 s）；红杯倾斜夹持为帧观察，其对翻落的因果为推断；视频 46 s 后机器人状态异常（agent 自述 NaN，log step 95）疑似仿真问题，无独立证据，故不标根因。",
|
| 147 |
+
"unmet": {
|
| 148 |
+
"mugs_on_shelf_1": false,
|
| 149 |
+
"mugs_on_shelf_2": false
|
| 150 |
+
}
|
| 151 |
+
},
|
| 152 |
+
"summary_zh": "观察：红杯被倾斜夹持到网架上方、未落在网架上就松手并掉落（位姿不准），蓝白杯被抬起但未放上网架，视频 46 s 后画面失常（agent 自述 NaN），两个节点均未达成（0/2）。断点在第1杯上架（操作中）。根因倾向抓取和接触设计（倾斜夹持，推断）。",
|
| 153 |
+
"conf": 6,
|
| 154 |
+
"review": {
|
| 155 |
+
"status": "agreed",
|
| 156 |
+
"rounds": 2,
|
| 157 |
+
"reviewers": [
|
| 158 |
+
{
|
| 159 |
+
"engine": "claude",
|
| 160 |
+
"model": "claude-sonnet-5-5",
|
| 161 |
+
"round": 1,
|
| 162 |
+
"verdict": "fix",
|
| 163 |
+
"conf": 6,
|
| 164 |
+
"summary_zh": "节点值（0/2）与断点（第1杯，操作中）正确；但现象「放后不稳」不对：视频 24-29 s 红杯被夹着倾斜悬在网架上方、并未落在网架上，松手时尚未在目标上，应为位姿不准。",
|
| 165 |
+
"n_issues": 2,
|
| 166 |
+
"n_major": 1
|
| 167 |
+
},
|
| 168 |
+
{
|
| 169 |
+
"engine": "claude",
|
| 170 |
+
"model": "claude-sonnet-5-5",
|
| 171 |
+
"round": 2,
|
| 172 |
+
"verdict": "agree",
|
| 173 |
+
"conf": 6,
|
| 174 |
+
"summary_zh": "节点 0/2、断点（第1杯上架，操作中，约视频 29 s）、现象位姿不准均与帧一致；根因为推断且已标注 alt_feasible 未知，可接受。",
|
| 175 |
+
"n_issues": 0,
|
| 176 |
+
"n_major": 0
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"open_zh": []
|
| 180 |
+
},
|
| 181 |
+
"provenance": {
|
| 182 |
+
"prompt": "prompts/03_trajectory.md",
|
| 183 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 184 |
+
"engine": "claude",
|
| 185 |
+
"model": "claude-sonnet-5-5",
|
| 186 |
+
"effort": "high",
|
| 187 |
+
"created": "2026-11-08T22:09:54Z",
|
| 188 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 189 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 190 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 191 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 192 |
+
"calls": [
|
| 193 |
+
{
|
| 194 |
+
"stage": "traj",
|
| 195 |
+
"round": 0,
|
| 196 |
+
"ok": true,
|
| 197 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--lph76zm/03_label"
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"stage": "traj_review",
|
| 201 |
+
"round": 1,
|
| 202 |
+
"ok": true,
|
| 203 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--lph76zm/04_review_r1"
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"stage": "reconcile",
|
| 207 |
+
"round": 1,
|
| 208 |
+
"ok": true,
|
| 209 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--lph76zm/05_reconcile_r1"
|
| 210 |
+
},
|
| 211 |
+
{
|
| 212 |
+
"stage": "traj_review",
|
| 213 |
+
"round": 2,
|
| 214 |
+
"ok": true,
|
| 215 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--lph76zm/04_review_r2"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"review_engine": "claude",
|
| 219 |
+
"review_model": "claude-sonnet-5-5",
|
| 220 |
+
"inputs": {
|
| 221 |
+
"run_json_sha256": "99bef6ed236ec564f429fddaa48df7fbd354b7d4864d8b585ab958a6d42c1c66",
|
| 222 |
+
"video_sha256": "4a9b5e2f37b6c9f643a1cf77b5797f9f07f5ac77c05cce26a79091f3394df5ee",
|
| 223 |
+
"states_sha256": null,
|
| 224 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 225 |
+
},
|
| 226 |
+
"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."
|
| 227 |
+
}
|
| 228 |
+
}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--mcmrczs.json
ADDED
|
@@ -0,0 +1,228 @@
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-put-two-mugs-on-shelf-i00-standard--mcmrczs",
|
| 5 |
+
"taskKey": "robolab/put_two_mugs_on_shelf",
|
| 6 |
+
"dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 887,
|
| 19 |
+
"sim_steps": 887,
|
| 20 |
+
"physics_steps": 7096,
|
| 21 |
+
"steps": 38,
|
| 22 |
+
"elapsed_s": 2508.2,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 297,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.403,
|
| 44 |
+
"peak_processes": 14,
|
| 45 |
+
"peak_disk_gb": 0.301,
|
| 46 |
+
"peak_cpus": 0.98,
|
| 47 |
+
"peak_pids": 158,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-put-two-mugs-on-shelf-i00-standard--mcmrczs.mp4",
|
| 65 |
+
"duration_s": 59.4,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 297,
|
| 68 |
+
"sha256": "c3478d43689023f2139798d294dc8dec9408e75dbd41bf466977cbbb47c95fa7"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"mugs_on_shelf_1": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 59.0,
|
| 85 |
+
"log_step": 65,
|
| 86 |
+
"text_zh": "观察：视频全程（含最后一秒）三个视角中没有任何杯子落到金属网架上；白杯与蓝杯被打翻侧卧在桌面，红杯留在盘上。agent 最后自述“no mugs are on the shelf”（log step 65）。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "抓握",
|
| 93 |
+
"note_zh": "Robotiq 夹爪多次夹杯壁/杯柄（白杯杯沿、蓝杯杯沿与杯柄），杯子被弹出或掉落，未送到网架。"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"mugs_on_shelf_2": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 59.0,
|
| 104 |
+
"log_step": 65,
|
| 105 |
+
"text_zh": "观察：视频全程（含最后一秒）三个视角中没有任何杯子落到金属网架上；白杯与蓝杯被打翻侧卧在桌面，红杯留在盘上。agent 最后自述“no mugs are on the shelf”（log step 65）。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "手指/夹爪",
|
| 111 |
+
"how": "抓握",
|
| 112 |
+
"note_zh": "Robotiq 夹爪多次夹杯壁/杯柄（白杯杯沿、蓝杯杯沿与杯柄），杯子被弹出或掉落，未送到网架。"
|
| 113 |
+
}
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"constraints": {}
|
| 118 |
+
},
|
| 119 |
+
"native_metrics": [],
|
| 120 |
+
"failure": {
|
| 121 |
+
"breakpoint": {
|
| 122 |
+
"ref": "mugs_on_shelf_1",
|
| 123 |
+
"t": 10.0,
|
| 124 |
+
"where": "操作中",
|
| 125 |
+
"evidence_zh": "观察：视频约 8-20 s 夹爪闭合后白杯被弹出侧倒，之后蓝杯多次被夹起又掉落，始终没有杯子到达网架。agent 自述四次抓取均失败（log step 65）。",
|
| 126 |
+
"log_step": 16
|
| 127 |
+
},
|
| 128 |
+
"phenomena": [
|
| 129 |
+
{
|
| 130 |
+
"cat": "接触",
|
| 131 |
+
"item": "没保持住",
|
| 132 |
+
"t": 20.0,
|
| 133 |
+
"log_step": 65,
|
| 134 |
+
"evidence_zh": "观察：腕部视角中杯子在夹爪闭合/抬升时被甩出或掉落（蓝杯两次抓住后又掉下）。推断：抓住后未能保持。"
|
| 135 |
+
}
|
| 136 |
+
],
|
| 137 |
+
"root_causes": [
|
| 138 |
+
{
|
| 139 |
+
"cat": "控制",
|
| 140 |
+
"item": "抓取和接触设计",
|
| 141 |
+
"alt_feasible": "未知",
|
| 142 |
+
"evidence_zh": "agent 自述夹住薄杯壁时杯子被弹出（log step 65）；视频中杯子被甩出与之一致。夹持几何不适合，且 agent 未先单独测试一次抓取。",
|
| 143 |
+
"source_zh": "agent 自述"
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"gap_zh": null,
|
| 147 |
+
"unmet": {
|
| 148 |
+
"mugs_on_shelf_1": false,
|
| 149 |
+
"mugs_on_shelf_2": false
|
| 150 |
+
}
|
| 151 |
+
},
|
| 152 |
+
"summary_zh": "观察：graded 尝试中三只杯子没有一只上架，两个节点均未达成。断点在第1杯上架的抓取搬运环节：夹爪夹杯壁/杯柄时杯子被弹出或掉落，白杯、蓝杯被打翻。证据缺口：无状态日志，接触细节仅来自视频与 agent 自述；失败现象类别为推断。",
|
| 153 |
+
"conf": 6,
|
| 154 |
+
"review": {
|
| 155 |
+
"status": "agreed",
|
| 156 |
+
"rounds": 2,
|
| 157 |
+
"reviewers": [
|
| 158 |
+
{
|
| 159 |
+
"engine": "claude",
|
| 160 |
+
"model": "claude-sonnet-5-5",
|
| 161 |
+
"round": 1,
|
| 162 |
+
"verdict": "fix",
|
| 163 |
+
"conf": 6,
|
| 164 |
+
"summary_zh": "节点（两杯均未上架）、断点（第1杯抓取时白杯被弹出）和现象/根因大体与视频一致；仅断点 log_step 引用错误。",
|
| 165 |
+
"n_issues": 1,
|
| 166 |
+
"n_major": 0
|
| 167 |
+
},
|
| 168 |
+
{
|
| 169 |
+
"engine": "claude",
|
| 170 |
+
"model": "claude-sonnet-5-5",
|
| 171 |
+
"round": 2,
|
| 172 |
+
"verdict": "agree",
|
| 173 |
+
"conf": 7,
|
| 174 |
+
"summary_zh": "两个节点均未达成、断点在第1杯抓取（约8-12 s白杯被弹出）、现象没保持住与根因抓取和接触设计均与视频一致；无需修改。",
|
| 175 |
+
"n_issues": 0,
|
| 176 |
+
"n_major": 0
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"open_zh": []
|
| 180 |
+
},
|
| 181 |
+
"provenance": {
|
| 182 |
+
"prompt": "prompts/03_trajectory.md",
|
| 183 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 184 |
+
"engine": "claude",
|
| 185 |
+
"model": "claude-sonnet-5-5",
|
| 186 |
+
"effort": "high",
|
| 187 |
+
"created": "2026-11-08T22:09:37Z",
|
| 188 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 189 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 190 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 191 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 192 |
+
"calls": [
|
| 193 |
+
{
|
| 194 |
+
"stage": "traj",
|
| 195 |
+
"round": 0,
|
| 196 |
+
"ok": true,
|
| 197 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--mcmrczs/03_label"
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"stage": "traj_review",
|
| 201 |
+
"round": 1,
|
| 202 |
+
"ok": true,
|
| 203 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--mcmrczs/04_review_r1"
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"stage": "reconcile",
|
| 207 |
+
"round": 1,
|
| 208 |
+
"ok": true,
|
| 209 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--mcmrczs/05_reconcile_r1"
|
| 210 |
+
},
|
| 211 |
+
{
|
| 212 |
+
"stage": "traj_review",
|
| 213 |
+
"round": 2,
|
| 214 |
+
"ok": true,
|
| 215 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--mcmrczs/04_review_r2"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"review_engine": "claude",
|
| 219 |
+
"review_model": "claude-sonnet-5-5",
|
| 220 |
+
"inputs": {
|
| 221 |
+
"run_json_sha256": "1056d81c2e86b2a448ba9284fadd23a26fbeaab2a8e21303259fa85f17547d4a",
|
| 222 |
+
"video_sha256": "c3478d43689023f2139798d294dc8dec9408e75dbd41bf466977cbbb47c95fa7",
|
| 223 |
+
"states_sha256": null,
|
| 224 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 225 |
+
},
|
| 226 |
+
"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."
|
| 227 |
+
}
|
| 228 |
+
}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--nx3wuyk.json
ADDED
|
@@ -0,0 +1,220 @@
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-put-two-mugs-on-shelf-i00-standard--nx3wuyk",
|
| 5 |
+
"taskKey": "robolab/put_two_mugs_on_shelf",
|
| 6 |
+
"dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 926,
|
| 19 |
+
"sim_steps": 926,
|
| 20 |
+
"physics_steps": 7408,
|
| 21 |
+
"steps": 48,
|
| 22 |
+
"elapsed_s": 1023.4,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 310,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.263,
|
| 44 |
+
"peak_processes": 9,
|
| 45 |
+
"peak_disk_gb": 0.275,
|
| 46 |
+
"peak_cpus": 0.56,
|
| 47 |
+
"peak_pids": 38,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-put-two-mugs-on-shelf-i00-standard--nx3wuyk.mp4",
|
| 65 |
+
"duration_s": 62.0,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 310,
|
| 68 |
+
"sha256": "0489c7a2fefb55e2ccd0a3cf1add0aa322fb60a3aaa84d9b3677607d8b0af605"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"mugs_on_shelf_1": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 61.5,
|
| 85 |
+
"log_step": null,
|
| 86 |
+
"text_zh": "观察：视频 ≈4 s 夹爪夹着白杯在桌沿，≈5-6 s 起桌面已无白杯；≈28 s 夹爪夹起红杯后，≈30 s 盘中无红杯、红杯出现在桌子左下缘外；仅蓝白纹杯留在桌上，≈55-62 s 被夹起。网架上始终没有杯子。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "抓握",
|
| 93 |
+
"note_zh": "观察：Franka 的 Robotiq 夹爪尝试夹取杯子（视频 ≈ 55-62 s 夹住蓝白纹杯并抬起），但没有放上网架。"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"mugs_on_shelf_2": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 61.5,
|
| 104 |
+
"log_step": null,
|
| 105 |
+
"text_zh": "观察：视频 ≈4 s 夹爪夹着白杯在桌沿，≈5-6 s 起桌面已无白杯；≈28 s 夹爪夹起红杯后，≈30 s 盘中无红杯、红杯出现在桌子左下缘外；仅蓝白纹杯留在桌上，≈55-62 s 被夹起。网架上始终没有杯子。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "手指/夹爪",
|
| 111 |
+
"how": "抓握",
|
| 112 |
+
"note_zh": "观察：Franka 的 Robotiq 夹爪尝试夹取杯子（视频 ≈ 55-62 s 夹住蓝白纹杯并抬起），但没有放上网架。"
|
| 113 |
+
}
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"constraints": {}
|
| 118 |
+
},
|
| 119 |
+
"native_metrics": [],
|
| 120 |
+
"failure": {
|
| 121 |
+
"breakpoint": {
|
| 122 |
+
"ref": "mugs_on_shelf_1",
|
| 123 |
+
"t": 5.0,
|
| 124 |
+
"log_step": null,
|
| 125 |
+
"where": "操作中",
|
| 126 |
+
"evidence_zh": "观察：视频 ≈4 s 夹爪夹着白杯在桌沿，≈5-6 s 起桌面已无白杯；≈28 s 夹爪夹起红杯后，≈30 s 盘中无红杯、红杯出现在桌子左下缘外；仅蓝白纹杯留在桌上，≈55-62 s 被夹起。网架上始终没有杯子。"
|
| 127 |
+
},
|
| 128 |
+
"phenomena": [
|
| 129 |
+
{
|
| 130 |
+
"cat": "接触",
|
| 131 |
+
"item": "没保持住",
|
| 132 |
+
"t": 5.0,
|
| 133 |
+
"log_step": null,
|
| 134 |
+
"evidence_zh": "观察：视频 ≈4 s 夹爪夹着白杯，≈5-6 s 白杯离开桌面；≈28-30 s 红杯被夹起后同样从盘中消失（agent 日志 step 116-121 在地面找到红/白杯，仅旁证）。"
|
| 135 |
+
}
|
| 136 |
+
],
|
| 137 |
+
"root_causes": [],
|
| 138 |
+
"gap_zh": "只缺根因：没有状态日志，杯子被夹出桌沿的原因（抓取位置、夹力、动作过快）无法从 5 fps 视频判定，根因留空；agent 自述仅为自述。",
|
| 139 |
+
"unmet": {
|
| 140 |
+
"mugs_on_shelf_1": false,
|
| 141 |
+
"mugs_on_shelf_2": false
|
| 142 |
+
}
|
| 143 |
+
},
|
| 144 |
+
"summary_zh": "观察：标准模式、grader 判失败；视频 ≈5 s 白杯被夹起后离开桌面，≈30 s 红杯同样丢失，最后仅蓝白纹杯留在桌上，网架上始终无杯，两个节点均未达成。推断：断在第1杯上架的操作中（杯子被夹起后丢失）；缺状态日志，根因无法确定。",
|
| 145 |
+
"conf": 5,
|
| 146 |
+
"review": {
|
| 147 |
+
"status": "agreed",
|
| 148 |
+
"rounds": 2,
|
| 149 |
+
"reviewers": [
|
| 150 |
+
{
|
| 151 |
+
"engine": "claude",
|
| 152 |
+
"model": "claude-sonnet-5-5",
|
| 153 |
+
"round": 1,
|
| 154 |
+
"verdict": "fix",
|
| 155 |
+
"conf": 6,
|
| 156 |
+
"summary_zh": "节点 final=false 正确（视频全程无杯子上网架），但失败过程被漏读：视频 ≈4-6 s 夹爪夹着白杯移出桌沿后白杯从桌面消失；视频 ≈27-30 s 夹爪夹起红杯后红杯同样从盘中消失（agent 日志 step 116-121 也在地面找到红/白杯，z≈-0.64，属 agent 对图像的点云读数，仅作旁证）。因此断点应在最早的失败处（约 5 s 白杯被夹出桌面），现象不应留空。",
|
| 157 |
+
"n_issues": 3,
|
| 158 |
+
"n_major": 2
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"engine": "claude",
|
| 162 |
+
"model": "claude-sonnet-5-5",
|
| 163 |
+
"round": 2,
|
| 164 |
+
"verdict": "agree",
|
| 165 |
+
"conf": 6,
|
| 166 |
+
"summary_zh": "节点均未达成、断点在第1杯操作中约5 s（视频时钟）白杯被带出桌沿、现象没保持住，均与帧一致；根因留空并有gap_zh，可接受。",
|
| 167 |
+
"n_issues": 0,
|
| 168 |
+
"n_major": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"open_zh": []
|
| 172 |
+
},
|
| 173 |
+
"provenance": {
|
| 174 |
+
"prompt": "prompts/03_trajectory.md",
|
| 175 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 176 |
+
"engine": "claude",
|
| 177 |
+
"model": "claude-sonnet-5-5",
|
| 178 |
+
"effort": "high",
|
| 179 |
+
"created": "2026-11-08T22:10:28Z",
|
| 180 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 181 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 182 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 183 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 184 |
+
"calls": [
|
| 185 |
+
{
|
| 186 |
+
"stage": "traj",
|
| 187 |
+
"round": 0,
|
| 188 |
+
"ok": true,
|
| 189 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--nx3wuyk/03_label"
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"stage": "traj_review",
|
| 193 |
+
"round": 1,
|
| 194 |
+
"ok": true,
|
| 195 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--nx3wuyk/04_review_r1"
|
| 196 |
+
},
|
| 197 |
+
{
|
| 198 |
+
"stage": "reconcile",
|
| 199 |
+
"round": 1,
|
| 200 |
+
"ok": true,
|
| 201 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--nx3wuyk/05_reconcile_r1"
|
| 202 |
+
},
|
| 203 |
+
{
|
| 204 |
+
"stage": "traj_review",
|
| 205 |
+
"round": 2,
|
| 206 |
+
"ok": true,
|
| 207 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--nx3wuyk/04_review_r2"
|
| 208 |
+
}
|
| 209 |
+
],
|
| 210 |
+
"review_engine": "claude",
|
| 211 |
+
"review_model": "claude-sonnet-5-5",
|
| 212 |
+
"inputs": {
|
| 213 |
+
"run_json_sha256": "ada097105da3cd083c977b41532cf5393cc062128987013f8ab156c63d2ee7b4",
|
| 214 |
+
"video_sha256": "0489c7a2fefb55e2ccd0a3cf1add0aa322fb60a3aaa84d9b3677607d8b0af605",
|
| 215 |
+
"states_sha256": null,
|
| 216 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 217 |
+
},
|
| 218 |
+
"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."
|
| 219 |
+
}
|
| 220 |
+
}
|
phaseR/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--xn8kwzc.json
ADDED
|
@@ -0,0 +1,245 @@
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-put-two-mugs-on-shelf-i00-standard--xn8kwzc",
|
| 5 |
+
"taskKey": "robolab/put_two_mugs_on_shelf",
|
| 6 |
+
"dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 3417,
|
| 19 |
+
"sim_steps": 3417,
|
| 20 |
+
"physics_steps": 27336,
|
| 21 |
+
"steps": 773,
|
| 22 |
+
"elapsed_s": 2917.4,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 1141,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.354,
|
| 44 |
+
"peak_processes": 12,
|
| 45 |
+
"peak_disk_gb": 1.094,
|
| 46 |
+
"peak_cpus": 1.87,
|
| 47 |
+
"peak_pids": 148,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-put-two-mugs-on-shelf-i00-standard--xn8kwzc.mp4",
|
| 65 |
+
"duration_s": 228.2,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 1141,
|
| 68 |
+
"sha256": "5e99a933730dcc767abb7a5c190aea18393b85b38ff67b7237f1508a045a6cb6"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"mugs_on_shelf_1": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 228.0,
|
| 85 |
+
"log_step": null,
|
| 86 |
+
"text_zh": "观察：视频 228 s 末帧，两只留在桌上的杯子（白杯、蓝白纹杯）在桌面上，红杯在地板上，金属网架已不在桌上；全程无杯子停在网架上。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "抓握",
|
| 93 |
+
"note_zh": "观察：视频约 80-140 s 夹爪套在蓝杯处（120 s 帧），未能抬起放到网架；150 s 起杯仍在桌面。"
|
| 94 |
+
},
|
| 95 |
+
{
|
| 96 |
+
"who": "手指/夹爪",
|
| 97 |
+
"how": "推/扫",
|
| 98 |
+
"note_zh": "观察：视频约 198-204 s 夹爪推红杯；未见夹爪夹住杯子将其放上网架。"
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"mugs_on_shelf_2": {
|
| 103 |
+
"method": "visual",
|
| 104 |
+
"intervals": [],
|
| 105 |
+
"final": false,
|
| 106 |
+
"evidence": [
|
| 107 |
+
{
|
| 108 |
+
"t": 228.0,
|
| 109 |
+
"log_step": null,
|
| 110 |
+
"text_zh": "观察：视频 228 s 末帧，两只留在桌上的杯子（白杯、蓝白纹杯）在桌面上，红杯在地板上，金属网架已不在桌上；全程无杯子停在网架上。"
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"contact_actual": [
|
| 114 |
+
{
|
| 115 |
+
"who": "手指/夹爪",
|
| 116 |
+
"how": "抓握",
|
| 117 |
+
"note_zh": "观察：视频约 80-140 s 夹爪套在蓝杯处（120 s 帧），未能抬起放到网架；150 s 起杯仍在桌面。"
|
| 118 |
+
},
|
| 119 |
+
{
|
| 120 |
+
"who": "手指/夹爪",
|
| 121 |
+
"how": "推/扫",
|
| 122 |
+
"note_zh": "观察：视频约 198-204 s 夹爪推红杯；未见夹爪夹住杯子将其放上网架。"
|
| 123 |
+
}
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"constraints": {}
|
| 128 |
+
},
|
| 129 |
+
"native_metrics": [],
|
| 130 |
+
"failure": {
|
| 131 |
+
"breakpoint": {
|
| 132 |
+
"ref": "mugs_on_shelf_1",
|
| 133 |
+
"t": 120.0,
|
| 134 |
+
"log_step": 81,
|
| 135 |
+
"where": "操作中",
|
| 136 |
+
"evidence_zh": "观察：视频 80-140 s 夹爪在蓝杯上方/套住杯子（120 s 帧），150 s 起蓝杯仍在桌上，网架仍在原位，首次抓取失败；约 200 s 的推红杯是放弃抓取后的补救（agent 自述 log step 168）。log step 81 仅为 agent 提到先前抓取尝试的近似位置。"
|
| 137 |
+
},
|
| 138 |
+
"phenomena": [
|
| 139 |
+
{
|
| 140 |
+
"cat": "接触",
|
| 141 |
+
"item": "没建立接触",
|
| 142 |
+
"t": 120.0,
|
| 143 |
+
"log_step": 167,
|
| 144 |
+
"evidence_zh": "观察：视频中夹爪从未稳定夹持并抬起杯子送到网架；agent 自述抓取尝试失败（log step 167）。"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"cat": "运动",
|
| 148 |
+
"item": "被挡/碰撞",
|
| 149 |
+
"t": 202.0,
|
| 150 |
+
"log_step": 184,
|
| 151 |
+
"evidence_zh": "观察：视频 200 s 夹爪在红杯处，204 s 网架已落到地面、红杯在桌上被推动；208 s 起桌上无网架。agent 自述“推动把网架推下桌”（log step 184）。"
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"root_causes": [
|
| 155 |
+
{
|
| 156 |
+
"cat": "控制",
|
| 157 |
+
"item": "抓取和接触设计",
|
| 158 |
+
"alt_feasible": "未知",
|
| 159 |
+
"evidence_zh": "推断：视频见夹爪套住蓝杯却没夹起；agent 自述原因为 2F-85 开口 8.5 cm 小于杯外径约 9 cm（log step 195），未独立核实。",
|
| 160 |
+
"source_zh": "推断（含 agent 自述）"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"gap_zh": "无状态日志；三视角视频中夹持细节难以逐帧确认，具体抓取时刻为推断。",
|
| 164 |
+
"unmet": {
|
| 165 |
+
"mugs_on_shelf_1": false,
|
| 166 |
+
"mugs_on_shelf_2": false
|
| 167 |
+
}
|
| 168 |
+
},
|
| 169 |
+
"summary_zh": "观察：视频 228 s 内没有任何杯子停在网架上，两节点均未达成。推断：断在第1杯上架的首次抓取（约 80-140 s，夹爪套住蓝杯未夹起）；约 200 s 改推杯，网架被撞出桌面、不可恢复；证据缺口：无状态日志，根因来自自述。",
|
| 170 |
+
"conf": 5,
|
| 171 |
+
"review": {
|
| 172 |
+
"status": "agreed",
|
| 173 |
+
"rounds": 2,
|
| 174 |
+
"reviewers": [
|
| 175 |
+
{
|
| 176 |
+
"engine": "claude",
|
| 177 |
+
"model": "claude-sonnet-5-5",
|
| 178 |
+
"round": 1,
|
| 179 |
+
"verdict": "fix",
|
| 180 |
+
"conf": 6,
|
| 181 |
+
"summary_zh": "两节点未达成正确，但断点定位、接触与现象有误：真正的抓取尝试在约 80-140 s（蓝杯，夹爪套在杯上），而标签把工作对象/时刻定为约 200 s 的红杯；约 201-204 s 机械臂推红杯时把金属网架撞出桌面（被挡/碰撞）没有被标；根因只靠 agent 自述。",
|
| 182 |
+
"n_issues": 4,
|
| 183 |
+
"n_major": 3
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
+
"engine": "claude",
|
| 187 |
+
"model": "claude-sonnet-5-5",
|
| 188 |
+
"round": 2,
|
| 189 |
+
"verdict": "agree",
|
| 190 |
+
"conf": 7,
|
| 191 |
+
"summary_zh": "第2轮标签与视频一致：两节点均未达成；80-140 s 夹爪套住蓝杯未抬起、网架约 200 s 被推出桌面，断点、接触、现象与根因（标为推断）均有帧支持。",
|
| 192 |
+
"n_issues": 0,
|
| 193 |
+
"n_major": 0
|
| 194 |
+
}
|
| 195 |
+
],
|
| 196 |
+
"open_zh": []
|
| 197 |
+
},
|
| 198 |
+
"provenance": {
|
| 199 |
+
"prompt": "prompts/03_trajectory.md",
|
| 200 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 201 |
+
"engine": "claude",
|
| 202 |
+
"model": "claude-sonnet-5-5",
|
| 203 |
+
"effort": "high",
|
| 204 |
+
"created": "2026-11-08T22:10:47Z",
|
| 205 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 206 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 207 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 208 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 209 |
+
"calls": [
|
| 210 |
+
{
|
| 211 |
+
"stage": "traj",
|
| 212 |
+
"round": 0,
|
| 213 |
+
"ok": true,
|
| 214 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--xn8kwzc/03_label"
|
| 215 |
+
},
|
| 216 |
+
{
|
| 217 |
+
"stage": "traj_review",
|
| 218 |
+
"round": 1,
|
| 219 |
+
"ok": true,
|
| 220 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--xn8kwzc/04_review_r1"
|
| 221 |
+
},
|
| 222 |
+
{
|
| 223 |
+
"stage": "reconcile",
|
| 224 |
+
"round": 1,
|
| 225 |
+
"ok": true,
|
| 226 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--xn8kwzc/05_reconcile_r1"
|
| 227 |
+
},
|
| 228 |
+
{
|
| 229 |
+
"stage": "traj_review",
|
| 230 |
+
"round": 2,
|
| 231 |
+
"ok": true,
|
| 232 |
+
"space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--xn8kwzc/04_review_r2"
|
| 233 |
+
}
|
| 234 |
+
],
|
| 235 |
+
"review_engine": "claude",
|
| 236 |
+
"review_model": "claude-sonnet-5-5",
|
| 237 |
+
"inputs": {
|
| 238 |
+
"run_json_sha256": "c79916b144d1d5ea3027d0ef2d7dcafc96b80de01aee5e74914b280625effb20",
|
| 239 |
+
"video_sha256": "5e99a933730dcc767abb7a5c190aea18393b85b38ff67b7237f1508a045a6cb6",
|
| 240 |
+
"states_sha256": null,
|
| 241 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 242 |
+
},
|
| 243 |
+
"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."
|
| 244 |
+
}
|
| 245 |
+
}
|
phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--5vztddn.json
ADDED
|
@@ -0,0 +1,192 @@
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|
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|
|
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|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-red-dishes-in-bin-i00-privileged--5vztddn",
|
| 5 |
+
"taskKey": "robolab/red_dishes_in_bin",
|
| 6 |
+
"dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 371,
|
| 18 |
+
"sim_steps": 401,
|
| 19 |
+
"final_reward": 0.0,
|
| 20 |
+
"replay_wall_s": 1365.9,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 1,
|
| 26 |
+
"agent_resets": 130,
|
| 27 |
+
"agent_sim_steps": 0,
|
| 28 |
+
"agent_records": 2,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 4.288,
|
| 35 |
+
"peak_memory_gb": 12.903,
|
| 36 |
+
"peak_processes": 12,
|
| 37 |
+
"peak_disk_gb": 0.097,
|
| 38 |
+
"peak_cpus": 8.14,
|
| 39 |
+
"peak_pids": 885,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-red-dishes-in-bin-i00-privileged--5vztddn.mp4",
|
| 59 |
+
"duration_s": 26.8,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 402,
|
| 62 |
+
"sha256": "7e7786c1977307446f43e29c493096f294b56e232ce5f389d6dd3a94b9ad90ef"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 0,
|
| 70 |
+
"final": 0,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"mug_in_bin": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [],
|
| 75 |
+
"final": false,
|
| 76 |
+
"evidence": [
|
| 77 |
+
{
|
| 78 |
+
"t": 5.8,
|
| 79 |
+
"log_step": null,
|
| 80 |
+
"text_zh": "观察：视频 3.5-5.6 s 夹爪夹着红杯朝灰箱移动；视频 5.8 s 红杯脱离夹爪下落，6.2 s 起在地面（远景相机）可见，之后一直在地面，从未处于灰箱内；红杯质心从未进入灰箱区域。"
|
| 81 |
+
}
|
| 82 |
+
],
|
| 83 |
+
"contact_actual": [
|
| 84 |
+
{
|
| 85 |
+
"who": "手指/夹爪",
|
| 86 |
+
"how": "抓握",
|
| 87 |
+
"note_zh": "观察：Franka 的 Robotiq 夹爪在视频约 3.5 s 夹起红杯并带向灰箱，约 5.8 s 红杯滑脱。"
|
| 88 |
+
}
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"bowl_in_bin": {
|
| 92 |
+
"method": "visual",
|
| 93 |
+
"intervals": [],
|
| 94 |
+
"final": false,
|
| 95 |
+
"evidence": [
|
| 96 |
+
{
|
| 97 |
+
"t": 14.0,
|
| 98 |
+
"log_step": null,
|
| 99 |
+
"text_zh": "观察：视频 13-16 s 夹爪只在红碗边缘附近触碰，碗始终留在桌面原位，至视频 26.7 s 仍在桌上，未入灰箱。"
|
| 100 |
+
}
|
| 101 |
+
],
|
| 102 |
+
"contact_actual": [
|
| 103 |
+
{
|
| 104 |
+
"who": "手指/夹爪",
|
| 105 |
+
"how": "压/擦",
|
| 106 |
+
"note_zh": "观察：视频约 13-16 s 夹爪指尖触到红碗边缘，没有夹住也没有搬动。"
|
| 107 |
+
}
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"constraints": {}
|
| 112 |
+
},
|
| 113 |
+
"native_metrics": [],
|
| 114 |
+
"failure": {
|
| 115 |
+
"breakpoint": {
|
| 116 |
+
"ref": "mug_in_bin",
|
| 117 |
+
"where": "操作中",
|
| 118 |
+
"t": 5.8,
|
| 119 |
+
"evidence_zh": "观察：视频 5.8 s 红杯在搬往灰箱途中从夹爪脱落，掉到桌外地面（视频 6.2 s 远景相机可见），未入箱，之后未被找回。",
|
| 120 |
+
"log_step": null
|
| 121 |
+
},
|
| 122 |
+
"phenomena": [
|
| 123 |
+
{
|
| 124 |
+
"cat": "接触",
|
| 125 |
+
"item": "没保持住",
|
| 126 |
+
"t": 5.8,
|
| 127 |
+
"log_step": null,
|
| 128 |
+
"evidence_zh": "观察：红杯先被夹持抬起，视频 5.8 s 滑脱落地。"
|
| 129 |
+
}
|
| 130 |
+
],
|
| 131 |
+
"root_causes": [],
|
| 132 |
+
"gap_zh": "根因不明：没有状态日志，视频看不出夹持几何或轨迹原因；日志自述不作依据。红碗只有触碰，无其他尝试。杯子被抓取的细节（夹杯口/杯身）未逐帧核对。",
|
| 133 |
+
"unmet": {
|
| 134 |
+
"mug_in_bin": false,
|
| 135 |
+
"bowl_in_bin": false
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"summary_zh": "观察：红杯在视频 3.5-5.8 s 被夹起后搬运中滑脱掉到地面，红碗始终留在桌上，两个节点都未达成（0/2）。断点在红杯入箱的操作中，现象为没保持住；因缺少状态日志，根因未判定。",
|
| 139 |
+
"conf": 6,
|
| 140 |
+
"review": {
|
| 141 |
+
"status": "agreed",
|
| 142 |
+
"rounds": 1,
|
| 143 |
+
"reviewers": [
|
| 144 |
+
{
|
| 145 |
+
"engine": "claude",
|
| 146 |
+
"model": "claude-sonnet-5-5",
|
| 147 |
+
"round": 1,
|
| 148 |
+
"verdict": "agree",
|
| 149 |
+
"conf": 6,
|
| 150 |
+
"summary_zh": "逐帧核对：红杯约3.5 s被夹起，5.8 s前后脱落，6.2 s起不在桌面/夹爪中；红碗全程在桌上，两节点未达成，断点与现象“没保持住”与画面一致；无状态日志，根因留空并有gap_zh，合理。",
|
| 151 |
+
"n_issues": 0,
|
| 152 |
+
"n_major": 0
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"open_zh": []
|
| 156 |
+
},
|
| 157 |
+
"provenance": {
|
| 158 |
+
"prompt": "prompts/03_trajectory.md",
|
| 159 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 160 |
+
"engine": "claude",
|
| 161 |
+
"model": "claude-sonnet-5-5",
|
| 162 |
+
"effort": "high",
|
| 163 |
+
"created": "2026-11-08T22:07:15Z",
|
| 164 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 165 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 166 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 167 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 168 |
+
"calls": [
|
| 169 |
+
{
|
| 170 |
+
"stage": "traj",
|
| 171 |
+
"round": 0,
|
| 172 |
+
"ok": true,
|
| 173 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--5vztddn/03_label"
|
| 174 |
+
},
|
| 175 |
+
{
|
| 176 |
+
"stage": "traj_review",
|
| 177 |
+
"round": 1,
|
| 178 |
+
"ok": true,
|
| 179 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--5vztddn/04_review_r1"
|
| 180 |
+
}
|
| 181 |
+
],
|
| 182 |
+
"review_engine": "claude",
|
| 183 |
+
"review_model": "claude-sonnet-5-5",
|
| 184 |
+
"inputs": {
|
| 185 |
+
"run_json_sha256": "6edafeddfc41d80cfca38d977c346d38f92e9f4c292d264a5780c74275ffa3ff",
|
| 186 |
+
"video_sha256": "7e7786c1977307446f43e29c493096f294b56e232ce5f389d6dd3a94b9ad90ef",
|
| 187 |
+
"states_sha256": null,
|
| 188 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 189 |
+
},
|
| 190 |
+
"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."
|
| 191 |
+
}
|
| 192 |
+
}
|
phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--b6mrwwg.json
ADDED
|
@@ -0,0 +1,216 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
|
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|
|
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|
|
|
|
|
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|
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|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-red-dishes-in-bin-i00-privileged--b6mrwwg",
|
| 5 |
+
"taskKey": "robolab/red_dishes_in_bin",
|
| 6 |
+
"dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 40,
|
| 18 |
+
"sim_steps": 70,
|
| 19 |
+
"final_reward": 0.0,
|
| 20 |
+
"replay_wall_s": 472.1,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 5,
|
| 26 |
+
"agent_resets": 6,
|
| 27 |
+
"agent_sim_steps": 0,
|
| 28 |
+
"agent_records": 0,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 4.056,
|
| 35 |
+
"peak_memory_gb": 11.083,
|
| 36 |
+
"peak_processes": 14,
|
| 37 |
+
"peak_disk_gb": 1.013,
|
| 38 |
+
"peak_cpus": 8.11,
|
| 39 |
+
"peak_pids": 719,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-red-dishes-in-bin-i00-privileged--b6mrwwg.mp4",
|
| 59 |
+
"duration_s": 4.734,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 71,
|
| 62 |
+
"sha256": "44a4f4dc963b6e0ce44c9d9a3256407f994278c612c1f6133d83003a98331e52"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 0,
|
| 70 |
+
"final": 0,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"mug_in_bin": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [],
|
| 75 |
+
"final": false,
|
| 76 |
+
"evidence": [
|
| 77 |
+
{
|
| 78 |
+
"t": 4.7,
|
| 79 |
+
"log_step": null,
|
| 80 |
+
"text_zh": "观察：视频 0 s、2.3 s、4.7 s 三帧中机械臂静止在初始位姿，红杯始终在灰箱外、桌面原位，未见任何移动；agent 自述交付的是 40 步保持初始姿态的动作（log step 209）。"
|
| 81 |
+
}
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"bowl_in_bin": {
|
| 85 |
+
"method": "visual",
|
| 86 |
+
"intervals": [],
|
| 87 |
+
"final": false,
|
| 88 |
+
"evidence": [
|
| 89 |
+
{
|
| 90 |
+
"t": 4.7,
|
| 91 |
+
"log_step": null,
|
| 92 |
+
"text_zh": "观察：视频 0 s、2.3 s、4.7 s 三帧中机械臂静止在初始位姿，红碗始终在灰箱外、桌面原位，未见任何移动；agent 自述交付的是 40 步保持初始姿态的动作（log step 209）。"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
"constraints": {},
|
| 98 |
+
"contact_actual": {
|
| 99 |
+
"mug_in_bin": [
|
| 100 |
+
{
|
| 101 |
+
"who": "不适用",
|
| 102 |
+
"how": "不适用",
|
| 103 |
+
"note_zh": "观察：交付轨迹只是保持初始位姿，夹爪未接触任何物体。"
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"bowl_in_bin": [
|
| 107 |
+
{
|
| 108 |
+
"who": "不适用",
|
| 109 |
+
"how": "不适用",
|
| 110 |
+
"note_zh": "观察：交付轨迹只是保持初始位姿，夹爪未接触任何物体。"
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"native_metrics": [],
|
| 116 |
+
"failure": {
|
| 117 |
+
"breakpoint": {
|
| 118 |
+
"ref": "bowl_in_bin",
|
| 119 |
+
"t": 0.0,
|
| 120 |
+
"log_step": 209,
|
| 121 |
+
"where": "首步前",
|
| 122 |
+
"evidence_zh": "观察：视频 0-4.7 s 机械臂不动，红碗红杯均未被碰。交付的 npz 是时限将尽时写入的占位保持轨迹（40×8，同一关节位姿；log step 209，agent 自述）；会话中 agent 的实际方案是把灰箱掀翻（agent 自述：推土式推动仅滑动灰箱约 6 cm，IK 误差 24-105 mm，log 209），视频中无任何该操作。"
|
| 123 |
+
},
|
| 124 |
+
"phenomena": [
|
| 125 |
+
{
|
| 126 |
+
"cat": "没尝试",
|
| 127 |
+
"item": "没尝试",
|
| 128 |
+
"t": 0.0,
|
| 129 |
+
"log_step": 209,
|
| 130 |
+
"evidence_zh": "观察：交付轨迹未执行任何抓取/搬运，视频全程机械臂静止，两件餐具均留在箱外。"
|
| 131 |
+
}
|
| 132 |
+
],
|
| 133 |
+
"root_causes": [],
|
| 134 |
+
"gap_zh": "没有状态日志；根因留空：agent 自述（log step 209）会话内碗未能稳定抓住（rim 夹持滑脱、碰撞分解使壁厚 18-31 mm）、IK 达不到低位姿、推灰箱只滑不倒，但这些是会话探测的自述，不是交付轨迹的内容，交付为超时占位，故不据此判根因；超时/算力争用不作根因。",
|
| 135 |
+
"unmet": {
|
| 136 |
+
"mug_in_bin": false,
|
| 137 |
+
"bowl_in_bin": false
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"summary_zh": "观察：视频 4.7 s 内机械臂保持初始位姿，红杯、红碗均未入灰箱，0/2 节点达成。断点在首步前：交付的是时限将尽时写入的 40 步原地占位保持动作（log step 209）；agent 会话中实际尝试掀翻灰箱但未成功（agent 自述）。无状态日志，根因留空。",
|
| 141 |
+
"conf": 7,
|
| 142 |
+
"review": {
|
| 143 |
+
"status": "agreed",
|
| 144 |
+
"rounds": 2,
|
| 145 |
+
"reviewers": [
|
| 146 |
+
{
|
| 147 |
+
"engine": "claude",
|
| 148 |
+
"model": "claude-sonnet-5-5",
|
| 149 |
+
"round": 1,
|
| 150 |
+
"verdict": "fix",
|
| 151 |
+
"conf": 7,
|
| 152 |
+
"summary_zh": "视频静止、两节点未达成、没尝试均属实；但断点证据把交付误写成 agent“放弃”，实际 agent 到时限前一直在做“掀翻灰箱”方案，最后才写入占位保持轨迹；根因层空缺但会话内有碗未抓住、IK 偏差等证据可支撑。",
|
| 153 |
+
"n_issues": 2,
|
| 154 |
+
"n_major": 1
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"engine": "claude",
|
| 158 |
+
"model": "claude-sonnet-5-5",
|
| 159 |
+
"round": 2,
|
| 160 |
+
"verdict": "agree",
|
| 161 |
+
"conf": 8,
|
| 162 |
+
"summary_zh": "视频静止、两节点未达成、断点首步前+没尝试、根因留空并有 gap_zh 均与证据一致；第1轮问题已修正。",
|
| 163 |
+
"n_issues": 0,
|
| 164 |
+
"n_major": 0
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"open_zh": []
|
| 168 |
+
},
|
| 169 |
+
"provenance": {
|
| 170 |
+
"prompt": "prompts/03_trajectory.md",
|
| 171 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 172 |
+
"engine": "claude",
|
| 173 |
+
"model": "claude-sonnet-5-5",
|
| 174 |
+
"effort": "high",
|
| 175 |
+
"created": "2026-11-08T22:10:05Z",
|
| 176 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 177 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 178 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 179 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 180 |
+
"calls": [
|
| 181 |
+
{
|
| 182 |
+
"stage": "traj",
|
| 183 |
+
"round": 0,
|
| 184 |
+
"ok": true,
|
| 185 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--b6mrwwg/03_label"
|
| 186 |
+
},
|
| 187 |
+
{
|
| 188 |
+
"stage": "traj_review",
|
| 189 |
+
"round": 1,
|
| 190 |
+
"ok": true,
|
| 191 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--b6mrwwg/04_review_r1"
|
| 192 |
+
},
|
| 193 |
+
{
|
| 194 |
+
"stage": "reconcile",
|
| 195 |
+
"round": 1,
|
| 196 |
+
"ok": true,
|
| 197 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--b6mrwwg/05_reconcile_r1"
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"stage": "traj_review",
|
| 201 |
+
"round": 2,
|
| 202 |
+
"ok": true,
|
| 203 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--b6mrwwg/04_review_r2"
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"review_engine": "claude",
|
| 207 |
+
"review_model": "claude-sonnet-5-5",
|
| 208 |
+
"inputs": {
|
| 209 |
+
"run_json_sha256": "c5b7f9069236b95b430afe8c1072cd89db78fa35176811108fc51d8302646018",
|
| 210 |
+
"video_sha256": "44a4f4dc963b6e0ce44c9d9a3256407f994278c612c1f6133d83003a98331e52",
|
| 211 |
+
"states_sha256": null,
|
| 212 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 213 |
+
},
|
| 214 |
+
"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."
|
| 215 |
+
}
|
| 216 |
+
}
|
phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--ljnux7v.json
ADDED
|
@@ -0,0 +1,252 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-red-dishes-in-bin-i00-privileged--ljnux7v",
|
| 5 |
+
"taskKey": "robolab/red_dishes_in_bin",
|
| 6 |
+
"dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 617,
|
| 18 |
+
"sim_steps": 647,
|
| 19 |
+
"final_reward": 0.0,
|
| 20 |
+
"replay_wall_s": 512.2,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 26,
|
| 26 |
+
"agent_resets": 13,
|
| 27 |
+
"agent_sim_steps": 7284,
|
| 28 |
+
"agent_records": 3,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 8.523,
|
| 35 |
+
"peak_memory_gb": 8.151,
|
| 36 |
+
"peak_processes": 13,
|
| 37 |
+
"peak_disk_gb": 0.119,
|
| 38 |
+
"peak_cpus": 7.77,
|
| 39 |
+
"peak_pids": 241,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-red-dishes-in-bin-i00-privileged--ljnux7v.mp4",
|
| 59 |
+
"duration_s": 43.2,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 648,
|
| 62 |
+
"sha256": "7cb825e82fa2205b8ba8514afa216fa07447376c08e96d7d80e5acf582d8a116"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 0,
|
| 70 |
+
"final": 0,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"mug_in_bin": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [],
|
| 75 |
+
"final": false,
|
| 76 |
+
"evidence": [
|
| 77 |
+
{
|
| 78 |
+
"t": 43.0,
|
| 79 |
+
"log_step": null,
|
| 80 |
+
"text_zh": "观察：视频约 9–10 s 夹爪把红杯略提起并倾斜，约 10.5–11.5 s 红杯翻倒侧卧在桌面香蕉旁，此后至 43.2 s 未动、始终在灰箱外。"
|
| 81 |
+
}
|
| 82 |
+
],
|
| 83 |
+
"contact_actual": [
|
| 84 |
+
{
|
| 85 |
+
"who": "手指/夹爪",
|
| 86 |
+
"how": "抓握",
|
| 87 |
+
"note_zh": "观察：约 5–8 s 夹爪下探到杯口内，约 9–10 s 将杯略提起并倾斜，约 11 s 杯翻倒；未见稳定搬运。"
|
| 88 |
+
}
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"bowl_in_bin": {
|
| 92 |
+
"method": "visual",
|
| 93 |
+
"intervals": [],
|
| 94 |
+
"final": false,
|
| 95 |
+
"evidence": [
|
| 96 |
+
{
|
| 97 |
+
"t": 43.0,
|
| 98 |
+
"log_step": null,
|
| 99 |
+
"text_zh": "观察：约 27–29 s 夹爪夹住碗沿将红碗提起，约 31 s 放回桌面（位置略偏），仍在箱外，至 43.2 s 未入灰箱。"
|
| 100 |
+
}
|
| 101 |
+
],
|
| 102 |
+
"contact_actual": [
|
| 103 |
+
{
|
| 104 |
+
"who": "手指/夹爪",
|
| 105 |
+
"how": "抓握",
|
| 106 |
+
"note_zh": "观察：约 25–27 s 夹爪夹住碗沿，约 29 s 将碗提起倾斜，约 31 s 放回桌面（位置略偏），未入箱。"
|
| 107 |
+
}
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"constraints": {}
|
| 112 |
+
},
|
| 113 |
+
"native_metrics": [],
|
| 114 |
+
"failure": {
|
| 115 |
+
"breakpoint": {
|
| 116 |
+
"ref": "mug_in_bin",
|
| 117 |
+
"t": 12,
|
| 118 |
+
"where": "操作中",
|
| 119 |
+
"evidence_zh": "观察：视频约 9–10 s 夹爪把红杯略提起倾斜，约 10.5–11.5 s 红杯侧倒在桌上、未入箱；之后没有再次抓取。",
|
| 120 |
+
"log_step": null
|
| 121 |
+
},
|
| 122 |
+
"phenomena": [
|
| 123 |
+
{
|
| 124 |
+
"cat": "接触",
|
| 125 |
+
"item": "没保持住",
|
| 126 |
+
"t": 12,
|
| 127 |
+
"log_step": null,
|
| 128 |
+
"evidence_zh": "观察：视频约 9–10 s 夹爪把红杯略提起并倾斜，约 10.5–11.5 s 翻倒侧卧在桌面，此后至 43.2 s 未动、始终在灰箱外。"
|
| 129 |
+
}
|
| 130 |
+
],
|
| 131 |
+
"root_causes": [
|
| 132 |
+
{
|
| 133 |
+
"cat": "控制",
|
| 134 |
+
"item": "抓取和接触设计",
|
| 135 |
+
"alt_feasible": "未知",
|
| 136 |
+
"evidence_zh": "推断：视频 5–10 s 夹指插在杯口内（开放侧）而非包住杯身，提起后杯即倾斜翻倒；是否轨迹偏差无状态日志可判。",
|
| 137 |
+
"source_zh": "视频"
|
| 138 |
+
}
|
| 139 |
+
],
|
| 140 |
+
"gap_zh": "无状态日志；根因仅依据视频 5–11.5 s 帧推断（抓取点在杯口），无法判定是否另有轨迹偏差，替代抓法是否可行未知。agent 的开环轨迹（617 步）为录制交付，未见闭环反馈。",
|
| 141 |
+
"unmet": {
|
| 142 |
+
"mug_in_bin": false,
|
| 143 |
+
"bowl_in_bin": false
|
| 144 |
+
}
|
| 145 |
+
},
|
| 146 |
+
"summary_zh": "观察：graded 视频 43.2 s 中，夹爪约 5–8 s 下探到红杯杯口内，9–10 s 略提起后红杯倾斜，约 10.5–11.5 s 翻倒侧卧在桌上，夹爪约 27–29 s 夹起红碗又放回桌面，最终两者均在灰箱外，0/2 节点达成。断点为红杯入灰箱（操作中）；推断倾向于抓取点选在杯口所致（conf 低）。",
|
| 147 |
+
"conf": 5,
|
| 148 |
+
"review": {
|
| 149 |
+
"status": "agreed",
|
| 150 |
+
"rounds": 3,
|
| 151 |
+
"reviewers": [
|
| 152 |
+
{
|
| 153 |
+
"engine": "claude",
|
| 154 |
+
"model": "claude-sonnet-5-5",
|
| 155 |
+
"round": 1,
|
| 156 |
+
"verdict": "fix",
|
| 157 |
+
"conf": 7,
|
| 158 |
+
"summary_zh": "节点值（两节点均未达成、final=0）与断点（mug_in_bin，操作中，t≈12 s）正确；但文件把红杯掉落/侧倒时间写成视频 20 s，实际视频约 10.5–11.5 s 已翻倒，且 5–8 s 夹爪是插入杯口内而非抓杯身，这是抓握细节与根因线索，文件漏了。",
|
| 159 |
+
"n_issues": 3,
|
| 160 |
+
"n_major": 1
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"engine": "claude",
|
| 164 |
+
"model": "claude-sonnet-5-5",
|
| 165 |
+
"round": 2,
|
| 166 |
+
"verdict": "fix",
|
| 167 |
+
"conf": 8,
|
| 168 |
+
"summary_zh": "红杯侧的节点、断点、现象与根因与帧一致；但红碗节点写成“未见抓起、位置未变”不符：视频约 27–29 s 夹爪夹住碗沿把碗倾斜提起，约 31 s 已放回桌面且位置略偏，仍在箱外。",
|
| 169 |
+
"n_issues": 2,
|
| 170 |
+
"n_major": 2
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"engine": "claude",
|
| 174 |
+
"model": "claude-sonnet-5-5",
|
| 175 |
+
"round": 3,
|
| 176 |
+
"kind": "confirm",
|
| 177 |
+
"verdict": "agree",
|
| 178 |
+
"summary_zh": "两个 round-2 问题均已按提案正确落实：红碗 how 改为抓握，evidence 与 summary_zh 改为夹起后放回、仍在箱外，与帧一致。",
|
| 179 |
+
"n_issues": 0,
|
| 180 |
+
"n_checks": 2
|
| 181 |
+
}
|
| 182 |
+
],
|
| 183 |
+
"open_zh": [],
|
| 184 |
+
"confirm": {
|
| 185 |
+
"verdict": "confirmed",
|
| 186 |
+
"summary_zh": "两个 round-2 问题均已按提案正确落实：红碗 how 改为抓握，evidence 与 summary_zh 改为夹起后放回、仍在箱外，与帧一致。",
|
| 187 |
+
"checks_ok": "2/2",
|
| 188 |
+
"n_factual_errors": 0
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"provenance": {
|
| 192 |
+
"prompt": "prompts/03_trajectory.md",
|
| 193 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 194 |
+
"engine": "claude",
|
| 195 |
+
"model": "claude-sonnet-5-5",
|
| 196 |
+
"effort": "high",
|
| 197 |
+
"created": "2026-11-08T22:10:56Z",
|
| 198 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 199 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 200 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 201 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 202 |
+
"calls": [
|
| 203 |
+
{
|
| 204 |
+
"stage": "traj",
|
| 205 |
+
"round": 0,
|
| 206 |
+
"ok": true,
|
| 207 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--ljnux7v/03_label"
|
| 208 |
+
},
|
| 209 |
+
{
|
| 210 |
+
"stage": "traj_review",
|
| 211 |
+
"round": 1,
|
| 212 |
+
"ok": true,
|
| 213 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--ljnux7v/04_review_r1"
|
| 214 |
+
},
|
| 215 |
+
{
|
| 216 |
+
"stage": "reconcile",
|
| 217 |
+
"round": 1,
|
| 218 |
+
"ok": true,
|
| 219 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--ljnux7v/05_reconcile_r1"
|
| 220 |
+
},
|
| 221 |
+
{
|
| 222 |
+
"stage": "traj_review",
|
| 223 |
+
"round": 2,
|
| 224 |
+
"ok": true,
|
| 225 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--ljnux7v/04_review_r2"
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"stage": "reconcile",
|
| 229 |
+
"round": 2,
|
| 230 |
+
"ok": true,
|
| 231 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--ljnux7v/05_reconcile_r2"
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"stage": "confirm",
|
| 235 |
+
"round": 3,
|
| 236 |
+
"ok": true,
|
| 237 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--ljnux7v/06_confirm_r3"
|
| 238 |
+
}
|
| 239 |
+
],
|
| 240 |
+
"confirm_prompt": "prompts/06_confirm.md",
|
| 241 |
+
"confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
|
| 242 |
+
"review_engine": "claude",
|
| 243 |
+
"review_model": "claude-sonnet-5-5",
|
| 244 |
+
"inputs": {
|
| 245 |
+
"run_json_sha256": "be0ab41c61f6a756ab7f9da383137a429f1cbed2e9c7e8d1dae7d7a52385f213",
|
| 246 |
+
"video_sha256": "7cb825e82fa2205b8ba8514afa216fa07447376c08e96d7d80e5acf582d8a116",
|
| 247 |
+
"states_sha256": null,
|
| 248 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 249 |
+
},
|
| 250 |
+
"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."
|
| 251 |
+
}
|
| 252 |
+
}
|
phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--qkzdzne.json
ADDED
|
@@ -0,0 +1,229 @@
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-red-dishes-in-bin-i00-privileged--qkzdzne",
|
| 5 |
+
"taskKey": "robolab/red_dishes_in_bin",
|
| 6 |
+
"dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 1016,
|
| 18 |
+
"sim_steps": 1046,
|
| 19 |
+
"final_reward": 0.0,
|
| 20 |
+
"replay_wall_s": 1111.4,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 2,
|
| 26 |
+
"agent_resets": 14,
|
| 27 |
+
"agent_sim_steps": 0,
|
| 28 |
+
"agent_records": 1,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 5.635,
|
| 35 |
+
"peak_memory_gb": 20.463,
|
| 36 |
+
"peak_processes": 12,
|
| 37 |
+
"peak_disk_gb": 0.245,
|
| 38 |
+
"peak_cpus": 8.11,
|
| 39 |
+
"peak_pids": 803,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-red-dishes-in-bin-i00-privileged--qkzdzne.mp4",
|
| 59 |
+
"duration_s": 69.8,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 1047,
|
| 62 |
+
"sha256": "0e9f12fb544182dff6c3eb96c1a76c5e6f5b325ef07e7113b3cad27029a05f05"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 0,
|
| 70 |
+
"final": 0,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"mug_in_bin": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [],
|
| 75 |
+
"final": false,
|
| 76 |
+
"evidence": [
|
| 77 |
+
{
|
| 78 |
+
"t": 69.5,
|
| 79 |
+
"log_step": null,
|
| 80 |
+
"text_zh": "观察：视频 30-66 s 桌前相机里红杯一直立在初始位置，夹爪在其上方下探后于约 58 s 抬走；视频 69.5 s（末帧）红杯仍在桌上、在灰箱外，从未进入灰箱。"
|
| 81 |
+
}
|
| 82 |
+
],
|
| 83 |
+
"contact_actual": [
|
| 84 |
+
{
|
| 85 |
+
"who": "手指/夹爪",
|
| 86 |
+
"how": "压/擦",
|
| 87 |
+
"note_zh": "观察：视频约 30-58 s 夹爪下到红杯上方、指尖对着杯口，红杯始终未离桌，未见抓握成立。"
|
| 88 |
+
}
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"bowl_in_bin": {
|
| 92 |
+
"method": "visual",
|
| 93 |
+
"intervals": [],
|
| 94 |
+
"final": false,
|
| 95 |
+
"evidence": [
|
| 96 |
+
{
|
| 97 |
+
"t": 69.5,
|
| 98 |
+
"log_step": null,
|
| 99 |
+
"text_zh": "观察：视频 3-26 s 夹爪在碗沿处闭合、抬起后碗不动；视频 69.5 s（末帧）红碗仍在桌面左上初始位置，灰箱内无碗。"
|
| 100 |
+
}
|
| 101 |
+
],
|
| 102 |
+
"contact_actual": [
|
| 103 |
+
{
|
| 104 |
+
"who": "手指/夹爪",
|
| 105 |
+
"how": "抓握",
|
| 106 |
+
"note_zh": "观察：视频 3-22 s 夹爪在红碗沿处下探并闭合（尝试夹碗壁），26 s 抬起后红碗仍在原位，未见抓握成立。"
|
| 107 |
+
}
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"constraints": {}
|
| 112 |
+
},
|
| 113 |
+
"native_metrics": [],
|
| 114 |
+
"failure": {
|
| 115 |
+
"breakpoint": {
|
| 116 |
+
"ref": "bowl_in_bin",
|
| 117 |
+
"t": 15.0,
|
| 118 |
+
"log_step": null,
|
| 119 |
+
"where": "操作中",
|
| 120 |
+
"evidence_zh": "观察：视频 3-26 s 夹爪先在红碗沿处下探、闭合、抬起，碗始终留在原位（10 s、22 s 帧可见夹爪在碗沿）；这是最先失败且未修复的步骤。30-58 s 对红杯同样失败，红杯与红碗最终都不在灰箱（0/2）。"
|
| 121 |
+
},
|
| 122 |
+
"unmet": {
|
| 123 |
+
"mug_in_bin": false,
|
| 124 |
+
"bowl_in_bin": false
|
| 125 |
+
},
|
| 126 |
+
"phenomena": [
|
| 127 |
+
{
|
| 128 |
+
"cat": "接触",
|
| 129 |
+
"item": "没保持住",
|
| 130 |
+
"t": 15.0,
|
| 131 |
+
"log_step": null,
|
| 132 |
+
"evidence_zh": "观察：视频 3-26 s 夹爪在红碗壁处闭合后抬起，碗未被带起，仍在原位。"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"cat": "接触",
|
| 136 |
+
"item": "没建立接触",
|
| 137 |
+
"t": 45.0,
|
| 138 |
+
"log_step": 71,
|
| 139 |
+
"evidence_zh": "观察：视频 30-58 s 夹爪停在红杯上方，杯子没被夹起，整段视频杯子都在桌上原位。"
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"root_causes": [
|
| 143 |
+
{
|
| 144 |
+
"cat": "控制",
|
| 145 |
+
"item": "抓取和接触设计",
|
| 146 |
+
"alt_feasible": "未知",
|
| 147 |
+
"evidence_zh": "agent 自述（log step 60、62）：夹爪指垫位于末端坐标系上方 1.2-7 cm，之前的抓取都是闭在空气里；杯口捏取方案在最后几分钟才试。视频中夹爪确实没夹住杯子。 该偏移对碗壁捏取同样适用（log step 62）。",
|
| 148 |
+
"source_zh": "agent 自述 / 视频"
|
| 149 |
+
}
|
| 150 |
+
],
|
| 151 |
+
"gap_zh": "无状态日志；碗侧是“闭合在壁上未带起”还是“闭在空气里”只靠视频判断（推断）。agent 会话中的“杯子被夹起（z 0.149）”（log step 71）是会话内测试，视频里未见杯子离桌。"
|
| 152 |
+
},
|
| 153 |
+
"summary_zh": "观察：红杯与红碗在视频 0-69.8 s 都没进灰箱（0/2）。最先失败的是红碗：视频 3-26 s 夹爪在碗沿处闭合后抬起，碗未动；随后 30-58 s 对红杯同样失败。推断为夹指位置与接触设计不合（agent 自述指垫位置在末端坐标系上方 1.2-7 cm，log step 60-62）。无状态日志。",
|
| 154 |
+
"conf": 6,
|
| 155 |
+
"review": {
|
| 156 |
+
"status": "agreed",
|
| 157 |
+
"rounds": 2,
|
| 158 |
+
"reviewers": [
|
| 159 |
+
{
|
| 160 |
+
"engine": "claude",
|
| 161 |
+
"model": "claude-sonnet-5-5",
|
| 162 |
+
"round": 1,
|
| 163 |
+
"verdict": "fix",
|
| 164 |
+
"conf": 7,
|
| 165 |
+
"summary_zh": "终局 0/2 与红杯节点判断正确，但断点选错：交付轨迹先对红碗做了侧壁捏取（视频约 3-26 s，夹爪在碗沿处、抬起后碗仍在原位），这是最先失败且未修复的步骤；断点应是 bowl_in_bin 而不是 mug_in_bin，bowl 的 contact_actual 也不该是未知。",
|
| 166 |
+
"n_issues": 3,
|
| 167 |
+
"n_major": 3
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"engine": "claude",
|
| 171 |
+
"model": "claude-sonnet-5-5",
|
| 172 |
+
"round": 2,
|
| 173 |
+
"verdict": "agree",
|
| 174 |
+
"conf": 7,
|
| 175 |
+
"summary_zh": "终局 0/2、碗先杯后的断点、两节点 contact_actual 与现象均与视频一致；round 1 的问题已改正，未发现新的错误。",
|
| 176 |
+
"n_issues": 0,
|
| 177 |
+
"n_major": 0
|
| 178 |
+
}
|
| 179 |
+
],
|
| 180 |
+
"open_zh": []
|
| 181 |
+
},
|
| 182 |
+
"provenance": {
|
| 183 |
+
"prompt": "prompts/03_trajectory.md",
|
| 184 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 185 |
+
"engine": "claude",
|
| 186 |
+
"model": "claude-sonnet-5-5",
|
| 187 |
+
"effort": "high",
|
| 188 |
+
"created": "2026-11-08T22:10:19Z",
|
| 189 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 190 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 191 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 192 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 193 |
+
"calls": [
|
| 194 |
+
{
|
| 195 |
+
"stage": "traj",
|
| 196 |
+
"round": 0,
|
| 197 |
+
"ok": true,
|
| 198 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--qkzdzne/03_label"
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"stage": "traj_review",
|
| 202 |
+
"round": 1,
|
| 203 |
+
"ok": true,
|
| 204 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--qkzdzne/04_review_r1"
|
| 205 |
+
},
|
| 206 |
+
{
|
| 207 |
+
"stage": "reconcile",
|
| 208 |
+
"round": 1,
|
| 209 |
+
"ok": true,
|
| 210 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--qkzdzne/05_reconcile_r1"
|
| 211 |
+
},
|
| 212 |
+
{
|
| 213 |
+
"stage": "traj_review",
|
| 214 |
+
"round": 2,
|
| 215 |
+
"ok": true,
|
| 216 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--qkzdzne/04_review_r2"
|
| 217 |
+
}
|
| 218 |
+
],
|
| 219 |
+
"review_engine": "claude",
|
| 220 |
+
"review_model": "claude-sonnet-5-5",
|
| 221 |
+
"inputs": {
|
| 222 |
+
"run_json_sha256": "7aef63514cd3b9a89d96ef28e90f841a063314dd8d13cd76c5afaf36c590084c",
|
| 223 |
+
"video_sha256": "0e9f12fb544182dff6c3eb96c1a76c5e6f5b325ef07e7113b3cad27029a05f05",
|
| 224 |
+
"states_sha256": null,
|
| 225 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 226 |
+
},
|
| 227 |
+
"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."
|
| 228 |
+
}
|
| 229 |
+
}
|
phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--uhazbrc.json
ADDED
|
@@ -0,0 +1,197 @@
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-red-dishes-in-bin-i00-privileged--uhazbrc",
|
| 5 |
+
"taskKey": "robolab/red_dishes_in_bin",
|
| 6 |
+
"dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.5,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 2080,
|
| 18 |
+
"sim_steps": 2110,
|
| 19 |
+
"final_reward": 0.5,
|
| 20 |
+
"replay_wall_s": 3011.8,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 9,
|
| 26 |
+
"agent_resets": 23,
|
| 27 |
+
"agent_sim_steps": 0,
|
| 28 |
+
"agent_records": 3,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 5.33,
|
| 35 |
+
"peak_memory_gb": 13.133,
|
| 36 |
+
"peak_processes": 15,
|
| 37 |
+
"peak_disk_gb": 0.292,
|
| 38 |
+
"peak_cpus": 8.2,
|
| 39 |
+
"peak_pids": 1051,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-red-dishes-in-bin-i00-privileged--uhazbrc.mp4",
|
| 59 |
+
"duration_s": 140.734,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 2111,
|
| 62 |
+
"sha256": "4a74c631fd9176473c120c1474571b03972d97a0fe1a0a6a4d15670722302d93"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": null,
|
| 69 |
+
"peak": null,
|
| 70 |
+
"final": 1,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"mug_in_bin": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [
|
| 75 |
+
[
|
| 76 |
+
68.0,
|
| 77 |
+
null
|
| 78 |
+
]
|
| 79 |
+
],
|
| 80 |
+
"final": true,
|
| 81 |
+
"evidence": [
|
| 82 |
+
{
|
| 83 |
+
"t": 68.0,
|
| 84 |
+
"log_step": null,
|
| 85 |
+
"text_zh": "观察：视频 64-76 s 夹爪夹着红杯移到灰箱上方并伸入箱内，视频 92 s 起杯子松手落在箱内，至 140.6 s 一直在箱内。推断：杯子质心约在视频 68 s 进入灰箱区域（持物时单步关系可成立，时间约 ±4 s）。"
|
| 86 |
+
}
|
| 87 |
+
],
|
| 88 |
+
"contact_actual": [
|
| 89 |
+
{
|
| 90 |
+
"who": "手指/夹爪",
|
| 91 |
+
"how": "抓握",
|
| 92 |
+
"note_zh": "观察：Robotiq 夹爪夹住红杯，从桌面搬到灰箱内并在视频约 90 s 松手。"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"bowl_in_bin": {
|
| 97 |
+
"method": "visual",
|
| 98 |
+
"intervals": null,
|
| 99 |
+
"final": false,
|
| 100 |
+
"evidence": [
|
| 101 |
+
{
|
| 102 |
+
"t": 116.0,
|
| 103 |
+
"log_step": null,
|
| 104 |
+
"text_zh": "观察：视频 104-108 s 夹爪下到红碗处，视频 116 s 碗被推离原位，仍在桌上、灰箱外；至视频 140.6 s 碗从未被举起或入箱。"
|
| 105 |
+
}
|
| 106 |
+
],
|
| 107 |
+
"contact_actual": [
|
| 108 |
+
{
|
| 109 |
+
"who": "手指/夹爪",
|
| 110 |
+
"how": "推/扫",
|
| 111 |
+
"note_zh": "观察：视频 104-116 s 夹爪下探红碗，碗被推到桌上别处，未见抓握。"
|
| 112 |
+
}
|
| 113 |
+
]
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
"constraints": {}
|
| 117 |
+
},
|
| 118 |
+
"native_metrics": [],
|
| 119 |
+
"failure": {
|
| 120 |
+
"breakpoint": {
|
| 121 |
+
"ref": "bowl_in_bin",
|
| 122 |
+
"where": "操作中",
|
| 123 |
+
"t": 106.0,
|
| 124 |
+
"evidence_zh": "观察：视频 104-116 s 夹爪下探红碗，碗被推开位移，未被抓起；至视频 140.6 s 碗仍在桌上。agent 自述（log step 92）“the bowl was knocked aside and never lifted”。",
|
| 125 |
+
"log_step": 92
|
| 126 |
+
},
|
| 127 |
+
"phenomena": [
|
| 128 |
+
{
|
| 129 |
+
"t": 106.0,
|
| 130 |
+
"log_step": 92,
|
| 131 |
+
"evidence_zh": "观察：视频 104-116 s 夹爪未夹住碗而把碗推离原位，抓握接触未建立。",
|
| 132 |
+
"cat": "接触",
|
| 133 |
+
"item": "没建立接触"
|
| 134 |
+
}
|
| 135 |
+
],
|
| 136 |
+
"root_causes": [],
|
| 137 |
+
"gap_zh": "根因证据不足：无状态日志，日志只有 agent 自述的结果，视频未显示夹爪接近碗时的精确位姿偏差，故根因留空。",
|
| 138 |
+
"unmet": {
|
| 139 |
+
"mug_in_bin": true,
|
| 140 |
+
"bowl_in_bin": false
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"summary_zh": "观察：开环轨迹先把红杯搬进灰箱（约视频 68 s 入箱，约 90 s 松手，至结尾仍在箱内），随后去抓红碗，视频 104-116 s 碗被夹爪推开而未抓起；最终 1/2 节点（reward 0.5），success=0。断点为红碗入灰箱，现象为没建立接触，根因缺证据。无状态日志，时间来自视频。",
|
| 144 |
+
"conf": 6,
|
| 145 |
+
"review": {
|
| 146 |
+
"status": "agreed",
|
| 147 |
+
"rounds": 1,
|
| 148 |
+
"reviewers": [
|
| 149 |
+
{
|
| 150 |
+
"engine": "claude",
|
| 151 |
+
"model": "claude-sonnet-5-5",
|
| 152 |
+
"round": 1,
|
| 153 |
+
"verdict": "agree",
|
| 154 |
+
"conf": 6,
|
| 155 |
+
"summary_zh": "杯子约68 s已在箱内区域（70-90 s帧可见杯口在箱内持续），碗未入箱，reward 0.5一致；断点、现象与空根因加gap_zh均合理。",
|
| 156 |
+
"n_issues": 0,
|
| 157 |
+
"n_major": 0
|
| 158 |
+
}
|
| 159 |
+
],
|
| 160 |
+
"open_zh": []
|
| 161 |
+
},
|
| 162 |
+
"provenance": {
|
| 163 |
+
"prompt": "prompts/03_trajectory.md",
|
| 164 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 165 |
+
"engine": "claude",
|
| 166 |
+
"model": "claude-sonnet-5-5",
|
| 167 |
+
"effort": "high",
|
| 168 |
+
"created": "2026-11-08T22:07:38Z",
|
| 169 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 170 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 171 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 172 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 173 |
+
"calls": [
|
| 174 |
+
{
|
| 175 |
+
"stage": "traj",
|
| 176 |
+
"round": 0,
|
| 177 |
+
"ok": true,
|
| 178 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--uhazbrc/03_label"
|
| 179 |
+
},
|
| 180 |
+
{
|
| 181 |
+
"stage": "traj_review",
|
| 182 |
+
"round": 1,
|
| 183 |
+
"ok": true,
|
| 184 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--uhazbrc/04_review_r1"
|
| 185 |
+
}
|
| 186 |
+
],
|
| 187 |
+
"review_engine": "claude",
|
| 188 |
+
"review_model": "claude-sonnet-5-5",
|
| 189 |
+
"inputs": {
|
| 190 |
+
"run_json_sha256": "fd4d8e18c307c9c8102c17481835abe9a10732eabf52a15822e67761fbceaa9c",
|
| 191 |
+
"video_sha256": "4a74c631fd9176473c120c1474571b03972d97a0fe1a0a6a4d15670722302d93",
|
| 192 |
+
"states_sha256": null,
|
| 193 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 194 |
+
},
|
| 195 |
+
"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."
|
| 196 |
+
}
|
| 197 |
+
}
|
phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--2cfzg9y.json
ADDED
|
@@ -0,0 +1,208 @@
|
|
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|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-red-dishes-in-bin-i00-standard--2cfzg9y",
|
| 5 |
+
"taskKey": "robolab/red_dishes_in_bin",
|
| 6 |
+
"dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 926,
|
| 19 |
+
"sim_steps": 926,
|
| 20 |
+
"physics_steps": 7408,
|
| 21 |
+
"steps": 37,
|
| 22 |
+
"elapsed_s": 2489.4,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 310,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.176,
|
| 44 |
+
"peak_processes": 9,
|
| 45 |
+
"peak_disk_gb": 0.26,
|
| 46 |
+
"peak_cpus": 0.91,
|
| 47 |
+
"peak_pids": 89,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-red-dishes-in-bin-i00-standard--2cfzg9y.mp4",
|
| 65 |
+
"duration_s": 62.0,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 310,
|
| 68 |
+
"sha256": "f7755d0acbd59be72a629cbcff888028eb0cd629b32f96c721c588ff14cf4f40"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 1,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"mug_in_bin": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [
|
| 81 |
+
[
|
| 82 |
+
48.0,
|
| 83 |
+
58.3
|
| 84 |
+
]
|
| 85 |
+
],
|
| 86 |
+
"final": false,
|
| 87 |
+
"evidence": [
|
| 88 |
+
{
|
| 89 |
+
"t": 48.0,
|
| 90 |
+
"log_step": 36,
|
| 91 |
+
"text_zh": "观察：视频 46 s 夹爪抓着红杯停在灰箱内，48 s 起杯子躺在箱内、夹爪已松开并移向碗（视频 50 s 帧可见杯在箱中、夹爪远离）；agent 在 log step 36 发送松手指令。杯中心在箱内，记为入箱。"
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"t": 58.3,
|
| 95 |
+
"log_step": 38,
|
| 96 |
+
"text_zh": "观察：视频 58.5 s 灰箱被掀离桌面、碗在空中，约 60 s 起桌面上只剩香蕉和魔方，红杯在地面（视频 61.5 s 中间相机可见）；杯不再在箱内，该节点失去，final=false。"
|
| 97 |
+
}
|
| 98 |
+
],
|
| 99 |
+
"contact_actual": [
|
| 100 |
+
{
|
| 101 |
+
"who": "手指/夹爪",
|
| 102 |
+
"how": "抓握",
|
| 103 |
+
"note_zh": "Franka 的 Robotiq 夹爪先捏杯沿（滑脱倒下），后期压住杯顶滚正、再夹杯把手抬起放入灰箱（log step 28-36）。"
|
| 104 |
+
}
|
| 105 |
+
]
|
| 106 |
+
},
|
| 107 |
+
"bowl_in_bin": {
|
| 108 |
+
"method": "visual",
|
| 109 |
+
"intervals": [],
|
| 110 |
+
"final": false,
|
| 111 |
+
"evidence": [
|
| 112 |
+
{
|
| 113 |
+
"t": 58.0,
|
| 114 |
+
"log_step": 38,
|
| 115 |
+
"text_zh": "观察：视频约 52-57 s 夹爪夹住碗沿搬到灰箱上方并下降；58.5 s 帧中灰箱被掀翻、碗在空中飞出，60 s 后碗在地板上，从未稳定落在箱内。agent 自述（log step 45）碗被夹住后一次性发送搬运-下降-松手指令且关闭了视频。"
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"contact_actual": [
|
| 119 |
+
{
|
| 120 |
+
"who": "手指/夹爪",
|
| 121 |
+
"how": "抓握",
|
| 122 |
+
"note_zh": "夹爪夹住碗沿（agent 称夹爪闭到 1.4 cm，log step 38），搬到灰箱上方下降。"
|
| 123 |
+
}
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"constraints": {}
|
| 128 |
+
},
|
| 129 |
+
"native_metrics": [],
|
| 130 |
+
"failure": {
|
| 131 |
+
"breakpoint": {
|
| 132 |
+
"ref": "bowl_in_bin",
|
| 133 |
+
"t": 58.3,
|
| 134 |
+
"log_step": 38,
|
| 135 |
+
"where": "操作中",
|
| 136 |
+
"evidence_zh": "观察：红杯已在箱内后，机器人夹着碗在箱上方下降，视频 58.0-58.5 s 灰箱连同杯、碗被掀离桌面，碗飞出，60 s 后桌上无红色物体；碗未入箱，杯也被带走。"
|
| 137 |
+
},
|
| 138 |
+
"phenomena": [
|
| 139 |
+
{
|
| 140 |
+
"cat": "运动",
|
| 141 |
+
"item": "被挡/碰撞",
|
| 142 |
+
"t": 58.3,
|
| 143 |
+
"log_step": 38,
|
| 144 |
+
"evidence_zh": "观察：视频 58.0-58.5 s 夹着碗下降时灰箱被掀翻、杯碗飞出桌面。推断：碗/夹爪撞到箱沿或箱内的杯子；agent 自述（log step 45）也只是推测，且当时关了视频，具体碰撞接触未直接看到。"
|
| 145 |
+
}
|
| 146 |
+
],
|
| 147 |
+
"root_causes": [],
|
| 148 |
+
"gap_zh": "根因层留空：碰撞瞬间视频里只能看到结果（箱被掀翻），未见碗与杯/箱沿的具体接触，无状态日志；agent 的“物理炸裂”猜测不作根因。agent 一次性盲发搬运-下降-松手（log step 38）是候选原因，但证据不足。",
|
| 149 |
+
"unmet": {
|
| 150 |
+
"mug_in_bin": false,
|
| 151 |
+
"bowl_in_bin": false
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"summary_zh": "观察：红杯在视频约 48 s 放入灰箱（先前首次抓取滑脱，后改夹把手），随后夹碗���到箱上方下降，视频约 58 s 灰箱被掀翻，杯、碗落到地板，终局 0/2 节点成立。断点为红碗入灰箱（操作中），现象为被挡/碰撞，根因无足够证据。无状态日志，碰撞细节未见。",
|
| 155 |
+
"conf": 6,
|
| 156 |
+
"review": {
|
| 157 |
+
"status": "agreed",
|
| 158 |
+
"rounds": 1,
|
| 159 |
+
"reviewers": [
|
| 160 |
+
{
|
| 161 |
+
"engine": "claude",
|
| 162 |
+
"model": "claude-sonnet-5-5",
|
| 163 |
+
"round": 1,
|
| 164 |
+
"verdict": "agree",
|
| 165 |
+
"conf": 6,
|
| 166 |
+
"summary_zh": "节点时间、终局0/2、断点bowl_in_bin与被挡/碰撞现象与视频一致；根因留空有gap_zh，合理。",
|
| 167 |
+
"n_issues": 0,
|
| 168 |
+
"n_major": 0
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"open_zh": []
|
| 172 |
+
},
|
| 173 |
+
"provenance": {
|
| 174 |
+
"prompt": "prompts/03_trajectory.md",
|
| 175 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 176 |
+
"engine": "claude",
|
| 177 |
+
"model": "claude-sonnet-5-5",
|
| 178 |
+
"effort": "high",
|
| 179 |
+
"created": "2026-11-08T22:06:39Z",
|
| 180 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 181 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 182 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 183 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 184 |
+
"calls": [
|
| 185 |
+
{
|
| 186 |
+
"stage": "traj",
|
| 187 |
+
"round": 0,
|
| 188 |
+
"ok": true,
|
| 189 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--2cfzg9y/03_label"
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"stage": "traj_review",
|
| 193 |
+
"round": 1,
|
| 194 |
+
"ok": true,
|
| 195 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--2cfzg9y/04_review_r1"
|
| 196 |
+
}
|
| 197 |
+
],
|
| 198 |
+
"review_engine": "claude",
|
| 199 |
+
"review_model": "claude-sonnet-5-5",
|
| 200 |
+
"inputs": {
|
| 201 |
+
"run_json_sha256": "90ad0b491c33f3dc2c44ee19bc5ceff1fb2b226d3f4d70c7e4a46ebbdebd7f04",
|
| 202 |
+
"video_sha256": "f7755d0acbd59be72a629cbcff888028eb0cd629b32f96c721c588ff14cf4f40",
|
| 203 |
+
"states_sha256": null,
|
| 204 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 205 |
+
},
|
| 206 |
+
"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."
|
| 207 |
+
}
|
| 208 |
+
}
|
phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--44sjuv6.json
ADDED
|
@@ -0,0 +1,228 @@
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|
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|
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|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-red-dishes-in-bin-i00-standard--44sjuv6",
|
| 5 |
+
"taskKey": "robolab/red_dishes_in_bin",
|
| 6 |
+
"dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 1166,
|
| 19 |
+
"sim_steps": 1166,
|
| 20 |
+
"physics_steps": 9328,
|
| 21 |
+
"steps": 75,
|
| 22 |
+
"elapsed_s": 3452.6,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 390,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.315,
|
| 44 |
+
"peak_processes": 10,
|
| 45 |
+
"peak_disk_gb": 1.08,
|
| 46 |
+
"peak_cpus": 1.22,
|
| 47 |
+
"peak_pids": 137,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-red-dishes-in-bin-i00-standard--44sjuv6.mp4",
|
| 65 |
+
"duration_s": 78.0,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 390,
|
| 68 |
+
"sha256": "c32242b047ac069505f18789763767f20e467c89119289796b00d1e6f4e92bb2"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"mug_in_bin": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 77.5,
|
| 85 |
+
"log_step": 208,
|
| 86 |
+
"text_zh": "观察：视频 77.5 s 红杯仍侧躺在灰箱外的桌面上，未进入灰箱；全程未见杯子被举起并放入箱内。agent 自述杯子仍在桌上（log step 208）。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "抓握",
|
| 93 |
+
"note_zh": "观察：Robotiq 夹爪多次尝试夹杯柄/杯身/杯沿，均滑脱，杯子翻倒在桌上。"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"bowl_in_bin": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 56,
|
| 104 |
+
"log_step": 164,
|
| 105 |
+
"text_zh": "观察：视频 54 s 夹爪在红碗上方接近、碗仍在桌面左后方；56 s 夹爪已夹住碗沿、碗仍在原位；58 s 起桌面上已无红碗（60–68 s 各帧及末帧 77.5 s 同），也不在灰箱内。推断/旁证：agent 自述碗在抬升时滑出（log step 164），与视频一致。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "手指/夹爪",
|
| 111 |
+
"how": "抓握",
|
| 112 |
+
"note_zh": "观察：约 56 s 夹爪夹住碗沿抬起，58 s 前碗离开桌面视野（log step 156-164）。"
|
| 113 |
+
}
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"constraints": {}
|
| 118 |
+
},
|
| 119 |
+
"native_metrics": [],
|
| 120 |
+
"failure": {
|
| 121 |
+
"breakpoint": {
|
| 122 |
+
"ref": "mug_in_bin",
|
| 123 |
+
"t": 10,
|
| 124 |
+
"where": "操作中",
|
| 125 |
+
"evidence_zh": "观察：视频中夹爪反复抓红杯（杯柄、杯身、杯沿）但每次抬升都滑脱，杯子从未离开桌面进入灰箱；这是第一个始终未修复的步骤。",
|
| 126 |
+
"log_step": 53
|
| 127 |
+
},
|
| 128 |
+
"phenomena": [
|
| 129 |
+
{
|
| 130 |
+
"t": 30,
|
| 131 |
+
"log_step": 53,
|
| 132 |
+
"evidence_zh": "观察：agent 自述握柄滑脱使杯子侧倒（log step 53），之后 log step 129、143 又滑脱；视频 30 s 前后夹爪在杯旁，末帧杯仍在桌上。碗在抬升时也滑出桌面（log step 164）。",
|
| 133 |
+
"cat": "接触",
|
| 134 |
+
"item": "没保持住"
|
| 135 |
+
}
|
| 136 |
+
],
|
| 137 |
+
"root_causes": [
|
| 138 |
+
{
|
| 139 |
+
"cat": "控制",
|
| 140 |
+
"item": "抓取和接触设计",
|
| 141 |
+
"alt_feasible": "未知",
|
| 142 |
+
"evidence_zh": "推断：夹爪夹杯柄、杯沿等薄小部位，多次抬升均滑脱，抓取几何不合适；碗沿抓取同样滑出。agent 另自述靠近灰箱壁限制了接近方向（log step 87）。",
|
| 143 |
+
"source_zh": "视频、agent 自述"
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"gap_zh": "无状态日志，只能靠视频与 agent 自述判断各次抓取滑脱的细节；视频为三视角拼接，碗滑出后的位置不可见。",
|
| 147 |
+
"unmet": {
|
| 148 |
+
"mug_in_bin": false,
|
| 149 |
+
"bowl_in_bin": false
|
| 150 |
+
}
|
| 151 |
+
},
|
| 152 |
+
"summary_zh": "观察：视频 78 s 内红杯与红碗均未入灰箱（0/2）。红杯多次抓取均滑脱并侧倒留在桌上，红碗被夹起后滑出桌面视野；断点为红杯入灰箱的操作中，现象为没保持住，根因为抓取和接触设计（推断）。无状态日志，碗的去向未能直接看到。",
|
| 153 |
+
"conf": 6,
|
| 154 |
+
"review": {
|
| 155 |
+
"status": "agreed",
|
| 156 |
+
"rounds": 2,
|
| 157 |
+
"reviewers": [
|
| 158 |
+
{
|
| 159 |
+
"engine": "claude",
|
| 160 |
+
"model": "claude-sonnet-5-5",
|
| 161 |
+
"round": 1,
|
| 162 |
+
"verdict": "fix",
|
| 163 |
+
"conf": 6,
|
| 164 |
+
"summary_zh": "断点（红杯入箱、操作中）、两节点未达成、根因方向基本成立；唯一需改的是红碗节点的证据没有给出碗被夹起及消失的时间（视频约 54 s 夹爪在碗上，约 56 s 碗已不在桌面），只引用了 30 s 的帧。",
|
| 165 |
+
"n_issues": 1,
|
| 166 |
+
"n_major": 0
|
| 167 |
+
},
|
| 168 |
+
{
|
| 169 |
+
"engine": "claude",
|
| 170 |
+
"model": "claude-sonnet-5-5",
|
| 171 |
+
"round": 2,
|
| 172 |
+
"verdict": "agree",
|
| 173 |
+
"conf": 6,
|
| 174 |
+
"summary_zh": "两节点均未达成、断点（红杯入箱、操作中）、没保持住/抓取和接触设计与帧一致；第一轮意见已处理，未发现需改内容的错误。",
|
| 175 |
+
"n_issues": 0,
|
| 176 |
+
"n_major": 0
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"open_zh": []
|
| 180 |
+
},
|
| 181 |
+
"provenance": {
|
| 182 |
+
"prompt": "prompts/03_trajectory.md",
|
| 183 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 184 |
+
"engine": "claude",
|
| 185 |
+
"model": "claude-sonnet-5-5",
|
| 186 |
+
"effort": "high",
|
| 187 |
+
"created": "2026-11-08T22:10:22Z",
|
| 188 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 189 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 190 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 191 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 192 |
+
"calls": [
|
| 193 |
+
{
|
| 194 |
+
"stage": "traj",
|
| 195 |
+
"round": 0,
|
| 196 |
+
"ok": true,
|
| 197 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--44sjuv6/03_label"
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"stage": "traj_review",
|
| 201 |
+
"round": 1,
|
| 202 |
+
"ok": true,
|
| 203 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--44sjuv6/04_review_r1"
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"stage": "reconcile",
|
| 207 |
+
"round": 1,
|
| 208 |
+
"ok": true,
|
| 209 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--44sjuv6/05_reconcile_r1"
|
| 210 |
+
},
|
| 211 |
+
{
|
| 212 |
+
"stage": "traj_review",
|
| 213 |
+
"round": 2,
|
| 214 |
+
"ok": true,
|
| 215 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--44sjuv6/04_review_r2"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"review_engine": "claude",
|
| 219 |
+
"review_model": "claude-sonnet-5-5",
|
| 220 |
+
"inputs": {
|
| 221 |
+
"run_json_sha256": "6b4f4acb1c5f4d419294442ec3941cdbdd81955c8a021f0a13b217e3c0b38a91",
|
| 222 |
+
"video_sha256": "c32242b047ac069505f18789763767f20e467c89119289796b00d1e6f4e92bb2",
|
| 223 |
+
"states_sha256": null,
|
| 224 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 225 |
+
},
|
| 226 |
+
"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."
|
| 227 |
+
}
|
| 228 |
+
}
|
phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--9spk5wk.json
ADDED
|
@@ -0,0 +1,206 @@
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-red-dishes-in-bin-i00-standard--9spk5wk",
|
| 5 |
+
"taskKey": "robolab/red_dishes_in_bin",
|
| 6 |
+
"dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 4936,
|
| 19 |
+
"sim_steps": 4936,
|
| 20 |
+
"physics_steps": 39488,
|
| 21 |
+
"steps": 258,
|
| 22 |
+
"elapsed_s": 1638.4,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 1647,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.373,
|
| 44 |
+
"peak_processes": 9,
|
| 45 |
+
"peak_disk_gb": 0.488,
|
| 46 |
+
"peak_cpus": 0.73,
|
| 47 |
+
"peak_pids": 39,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-red-dishes-in-bin-i00-standard--9spk5wk.mp4",
|
| 65 |
+
"duration_s": 329.4,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 1647,
|
| 68 |
+
"sha256": "20db189e8cc48ac2a2a7041dcbeef161891466b08d9e29a5b3c4a84895558784"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"mug_in_bin": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 56.0,
|
| 85 |
+
"log_step": 87,
|
| 86 |
+
"text_zh": "观察：视频 56-68 s 夹爪夹住红杯杯沿并抬起，约视频 70 s 红杯已不在桌面（视频 70 s 桌面只见其滚向桌沿，随后消失）；此后到视频 328 s 任一帧红杯都未进灰箱，质心始终在箱外。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "手指/夹爪",
|
| 92 |
+
"how": "抓握",
|
| 93 |
+
"note_zh": "Franka 末端 Robotiq 夹爪夹住红杯杯沿/杯身（视频约 40-68 s），随后杯子滑脱。"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"bowl_in_bin": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 115.0,
|
| 104 |
+
"log_step": 124,
|
| 105 |
+
"text_zh": "观察：视频约 100-120 s 夹爪夹住红碗碗沿并轻微抬起，之后碗回到桌面原位附近；视频 150-328 s 碗仍在桌面左侧，从未进入灰箱。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "手指/夹爪",
|
| 111 |
+
"how": "抓握",
|
| 112 |
+
"note_zh": "夹爪多次夹碗沿（视频约 100-120 s 等）并试图抬起，碗未能被搬离桌面送入灰箱。"
|
| 113 |
+
}
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"constraints": {}
|
| 118 |
+
},
|
| 119 |
+
"native_metrics": [],
|
| 120 |
+
"failure": {
|
| 121 |
+
"breakpoint": {
|
| 122 |
+
"ref": "mug_in_bin",
|
| 123 |
+
"t": 69.0,
|
| 124 |
+
"log_step": 87,
|
| 125 |
+
"where": "操作中",
|
| 126 |
+
"evidence_zh": "观察：视频 56-68 s 夹爪夹着红杯抬起，约 69 s 杯子滑脱翻倒并滚出桌沿，之后不在桌面上；agent 自述杯子滚到地面、超出臂展（log step 206），该步从未修复。红碗之后也未完成，但红杯是先失败且未修复的步骤。"
|
| 127 |
+
},
|
| 128 |
+
"unmet": {
|
| 129 |
+
"mug_in_bin": false,
|
| 130 |
+
"bowl_in_bin": false
|
| 131 |
+
},
|
| 132 |
+
"phenomena": [
|
| 133 |
+
{
|
| 134 |
+
"cat": "接触",
|
| 135 |
+
"item": "没保持住",
|
| 136 |
+
"t": 69.0,
|
| 137 |
+
"log_step": 87,
|
| 138 |
+
"evidence_zh": "观察：视频 56-68 s 夹爪夹住杯沿抬起红杯，约 69 s 杯子脱离夹爪、倒下滚出桌面。"
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"root_causes": [
|
| 142 |
+
{
|
| 143 |
+
"cat": "控制",
|
| 144 |
+
"item": "抓取和接触设计",
|
| 145 |
+
"alt_feasible": "未知",
|
| 146 |
+
"evidence_zh": "推断：夹持杯沿的薄边接触无法承载杯子并在抬升中滑脱；agent 之后也改试整体夹持，但杯子已掉落。红碗多次夹持同样抬不起来（log step 124-194 多次测试），指向夹持几何不合适。",
|
| 147 |
+
"source_zh": "视频；agent 自述（log step 206）"
|
| 148 |
+
}
|
| 149 |
+
],
|
| 150 |
+
"gap_zh": "无状态日志，杯子滚落的精确瞬间和红碗抬起细节只由主视角帧判断，部分被夹爪遮挡。"
|
| 151 |
+
},
|
| 152 |
+
"summary_zh": "观察：0/2 节点达成。红杯在视频约 56-69 s 被夹起后滑脱并滚出桌沿（断点 mug_in_bin），红碗多次夹持（视频约 100-120 s 等）也没能送入灰箱，至视频 328 s 两件都不在箱内。推断为夹持几何不合适（控制·抓取和接触设计）；无状态日志，时间由视频帧判断。",
|
| 153 |
+
"conf": 6,
|
| 154 |
+
"review": {
|
| 155 |
+
"status": "agreed",
|
| 156 |
+
"rounds": 1,
|
| 157 |
+
"reviewers": [
|
| 158 |
+
{
|
| 159 |
+
"engine": "claude",
|
| 160 |
+
"model": "claude-sonnet-5-5",
|
| 161 |
+
"round": 1,
|
| 162 |
+
"verdict": "agree",
|
| 163 |
+
"conf": 7,
|
| 164 |
+
"summary_zh": "红杯约视频 69 s 脱手滚出桌沿、红碗全程在桌面，两节点未达成、断点 mug_in_bin 与现象「没保持住」均与帧一致；未发现需要修改的错误。",
|
| 165 |
+
"n_issues": 0,
|
| 166 |
+
"n_major": 0
|
| 167 |
+
}
|
| 168 |
+
],
|
| 169 |
+
"open_zh": []
|
| 170 |
+
},
|
| 171 |
+
"provenance": {
|
| 172 |
+
"prompt": "prompts/03_trajectory.md",
|
| 173 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 174 |
+
"engine": "claude",
|
| 175 |
+
"model": "claude-sonnet-5-5",
|
| 176 |
+
"effort": "high",
|
| 177 |
+
"created": "2026-11-08T22:06:37Z",
|
| 178 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 179 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 180 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 181 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 182 |
+
"calls": [
|
| 183 |
+
{
|
| 184 |
+
"stage": "traj",
|
| 185 |
+
"round": 0,
|
| 186 |
+
"ok": true,
|
| 187 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--9spk5wk/03_label"
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"stage": "traj_review",
|
| 191 |
+
"round": 1,
|
| 192 |
+
"ok": true,
|
| 193 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--9spk5wk/04_review_r1"
|
| 194 |
+
}
|
| 195 |
+
],
|
| 196 |
+
"review_engine": "claude",
|
| 197 |
+
"review_model": "claude-sonnet-5-5",
|
| 198 |
+
"inputs": {
|
| 199 |
+
"run_json_sha256": "4638da68bdbc79ca7083ff380eb130a5d4976eaf79332565b316bb5e7adfeb72",
|
| 200 |
+
"video_sha256": "20db189e8cc48ac2a2a7041dcbeef161891466b08d9e29a5b3c4a84895558784",
|
| 201 |
+
"states_sha256": null,
|
| 202 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 203 |
+
},
|
| 204 |
+
"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."
|
| 205 |
+
}
|
| 206 |
+
}
|
phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--cdxg8t3.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-red-dishes-in-bin-i00-standard--cdxg8t3",
|
| 5 |
+
"taskKey": "robolab/red_dishes_in_bin",
|
| 6 |
+
"dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 2668,
|
| 19 |
+
"sim_steps": 2668,
|
| 20 |
+
"physics_steps": 21344,
|
| 21 |
+
"steps": 1222,
|
| 22 |
+
"elapsed_s": 3125.8,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 891,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.362,
|
| 44 |
+
"peak_processes": 9,
|
| 45 |
+
"peak_disk_gb": 1.068,
|
| 46 |
+
"peak_cpus": 1.87,
|
| 47 |
+
"peak_pids": 145,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-red-dishes-in-bin-i00-standard--cdxg8t3.mp4",
|
| 65 |
+
"duration_s": 178.2,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 891,
|
| 68 |
+
"sha256": "fc444592991787d9239e641563353da6571f3134d71105d9fdb2442d003d847c"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 1,
|
| 76 |
+
"final": 1,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"mug_in_bin": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [
|
| 81 |
+
[
|
| 82 |
+
26.0,
|
| 83 |
+
null
|
| 84 |
+
]
|
| 85 |
+
],
|
| 86 |
+
"final": true,
|
| 87 |
+
"evidence": [
|
| 88 |
+
{
|
| 89 |
+
"t": 26.0,
|
| 90 |
+
"log_step": null,
|
| 91 |
+
"text_zh": "观察：视频 18-24 s 机械臂夹爪抓着红杯移到灰箱上方，约 26-30 s 杯子落入箱内；此后到视频结束（178 s）杯子一直在箱内（视频 177.8 s 帧仍见杯在箱内）。时间约 ±2 s。"
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"contact_actual": [
|
| 95 |
+
{
|
| 96 |
+
"who": "手指/夹爪",
|
| 97 |
+
"how": "抓握",
|
| 98 |
+
"note_zh": "观察：夹爪从杯内向外撑开，抓住红杯内壁并搬入灰箱后松开。"
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"bowl_in_bin": {
|
| 103 |
+
"method": "visual",
|
| 104 |
+
"intervals": [],
|
| 105 |
+
"final": false,
|
| 106 |
+
"evidence": [
|
| 107 |
+
{
|
| 108 |
+
"t": 150.0,
|
| 109 |
+
"log_step": 144,
|
| 110 |
+
"text_zh": "观察：视频约 40-150 s 夹爪在红碗处推/拨，碗始终在桌面上、未进箱；视频约 150 s 起桌前相机已看不到红碗，视频 177.8 s 灰箱内只有红杯。agent 自述碗被推出视野、未放入（log step 144）。"
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"contact_actual": [
|
| 114 |
+
{
|
| 115 |
+
"who": "手指/夹爪",
|
| 116 |
+
"how": "推/扫",
|
| 117 |
+
"note_zh": "观察：夹爪/闭合指在碗口附近推、拨、铲，未能夹住；碗最终离开视野。"
|
| 118 |
+
}
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"constraints": {}
|
| 123 |
+
},
|
| 124 |
+
"native_metrics": [],
|
| 125 |
+
"failure": {
|
| 126 |
+
"breakpoint": {
|
| 127 |
+
"ref": "bowl_in_bin",
|
| 128 |
+
"where": "操作中",
|
| 129 |
+
"t": 60.0,
|
| 130 |
+
"evidence_zh": "观察：红杯入箱后，视频约 40-150 s 机械臂反复在红碗处尝试，碗从未被抓起，最终不在箱内也不在视野内。",
|
| 131 |
+
"log_step": 144
|
| 132 |
+
},
|
| 133 |
+
"phenomena": [
|
| 134 |
+
{
|
| 135 |
+
"cat": "接触",
|
| 136 |
+
"item": "没建立接触",
|
| 137 |
+
"t": 60.0,
|
| 138 |
+
"log_step": null,
|
| 139 |
+
"evidence_zh": "观察：视频约 40-150 s 夹爪只推/拨碗，从未形成夹持抓握；agent 自述碗直径 17 cm 超过 8.5 cm 行程，边缘夹取姿态机械臂无法到达（log step 144）。"
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"root_causes": [
|
| 143 |
+
{
|
| 144 |
+
"cat": "控制",
|
| 145 |
+
"item": "抓取和接触设计",
|
| 146 |
+
"alt_feasible": "未知",
|
| 147 |
+
"evidence_zh": "agent 自述：碗宽超出夹爪行程，仅内锥或 1.8 cm 碗沿可夹，内锥夹不住，水平夹沿姿态不可达（log step 144）；视频只显示未夹住，未独立验证。",
|
| 148 |
+
"source_zh": "agent 自述"
|
| 149 |
+
}
|
| 150 |
+
],
|
| 151 |
+
"gap_zh": "无状态日志；碗离开视野的准确时刻和原因（推出桌沿）未直接看到；阶段划分按视频约 10 s 间隔抽帧。杯入箱时刻约 ±2 s。",
|
| 152 |
+
"unmet": {
|
| 153 |
+
"mug_in_bin": true,
|
| 154 |
+
"bowl_in_bin": false
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"summary_zh": "观察：红杯约视频 26 s 放入灰箱并保持到结束（1/2），红碗从未入箱。推断：断点在红碗入箱，夹爪行程小于碗宽，agent 无法夹住碗，只能推拨，碗最终离开视野；物理原因主要来自 agent 自述，缺状态日志。",
|
| 158 |
+
"conf": 6,
|
| 159 |
+
"review": {
|
| 160 |
+
"status": "agreed",
|
| 161 |
+
"rounds": 1,
|
| 162 |
+
"reviewers": [
|
| 163 |
+
{
|
| 164 |
+
"engine": "claude",
|
| 165 |
+
"model": "claude-sonnet-5-5",
|
| 166 |
+
"round": 1,
|
| 167 |
+
"verdict": "agree",
|
| 168 |
+
"conf": 6,
|
| 169 |
+
"summary_zh": "杯入箱约 26-30 s 并保持到结束、碗始终未入箱，与视频一致；断点、现象与根因（碗宽超行程、边缘夹取不可达，agent 自述且已标注未独立验证）可接受，未发现需改动的错误。",
|
| 170 |
+
"n_issues": 0,
|
| 171 |
+
"n_major": 0
|
| 172 |
+
}
|
| 173 |
+
],
|
| 174 |
+
"open_zh": []
|
| 175 |
+
},
|
| 176 |
+
"provenance": {
|
| 177 |
+
"prompt": "prompts/03_trajectory.md",
|
| 178 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 179 |
+
"engine": "claude",
|
| 180 |
+
"model": "claude-sonnet-5-5",
|
| 181 |
+
"effort": "high",
|
| 182 |
+
"created": "2026-11-08T22:07:22Z",
|
| 183 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 184 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 185 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 186 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 187 |
+
"calls": [
|
| 188 |
+
{
|
| 189 |
+
"stage": "traj",
|
| 190 |
+
"round": 0,
|
| 191 |
+
"ok": true,
|
| 192 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--cdxg8t3/03_label"
|
| 193 |
+
},
|
| 194 |
+
{
|
| 195 |
+
"stage": "traj_review",
|
| 196 |
+
"round": 1,
|
| 197 |
+
"ok": true,
|
| 198 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--cdxg8t3/04_review_r1"
|
| 199 |
+
}
|
| 200 |
+
],
|
| 201 |
+
"review_engine": "claude",
|
| 202 |
+
"review_model": "claude-sonnet-5-5",
|
| 203 |
+
"inputs": {
|
| 204 |
+
"run_json_sha256": "c1df16678300a66101f082b0351c1123f6e7da4bc5bdd3ec60fe0c83ddc63eb9",
|
| 205 |
+
"video_sha256": "fc444592991787d9239e641563353da6571f3134d71105d9fdb2442d003d847c",
|
| 206 |
+
"states_sha256": null,
|
| 207 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 208 |
+
},
|
| 209 |
+
"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."
|
| 210 |
+
}
|
| 211 |
+
}
|
phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--dbhtybv.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-red-dishes-in-bin-i00-standard--dbhtybv",
|
| 5 |
+
"taskKey": "robolab/red_dishes_in_bin",
|
| 6 |
+
"dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 1470,
|
| 19 |
+
"sim_steps": 1470,
|
| 20 |
+
"physics_steps": 11760,
|
| 21 |
+
"steps": 329,
|
| 22 |
+
"elapsed_s": 3464.2,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 492,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.692,
|
| 44 |
+
"peak_processes": 9,
|
| 45 |
+
"peak_disk_gb": 0.413,
|
| 46 |
+
"peak_cpus": 1.02,
|
| 47 |
+
"peak_pids": 151,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-red-dishes-in-bin-i00-standard--dbhtybv.mp4",
|
| 65 |
+
"duration_s": 98.4,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 492,
|
| 68 |
+
"sha256": "790f9a354aadaf2aedb6967436004904dd2a825d345be7d46c5a41662be3bd2f"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 1,
|
| 76 |
+
"final": 1,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"mug_in_bin": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [
|
| 81 |
+
[
|
| 82 |
+
50.0,
|
| 83 |
+
null
|
| 84 |
+
]
|
| 85 |
+
],
|
| 86 |
+
"final": true,
|
| 87 |
+
"evidence": [
|
| 88 |
+
{
|
| 89 |
+
"t": 50.0,
|
| 90 |
+
"log_step": null,
|
| 91 |
+
"text_zh": "观察：视频 46 s 夹爪抓着红杯在灰箱上方，50 s 红杯落入灰箱内，之后（54-98 s）一直在箱内。"
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"contact_actual": [
|
| 95 |
+
{
|
| 96 |
+
"who": "手指/夹爪",
|
| 97 |
+
"how": "抓握",
|
| 98 |
+
"note_zh": "Robotiq 夹爪夹住红杯移入灰箱后松开（视频 40-50 s）。"
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"bowl_in_bin": {
|
| 103 |
+
"method": "visual",
|
| 104 |
+
"intervals": [],
|
| 105 |
+
"final": false,
|
| 106 |
+
"evidence": [
|
| 107 |
+
{
|
| 108 |
+
"t": 80.0,
|
| 109 |
+
"log_step": 57,
|
| 110 |
+
"text_zh": "观察：视频 62-66 s 夹爪靠近红碗，80 s 红碗歪靠在魔方旁的桌面上，90、98 s 仍在箱外桌面；从未进入灰箱。"
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"contact_actual": [
|
| 114 |
+
{
|
| 115 |
+
"who": "手指/夹爪",
|
| 116 |
+
"how": "抓握",
|
| 117 |
+
"note_zh": "夹爪用边沿夹取红碗，抬起后红碗滑落在桌面（视频 66-80 s）；抓握不牢。"
|
| 118 |
+
}
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"constraints": {}
|
| 123 |
+
},
|
| 124 |
+
"native_metrics": [],
|
| 125 |
+
"failure": {
|
| 126 |
+
"breakpoint": {
|
| 127 |
+
"ref": "bowl_in_bin",
|
| 128 |
+
"t": 72.0,
|
| 129 |
+
"log_step": 57,
|
| 130 |
+
"where": "操作中",
|
| 131 |
+
"evidence_zh": "观察：红杯已于视频 50 s 入箱；红碗被夹起后在视频 80 s 落在魔方旁桌面，90-98 s 仍在箱外。"
|
| 132 |
+
},
|
| 133 |
+
"unmet": {
|
| 134 |
+
"mug_in_bin": true,
|
| 135 |
+
"bowl_in_bin": false
|
| 136 |
+
},
|
| 137 |
+
"phenomena": [
|
| 138 |
+
{
|
| 139 |
+
"cat": "接触",
|
| 140 |
+
"item": "没保持住",
|
| 141 |
+
"t": 75.0,
|
| 142 |
+
"log_step": 57,
|
| 143 |
+
"evidence_zh": "观察：红碗被夹起后脱离夹爪落在桌面魔方旁（视频约 66-80 s）；agent 自述碗壁薄、抓握滑脱（log step 48, 57）。"
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"root_causes": [
|
| 147 |
+
{
|
| 148 |
+
"cat": "控制",
|
| 149 |
+
"item": "抓取和接触设计",
|
| 150 |
+
"alt_feasible": "未知",
|
| 151 |
+
"evidence_zh": "agent 自述薄壁碗边抓握夹持力不足、先后用 17°、40° 边沿夹取均滑落（log step 48, 57）；视频可见碗落在桌面。",
|
| 152 |
+
"source_zh": "agent 自述 / 视频"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"gap_zh": "无状态日志；碗滑落的具体时刻与接触细节仅由视频推断；视频 98 s 终局时碗仍在箱外，且 agent 的 step8 重抓结果未细看。"
|
| 156 |
+
},
|
| 157 |
+
"summary_zh": "观察：红杯于视频约 50 s 入灰箱（1/2）；红碗被夹起后掉在箱外桌面，直到视频 98 s 结束仍未入箱。断点为红碗入箱的抓取搬运，推断为薄壁碗边夹持不牢。无状态日志，时间为目视估计。",
|
| 158 |
+
"conf": 6,
|
| 159 |
+
"review": {
|
| 160 |
+
"status": "agreed",
|
| 161 |
+
"rounds": 1,
|
| 162 |
+
"reviewers": [
|
| 163 |
+
{
|
| 164 |
+
"engine": "claude",
|
| 165 |
+
"model": "claude-sonnet-5-5",
|
| 166 |
+
"round": 1,
|
| 167 |
+
"verdict": "agree",
|
| 168 |
+
"conf": 6,
|
| 169 |
+
"summary_zh": "红杯约 50 s 入箱、红碗被夹起后滑落桌面且至 98 s 未入箱，节点值、断点（bowl_in_bin，操作中）、现象（接触·没保持住）与根因（抓取和接触设计）均与视频相符；末段 step8 重抓（��频约 84-93 s）同样未入箱，不改变结论。",
|
| 170 |
+
"n_issues": 0,
|
| 171 |
+
"n_major": 0
|
| 172 |
+
}
|
| 173 |
+
],
|
| 174 |
+
"open_zh": []
|
| 175 |
+
},
|
| 176 |
+
"provenance": {
|
| 177 |
+
"prompt": "prompts/03_trajectory.md",
|
| 178 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 179 |
+
"engine": "claude",
|
| 180 |
+
"model": "claude-sonnet-5-5",
|
| 181 |
+
"effort": "high",
|
| 182 |
+
"created": "2026-11-08T22:08:51Z",
|
| 183 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 184 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 185 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 186 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 187 |
+
"calls": [
|
| 188 |
+
{
|
| 189 |
+
"stage": "traj",
|
| 190 |
+
"round": 0,
|
| 191 |
+
"ok": true,
|
| 192 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--dbhtybv/03_label"
|
| 193 |
+
},
|
| 194 |
+
{
|
| 195 |
+
"stage": "traj_review",
|
| 196 |
+
"round": 1,
|
| 197 |
+
"ok": true,
|
| 198 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--dbhtybv/04_review_r1"
|
| 199 |
+
}
|
| 200 |
+
],
|
| 201 |
+
"review_engine": "claude",
|
| 202 |
+
"review_model": "claude-sonnet-5-5",
|
| 203 |
+
"inputs": {
|
| 204 |
+
"run_json_sha256": "96af9d9656dd35200d2d6d47400cb2ede529f5d3d27c70361dcba5fde9ea571e",
|
| 205 |
+
"video_sha256": "790f9a354aadaf2aedb6967436004904dd2a825d345be7d46c5a41662be3bd2f",
|
| 206 |
+
"states_sha256": null,
|
| 207 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 208 |
+
},
|
| 209 |
+
"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."
|
| 210 |
+
}
|
| 211 |
+
}
|
phaseR/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--gikbwzu.json
ADDED
|
@@ -0,0 +1,205 @@
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-red-dishes-in-bin-i00-standard--gikbwzu",
|
| 5 |
+
"taskKey": "robolab/red_dishes_in_bin",
|
| 6 |
+
"dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"live_success": 0,
|
| 14 |
+
"graded_by_live": 1,
|
| 15 |
+
"replays": 0,
|
| 16 |
+
"finalized": 1,
|
| 17 |
+
"missing_log": 0,
|
| 18 |
+
"n_actions": 3334,
|
| 19 |
+
"sim_steps": 3334,
|
| 20 |
+
"physics_steps": 26672,
|
| 21 |
+
"steps": 138,
|
| 22 |
+
"elapsed_s": 3111.0,
|
| 23 |
+
"settle_steps": 30,
|
| 24 |
+
"settle_error": 0,
|
| 25 |
+
"video_rendered": 1,
|
| 26 |
+
"video_frames": 1113,
|
| 27 |
+
"sim_error": 0,
|
| 28 |
+
"instance_mismatch": 0,
|
| 29 |
+
"instance_exact": 1,
|
| 30 |
+
"grader_error": 0,
|
| 31 |
+
"infra_error": 0,
|
| 32 |
+
"gave_up": 0,
|
| 33 |
+
"sim_crashed_on_call": 0,
|
| 34 |
+
"sim_startups": 1,
|
| 35 |
+
"resumes": 0,
|
| 36 |
+
"resume_state_mismatch": 0,
|
| 37 |
+
"resume_max_tcp_dev_m": 0.0,
|
| 38 |
+
"resume_max_joint_dev": 0.0,
|
| 39 |
+
"resource_enforced": 0,
|
| 40 |
+
"limits_violation_observed": 0,
|
| 41 |
+
"resource_monitor_missing": 0,
|
| 42 |
+
"peak_gpu_memory_gb": 0,
|
| 43 |
+
"peak_memory_gb": 0.253,
|
| 44 |
+
"peak_processes": 11,
|
| 45 |
+
"peak_disk_gb": 0.341,
|
| 46 |
+
"peak_cpus": 1.57,
|
| 47 |
+
"peak_pids": 305,
|
| 48 |
+
"resource_memory_kills": 0,
|
| 49 |
+
"resource_pids_kills": 0,
|
| 50 |
+
"resource_disk_kills": 0,
|
| 51 |
+
"resource_gpu_memory_kills": 0,
|
| 52 |
+
"resource_monitor_kills": 0,
|
| 53 |
+
"resource_emergency_kills": 0,
|
| 54 |
+
"resource_limit_exceeded": 0,
|
| 55 |
+
"resource_cpu_throttles": 0,
|
| 56 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 57 |
+
"resource_oom_kills": 0,
|
| 58 |
+
"resource_host_oom_kills": 0,
|
| 59 |
+
"resource_service_oom_kills": 0
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"video": {
|
| 63 |
+
"kind": "media",
|
| 64 |
+
"url": "media:robolab-red-dishes-in-bin-i00-standard--gikbwzu.mp4",
|
| 65 |
+
"duration_s": 222.6,
|
| 66 |
+
"fps": 5.0,
|
| 67 |
+
"frames": 1113,
|
| 68 |
+
"sha256": "37cba01624982176eaaabcacb95d18543089cf8f7a0ff405334ba0e18ccbfd5a"
|
| 69 |
+
},
|
| 70 |
+
"state": null,
|
| 71 |
+
"progress": {
|
| 72 |
+
"method": "visual",
|
| 73 |
+
"denominator": 2,
|
| 74 |
+
"base": 0,
|
| 75 |
+
"peak": 0,
|
| 76 |
+
"final": 0,
|
| 77 |
+
"nodes": {
|
| 78 |
+
"mug_in_bin": {
|
| 79 |
+
"method": "visual",
|
| 80 |
+
"intervals": [],
|
| 81 |
+
"final": false,
|
| 82 |
+
"evidence": [
|
| 83 |
+
{
|
| 84 |
+
"t": 221.0,
|
| 85 |
+
"log_step": 124,
|
| 86 |
+
"text_zh": "观察：视频 20-222 s 抽帧（每 12 s 一帧及 221 s 终帧）：红杯始终在灰箱外的桌面上，灰箱为空；夹爪多次下探后在红杯附近闭合。agent 自述两件均未入箱（log step 124）。"
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"contact_actual": [
|
| 90 |
+
{
|
| 91 |
+
"who": "未知",
|
| 92 |
+
"how": "未知",
|
| 93 |
+
"note_zh": "观察：log step 100-122 中夹爪闭合读数约 0.0016-0.0018（闭合在空气上，agent 的抓取试验输出），视频抽帧未见夹爪夹住红杯；未确认任何抓握接触。"
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"bowl_in_bin": {
|
| 98 |
+
"method": "visual",
|
| 99 |
+
"intervals": [],
|
| 100 |
+
"final": false,
|
| 101 |
+
"evidence": [
|
| 102 |
+
{
|
| 103 |
+
"t": 221.0,
|
| 104 |
+
"log_step": 124,
|
| 105 |
+
"text_zh": "观察：视频 20-222 s 抽帧（每 12 s 一帧及 221 s 终帧）：红碗始终在灰箱外的桌面上，灰箱为空；夹爪多次下探后在红碗附近闭合。agent 自述两件均未入箱（log step 124）。"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"contact_actual": [
|
| 109 |
+
{
|
| 110 |
+
"who": "未知",
|
| 111 |
+
"how": "未知",
|
| 112 |
+
"note_zh": "观察：log step 100-122 中夹爪闭合读数约 0.0016-0.0018（闭合在空气上，agent 的抓取试验输出），视频抽帧未见夹爪夹住红碗；未确认任何抓握接触。"
|
| 113 |
+
}
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"constraints": {}
|
| 118 |
+
},
|
| 119 |
+
"native_metrics": [],
|
| 120 |
+
"failure": {
|
| 121 |
+
"breakpoint": {
|
| 122 |
+
"ref": "mug_in_bin",
|
| 123 |
+
"t": null,
|
| 124 |
+
"log_step": 122,
|
| 125 |
+
"where": "操作中",
|
| 126 |
+
"evidence_zh": "观察：视频 20-222 s 红杯与红碗始终留在桌面，灰箱为空。log step 103-122：agent 在多个 x/y 位置下探后闭合夹爪，读数均约 0.0018（全闭，夹空），其自述杯位估计偏差（log step 104）；红杯入箱从未完成，也未换步骤修复。"
|
| 127 |
+
},
|
| 128 |
+
"phenomena": [
|
| 129 |
+
{
|
| 130 |
+
"cat": "接触",
|
| 131 |
+
"item": "没建立接触",
|
| 132 |
+
"t": null,
|
| 133 |
+
"log_step": 111,
|
| 134 |
+
"evidence_zh": "观察：log step 103-122 的 lift test 中夹爪开度均降到约 0.0018（夹空），多个候选位置均如此；视频抽帧中红杯始终留在原处。推断：夹爪从未夹住红杯。"
|
| 135 |
+
}
|
| 136 |
+
],
|
| 137 |
+
"root_causes": [
|
| 138 |
+
{
|
| 139 |
+
"cat": "认知",
|
| 140 |
+
"item": "感知",
|
| 141 |
+
"evidence_zh": "推断：agent 反复重新估计杯子位置（log step 104 自述 y 估计错误，step 108 测得 (0.626,-0.141)，step 117 又试 (0.594,-0.100)），下探后仍夹空，说明目标位姿估计与真实位置不符；未用状态日志核对真实位置。",
|
| 142 |
+
"source_zh": "日志 / agent 自述"
|
| 143 |
+
}
|
| 144 |
+
],
|
| 145 |
+
"gap_zh": "无状态日志，无法核对杯/碗真实位姿；视频仅用抽帧（约 12 s 间隔）判断，未逐帧核对每次下探，故 contact_actual 记为未知；感知归因为推断，亦未排除抓取几何（杯柄）问题。",
|
| 146 |
+
"unmet": {
|
| 147 |
+
"mug_in_bin": false,
|
| 148 |
+
"bowl_in_bin": false
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"summary_zh": "观察：视频 222.6 s 内红杯与红碗均未入灰箱，两个节点终态均为 false。推断：断点在红杯入箱的操作中，agent 多次下探闭合夹爪均夹空（log step 103-122），疑为杯位估计错误（感知）。证据缺口：无状态日志、视频只抽帧检查。",
|
| 152 |
+
"conf": 5,
|
| 153 |
+
"review": {
|
| 154 |
+
"status": "agreed",
|
| 155 |
+
"rounds": 1,
|
| 156 |
+
"reviewers": [
|
| 157 |
+
{
|
| 158 |
+
"engine": "claude",
|
| 159 |
+
"model": "claude-sonnet-5-5",
|
| 160 |
+
"round": 1,
|
| 161 |
+
"verdict": "agree",
|
| 162 |
+
"conf": 6,
|
| 163 |
+
"summary_zh": "终态两节点均未达成、红杯/红碗始终在灰箱外的判断与视频一致；断点（红杯入箱，操作中）、没建立接触（夹爪夹空读数）与感知推断均有证据且标为推断，未发现需改内容的错误。",
|
| 164 |
+
"n_issues": 0,
|
| 165 |
+
"n_major": 0
|
| 166 |
+
}
|
| 167 |
+
],
|
| 168 |
+
"open_zh": []
|
| 169 |
+
},
|
| 170 |
+
"provenance": {
|
| 171 |
+
"prompt": "prompts/03_trajectory.md",
|
| 172 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 173 |
+
"engine": "claude",
|
| 174 |
+
"model": "claude-sonnet-5-5",
|
| 175 |
+
"effort": "high",
|
| 176 |
+
"created": "2026-11-08T22:06:24Z",
|
| 177 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 178 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 179 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 180 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 181 |
+
"calls": [
|
| 182 |
+
{
|
| 183 |
+
"stage": "traj",
|
| 184 |
+
"round": 0,
|
| 185 |
+
"ok": true,
|
| 186 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--gikbwzu/03_label"
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"stage": "traj_review",
|
| 190 |
+
"round": 1,
|
| 191 |
+
"ok": true,
|
| 192 |
+
"space": "work/runs/robolab-red-dishes-in-bin-i00-standard--gikbwzu/04_review_r1"
|
| 193 |
+
}
|
| 194 |
+
],
|
| 195 |
+
"review_engine": "claude",
|
| 196 |
+
"review_model": "claude-sonnet-5-5",
|
| 197 |
+
"inputs": {
|
| 198 |
+
"run_json_sha256": "f440ebf002e9d6dcec5e89a34755c8f985ece93983deb95ae4c3a116cb8867a4",
|
| 199 |
+
"video_sha256": "37cba01624982176eaaabcacb95d18543089cf8f7a0ff405334ba0e18ccbfd5a",
|
| 200 |
+
"states_sha256": null,
|
| 201 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 202 |
+
},
|
| 203 |
+
"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."
|
| 204 |
+
}
|
| 205 |
+
}
|
phaseR/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--begqf8h.json
ADDED
|
@@ -0,0 +1,162 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-utensils-in-mug-i00-privileged--begqf8h",
|
| 5 |
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"taskKey": "robolab/utensils_in_mug",
|
| 6 |
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"dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c",
|
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"outcome": {
|
| 8 |
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"success": 0,
|
| 9 |
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"reward": 0.0,
|
| 10 |
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"source": "catalog",
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| 11 |
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"raw": {
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|
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|
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"infra_error": 0,
|
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"missing_trajectory": 1,
|
| 17 |
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"agent_sessions": 1,
|
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"agent_resets": 76,
|
| 19 |
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|
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|
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"agent_replays": 0,
|
| 22 |
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|
| 23 |
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"resource_enforced": 0,
|
| 24 |
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|
| 25 |
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"resource_monitor_missing": 0,
|
| 26 |
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"peak_gpu_memory_gb": 4.589,
|
| 27 |
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"peak_memory_gb": 13.754,
|
| 28 |
+
"peak_processes": 11,
|
| 29 |
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"peak_disk_gb": 0.102,
|
| 30 |
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"peak_cpus": 8.04,
|
| 31 |
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"peak_pids": 909,
|
| 32 |
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"resource_memory_kills": 0,
|
| 33 |
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"resource_pids_kills": 0,
|
| 34 |
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"resource_disk_kills": 0,
|
| 35 |
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"resource_gpu_memory_kills": 0,
|
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"resource_monitor_kills": 0,
|
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"resource_emergency_kills": 0,
|
| 38 |
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"resource_limit_exceeded": 0,
|
| 39 |
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"resource_cpu_throttles": 0,
|
| 40 |
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"resource_cpu_throttled_sec": 0.0,
|
| 41 |
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"resource_oom_kills": 0,
|
| 42 |
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"resource_host_oom_kills": 0,
|
| 43 |
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"resource_service_oom_kills": 0,
|
| 44 |
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"session_log_tampered": 0,
|
| 45 |
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"session_log_from_monitor": 0
|
| 46 |
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}
|
| 47 |
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},
|
| 48 |
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"video": {
|
| 49 |
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"kind": "none",
|
| 50 |
+
"url": null,
|
| 51 |
+
"duration_s": null,
|
| 52 |
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"fps": null,
|
| 53 |
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"frames": null,
|
| 54 |
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"sha256": null
|
| 55 |
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},
|
| 56 |
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"state": null,
|
| 57 |
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"progress": {
|
| 58 |
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"method": "none",
|
| 59 |
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"denominator": 2,
|
| 60 |
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"base": null,
|
| 61 |
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"peak": null,
|
| 62 |
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"final": null,
|
| 63 |
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"nodes": {
|
| 64 |
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"fork_in_mug": {
|
| 65 |
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"method": "unknown",
|
| 66 |
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"intervals": null,
|
| 67 |
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"final": null,
|
| 68 |
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"evidence": [
|
| 69 |
+
{
|
| 70 |
+
"t": null,
|
| 71 |
+
"log_step": 161,
|
| 72 |
+
"text_zh": "观察：无视频、无状态日志，评分器记录 missing_trajectory=1（未交付轨迹）；log step 156/159/161 为模型提供方过滤器拦截。无法判断叉子入杯，故为未知。"
|
| 73 |
+
}
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"spoon_in_mug": {
|
| 77 |
+
"method": "unknown",
|
| 78 |
+
"intervals": null,
|
| 79 |
+
"final": null,
|
| 80 |
+
"evidence": [
|
| 81 |
+
{
|
| 82 |
+
"t": null,
|
| 83 |
+
"log_step": 161,
|
| 84 |
+
"text_zh": "观察：无视频、无状态日志，评分器记录 missing_trajectory=1（未交付轨迹）；log step 156/159/161 为模型提供方过滤器拦截。无法判断勺子入杯，故为未知。"
|
| 85 |
+
}
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"constraints": {}
|
| 90 |
+
},
|
| 91 |
+
"native_metrics": [],
|
| 92 |
+
"failure": {
|
| 93 |
+
"breakpoint": {
|
| 94 |
+
"ref": "unknown",
|
| 95 |
+
"where": "首步前",
|
| 96 |
+
"t": null,
|
| 97 |
+
"log_step": 161,
|
| 98 |
+
"evidence_zh": "观察：log step 156、159、161 的回复均为“This request was blocked by Gemini's filters”，评分器字段 missing_trajectory=1、agent_replays=0；此前 agent 仅在会话内用测试脚本试放（log step 144-154），未交付轨迹。推断：运行被模型提供方过滤器截断，交付前结束。"
|
| 99 |
+
},
|
| 100 |
+
"phenomena": [],
|
| 101 |
+
"root_causes": [],
|
| 102 |
+
"gap_zh": "外部因素：模型提供方过滤器在交付轨迹前截断运行（log step 156-161），无视频、无状态日志，没有被评分的尝试可标注现象或根因；按规则不标没尝试。",
|
| 103 |
+
"unmet": {
|
| 104 |
+
"fork_in_mug": null,
|
| 105 |
+
"spoon_in_mug": null
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"summary_zh": "观察：运行在 log step 156 起被 Gemini 过滤器拦截，未交付任何轨迹（missing_trajectory=1），无视频与状态日志，两个节点均无法判定（未知）。推断：这是外部因素截断，不计入失败分析；断点未知、首步前，现象与根因为空。",
|
| 109 |
+
"conf": 7,
|
| 110 |
+
"review": {
|
| 111 |
+
"status": "agreed",
|
| 112 |
+
"rounds": 1,
|
| 113 |
+
"reviewers": [
|
| 114 |
+
{
|
| 115 |
+
"engine": "claude",
|
| 116 |
+
"model": "claude-sonnet-5-5",
|
| 117 |
+
"round": 1,
|
| 118 |
+
"verdict": "agree",
|
| 119 |
+
"conf": 7,
|
| 120 |
+
"summary_zh": "无视频、无状态日志；log step 156/159/161 为 Gemini 过滤器拦截，评分器 missing_trajectory=1，未交付轨迹，属外部因素截断。节点未知、断点 unknown/首步前、现象与根因为空并附 gap_zh，均符合 03 规则第5条。",
|
| 121 |
+
"n_issues": 0,
|
| 122 |
+
"n_major": 0
|
| 123 |
+
}
|
| 124 |
+
],
|
| 125 |
+
"open_zh": []
|
| 126 |
+
},
|
| 127 |
+
"provenance": {
|
| 128 |
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"prompt": "prompts/03_trajectory.md",
|
| 129 |
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"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 130 |
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"engine": "claude",
|
| 131 |
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"model": "claude-sonnet-5-5",
|
| 132 |
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"effort": "high",
|
| 133 |
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"created": "2026-11-08T22:06:51Z",
|
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"review_prompt": "prompts/04_trajectory_review.md",
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"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
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"reconcile_prompt": "prompts/05_reconcile.md",
|
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"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
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"calls": [
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|
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"stage": "traj",
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"round": 0,
|
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"ok": true,
|
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"space": "work/runs/robolab-utensils-in-mug-i00-privileged--begqf8h/03_label"
|
| 144 |
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| 145 |
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{
|
| 146 |
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"stage": "traj_review",
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|
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| 155 |
+
"run_json_sha256": "cf1fcddc8e34c8f79966849528a1018632821ba6b39d0e85c89eda7ca1936a27",
|
| 156 |
+
"video_sha256": null,
|
| 157 |
+
"states_sha256": null,
|
| 158 |
+
"video_choice": "HF replay.mp4 status 404; no local video"
|
| 159 |
+
},
|
| 160 |
+
"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."
|
| 161 |
+
}
|
| 162 |
+
}
|
phaseR/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--brdtsvp.json
ADDED
|
@@ -0,0 +1,200 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-utensils-in-mug-i00-privileged--brdtsvp",
|
| 5 |
+
"taskKey": "robolab/utensils_in_mug",
|
| 6 |
+
"dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
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"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
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"deterministic": 1,
|
| 15 |
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"instance_ok": 1,
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| 16 |
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"instance_exact": 1,
|
| 17 |
+
"n_actions": 814,
|
| 18 |
+
"sim_steps": 844,
|
| 19 |
+
"final_reward": 0.0,
|
| 20 |
+
"replay_wall_s": 2977.1,
|
| 21 |
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"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 5,
|
| 26 |
+
"agent_resets": 3,
|
| 27 |
+
"agent_sim_steps": 1863,
|
| 28 |
+
"agent_records": 10,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 5.287,
|
| 35 |
+
"peak_memory_gb": 17.243,
|
| 36 |
+
"peak_processes": 13,
|
| 37 |
+
"peak_disk_gb": 0.882,
|
| 38 |
+
"peak_cpus": 8.06,
|
| 39 |
+
"peak_pids": 1464,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
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"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
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"resource_cpu_throttles": 0,
|
| 48 |
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"resource_cpu_throttled_sec": 0.0,
|
| 49 |
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"resource_oom_kills": 0,
|
| 50 |
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"resource_host_oom_kills": 0,
|
| 51 |
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"resource_service_oom_kills": 0,
|
| 52 |
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"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-utensils-in-mug-i00-privileged--brdtsvp.mp4",
|
| 59 |
+
"duration_s": 56.334,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 845,
|
| 62 |
+
"sha256": "b62582cb83964162bbd695f94c02aad5eedbd7cb73fb95e21373c1d120bd6fcb"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": 0,
|
| 69 |
+
"peak": 0,
|
| 70 |
+
"final": 0,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"fork_in_mug": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": [],
|
| 75 |
+
"final": false,
|
| 76 |
+
"evidence": [
|
| 77 |
+
{
|
| 78 |
+
"t": 53,
|
| 79 |
+
"log_step": null,
|
| 80 |
+
"text_zh": "观察：视频 14-26 s（腕部相机）夹爪夹着叉子离开贝果盘，视频 53-56.3 s 叉子斜靠在杯沿，叉齿在杯内、柄伸出杯外，夹爪已松开；叉身中心大概率在杯口区域之外。推断：判据未成立，但为目视估计，边界有不确定。"
|
| 81 |
+
}
|
| 82 |
+
],
|
| 83 |
+
"contact_actual": [
|
| 84 |
+
{
|
| 85 |
+
"who": "手指/夹爪",
|
| 86 |
+
"how": "抓握",
|
| 87 |
+
"note_zh": "Franka 的二指夹爪夹住叉柄，从盘上取起并送到杯口，随后松开，叉子靠在杯沿。"
|
| 88 |
+
}
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"spoon_in_mug": {
|
| 92 |
+
"method": "visual",
|
| 93 |
+
"intervals": [],
|
| 94 |
+
"final": false,
|
| 95 |
+
"evidence": [
|
| 96 |
+
{
|
| 97 |
+
"t": 47,
|
| 98 |
+
"log_step": null,
|
| 99 |
+
"text_zh": "观察：视频 44-47 s 夹爪在红碗内接触勺子；视频 53-56.3 s 勺头仍在红碗内、柄斜靠碗沿，杯中没有勺子。"
|
| 100 |
+
}
|
| 101 |
+
],
|
| 102 |
+
"contact_actual": [
|
| 103 |
+
{
|
| 104 |
+
"who": "手指/夹爪",
|
| 105 |
+
"how": "抓握",
|
| 106 |
+
"note_zh": "夹爪在红碗内夹持勺子的尝试（视频 44-47 s），勺子最终仍留在碗里/碗沿。"
|
| 107 |
+
}
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"constraints": {}
|
| 112 |
+
},
|
| 113 |
+
"native_metrics": [],
|
| 114 |
+
"failure": {
|
| 115 |
+
"breakpoint": {
|
| 116 |
+
"ref": "fork_in_mug",
|
| 117 |
+
"t": 34,
|
| 118 |
+
"log_step": null,
|
| 119 |
+
"where": "操作中",
|
| 120 |
+
"evidence_zh": "观察：视频约 34 s 夹爪在杯口附近松开叉子，视频 53-56.3 s 叉子斜靠杯沿，叉身大部分在杯外；勺子随后也未入杯。推断：叉子这一步最先未完成且未修复。"
|
| 121 |
+
},
|
| 122 |
+
"phenomena": [
|
| 123 |
+
{
|
| 124 |
+
"cat": "运动",
|
| 125 |
+
"item": "位姿不准",
|
| 126 |
+
"t": 34,
|
| 127 |
+
"log_step": null,
|
| 128 |
+
"evidence_zh": "观察：视频约 34 s 夹爪松开时叉子只有叉齿伸进杯内，柄搭在杯外，不在杯口上方；这是松手前没到位，不是放后不稳。"
|
| 129 |
+
}
|
| 130 |
+
],
|
| 131 |
+
"root_causes": [
|
| 132 |
+
{
|
| 133 |
+
"cat": "交付",
|
| 134 |
+
"item": "交付操作出错",
|
| 135 |
+
"alt_feasible": "未知",
|
| 136 |
+
"evidence_zh": "观察：agent 最后自述保存的轨迹“reset 后成功但新进程回放失败”（log step 202），reward 中 agent_replays=0，图示的评分回放确实失败（success 0，叉勺均未入杯）。推断：保存了未经回放验证的轨迹。",
|
| 137 |
+
"source_zh": "agent 自述 / 评分器字段"
|
| 138 |
+
}
|
| 139 |
+
],
|
| 140 |
+
"gap_zh": "无状态日志；叉子中心是否在杯口区域外为目视判断；agent 会话与评分回放为何不一致没有直接证据，交付根因基于其自述。",
|
| 141 |
+
"unmet": {
|
| 142 |
+
"fork_in_mug": false,
|
| 143 |
+
"spoon_in_mug": false
|
| 144 |
+
}
|
| 145 |
+
},
|
| 146 |
+
"summary_zh": "观察：评分回放（视频 56.3 s）中夹爪视频 14-34 s 取起叉子送到杯口后松开，叉子斜靠杯沿，视频 44-47 s 在红碗内抓勺子，最终勺子仍在碗里；两个节点均判未达成（叉子为目视估计，边界不确定）。断点在叉子入杯，现象位姿不准；根因来自 agent 自述：保存了新进程回放失败的轨迹（交付操作出错）。",
|
| 147 |
+
"conf": 5,
|
| 148 |
+
"review": {
|
| 149 |
+
"status": "agreed",
|
| 150 |
+
"rounds": 1,
|
| 151 |
+
"reviewers": [
|
| 152 |
+
{
|
| 153 |
+
"engine": "claude",
|
| 154 |
+
"model": "claude-sonnet-5-5",
|
| 155 |
+
"round": 1,
|
| 156 |
+
"verdict": "agree",
|
| 157 |
+
"conf": 6,
|
| 158 |
+
"summary_zh": "两节点未达成与视频一致（视频 38-56 s 叉子斜靠杯沿、勺子仍在红碗）；断点、位姿不准、交付根因均有证据支持。",
|
| 159 |
+
"n_issues": 0,
|
| 160 |
+
"n_major": 0
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"open_zh": []
|
| 164 |
+
},
|
| 165 |
+
"provenance": {
|
| 166 |
+
"prompt": "prompts/03_trajectory.md",
|
| 167 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 168 |
+
"engine": "claude",
|
| 169 |
+
"model": "claude-sonnet-5-5",
|
| 170 |
+
"effort": "high",
|
| 171 |
+
"created": "2026-11-08T22:08:07Z",
|
| 172 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 173 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 174 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 175 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 176 |
+
"calls": [
|
| 177 |
+
{
|
| 178 |
+
"stage": "traj",
|
| 179 |
+
"round": 0,
|
| 180 |
+
"ok": true,
|
| 181 |
+
"space": "work/runs/robolab-utensils-in-mug-i00-privileged--brdtsvp/03_label"
|
| 182 |
+
},
|
| 183 |
+
{
|
| 184 |
+
"stage": "traj_review",
|
| 185 |
+
"round": 1,
|
| 186 |
+
"ok": true,
|
| 187 |
+
"space": "work/runs/robolab-utensils-in-mug-i00-privileged--brdtsvp/04_review_r1"
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"review_engine": "claude",
|
| 191 |
+
"review_model": "claude-sonnet-5-5",
|
| 192 |
+
"inputs": {
|
| 193 |
+
"run_json_sha256": "77f0f5a96dd460332d5ffa0dbfb47689c1af50b7a25caa180e789a7311d5b4fd",
|
| 194 |
+
"video_sha256": "b62582cb83964162bbd695f94c02aad5eedbd7cb73fb95e21373c1d120bd6fcb",
|
| 195 |
+
"states_sha256": null,
|
| 196 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 197 |
+
},
|
| 198 |
+
"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."
|
| 199 |
+
}
|
| 200 |
+
}
|
phaseR/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--ferbtbh.json
ADDED
|
@@ -0,0 +1,205 @@
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "robolab-utensils-in-mug-i00-privileged--ferbtbh",
|
| 5 |
+
"taskKey": "robolab/utensils_in_mug",
|
| 6 |
+
"dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.5,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"success": 0,
|
| 13 |
+
"all_success": 0,
|
| 14 |
+
"deterministic": 1,
|
| 15 |
+
"instance_ok": 1,
|
| 16 |
+
"instance_exact": 1,
|
| 17 |
+
"n_actions": 491,
|
| 18 |
+
"sim_steps": 521,
|
| 19 |
+
"final_reward": 0.5,
|
| 20 |
+
"replay_wall_s": 1209.8,
|
| 21 |
+
"replay_timeout_s": 1800.0,
|
| 22 |
+
"grader_error": 0,
|
| 23 |
+
"infra_error": 0,
|
| 24 |
+
"video_rendered": 1,
|
| 25 |
+
"agent_sessions": 6,
|
| 26 |
+
"agent_resets": 1,
|
| 27 |
+
"agent_sim_steps": 0,
|
| 28 |
+
"agent_records": 1,
|
| 29 |
+
"agent_replays": 0,
|
| 30 |
+
"agent_cost_self_reported": 1,
|
| 31 |
+
"resource_enforced": 0,
|
| 32 |
+
"limits_violation_observed": 0,
|
| 33 |
+
"resource_monitor_missing": 0,
|
| 34 |
+
"peak_gpu_memory_gb": 4.583,
|
| 35 |
+
"peak_memory_gb": 12.754,
|
| 36 |
+
"peak_processes": 13,
|
| 37 |
+
"peak_disk_gb": 0.269,
|
| 38 |
+
"peak_cpus": 8.19,
|
| 39 |
+
"peak_pids": 1006,
|
| 40 |
+
"resource_memory_kills": 0,
|
| 41 |
+
"resource_pids_kills": 0,
|
| 42 |
+
"resource_disk_kills": 0,
|
| 43 |
+
"resource_gpu_memory_kills": 0,
|
| 44 |
+
"resource_monitor_kills": 0,
|
| 45 |
+
"resource_emergency_kills": 0,
|
| 46 |
+
"resource_limit_exceeded": 0,
|
| 47 |
+
"resource_cpu_throttles": 0,
|
| 48 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 49 |
+
"resource_oom_kills": 0,
|
| 50 |
+
"resource_host_oom_kills": 0,
|
| 51 |
+
"resource_service_oom_kills": 0,
|
| 52 |
+
"session_log_tampered": 0,
|
| 53 |
+
"session_log_from_monitor": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"kind": "media",
|
| 58 |
+
"url": "media:robolab-utensils-in-mug-i00-privileged--ferbtbh.mp4",
|
| 59 |
+
"duration_s": 34.8,
|
| 60 |
+
"fps": 15.0,
|
| 61 |
+
"frames": 522,
|
| 62 |
+
"sha256": "a2f7a2df70e88481289894293076935f6c176a32f050042d2f4f5efa9b4f98c0"
|
| 63 |
+
},
|
| 64 |
+
"state": null,
|
| 65 |
+
"progress": {
|
| 66 |
+
"method": "visual",
|
| 67 |
+
"denominator": 2,
|
| 68 |
+
"base": null,
|
| 69 |
+
"peak": null,
|
| 70 |
+
"final": 1,
|
| 71 |
+
"nodes": {
|
| 72 |
+
"fork_in_mug": {
|
| 73 |
+
"method": "visual",
|
| 74 |
+
"intervals": null,
|
| 75 |
+
"final": false,
|
| 76 |
+
"evidence": [
|
| 77 |
+
{
|
| 78 |
+
"t": 18,
|
| 79 |
+
"log_step": 71,
|
| 80 |
+
"text_zh": "观察：视频约 17-18 s 夹爪抓住盘中叉子，约 19 s 起叉子从盘中消失，约 20 s 有物体飞出桌面；其后杯中只有勺子，叉子从未入杯。agent 自述叉子在倾斜腕部时从夹爪滑落并被甩出桌面（log step 71）。"
|
| 81 |
+
}
|
| 82 |
+
],
|
| 83 |
+
"contact_actual": [
|
| 84 |
+
{
|
| 85 |
+
"who": "手指/夹爪",
|
| 86 |
+
"how": "抓握",
|
| 87 |
+
"note_zh": "观察：二指夹爪夹住叉颈抬起，倾斜后叉子脱手。"
|
| 88 |
+
}
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"spoon_in_mug": {
|
| 92 |
+
"method": "visual",
|
| 93 |
+
"intervals": [
|
| 94 |
+
[
|
| 95 |
+
14.3,
|
| 96 |
+
null
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"final": true,
|
| 100 |
+
"evidence": [
|
| 101 |
+
{
|
| 102 |
+
"t": 14.5,
|
| 103 |
+
"log_step": 71,
|
| 104 |
+
"text_zh": "观察：视频 12-14 s 夹爪携勺到杯口上方，约 14.5 s 起勺子留在杯中，至视频结束（34.8 s）一直在杯内；评分器 final_reward 0.5 与此一致。agent 自述（log step 71）勺子入杯。"
|
| 105 |
+
}
|
| 106 |
+
],
|
| 107 |
+
"contact_actual": [
|
| 108 |
+
{
|
| 109 |
+
"who": "手指/夹爪",
|
| 110 |
+
"how": "抓握",
|
| 111 |
+
"note_zh": "观察：二指夹爪从上方夹住勺颈，抬起并运到杯口后松手。"
|
| 112 |
+
}
|
| 113 |
+
]
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
"constraints": {}
|
| 117 |
+
},
|
| 118 |
+
"native_metrics": [],
|
| 119 |
+
"failure": {
|
| 120 |
+
"breakpoint": {
|
| 121 |
+
"ref": "fork_in_mug",
|
| 122 |
+
"where": "操作中",
|
| 123 |
+
"t": 19.0,
|
| 124 |
+
"log_step": 71,
|
| 125 |
+
"evidence_zh": "观察：视频约 17-19 s 夹爪抬起叉子后叉子离开盘子，约 20 s 被甩出桌面；叉子未入杯，最终只有勺子在杯中（评分 0.5）。"
|
| 126 |
+
},
|
| 127 |
+
"phenomena": [
|
| 128 |
+
{
|
| 129 |
+
"cat": "接触",
|
| 130 |
+
"item": "没保持住",
|
| 131 |
+
"t": 19.0,
|
| 132 |
+
"log_step": 71,
|
| 133 |
+
"evidence_zh": "观察：视频约 17.7 s 夹爪已夹住叉子，19-20 s 叉子随腕部倾斜脱手并飞出桌面；agent 自述（log step 71）叉子在倾斜到 +80° 时掉回盘中、−50° 时被甩出桌面。"
|
| 134 |
+
}
|
| 135 |
+
],
|
| 136 |
+
"root_causes": [
|
| 137 |
+
{
|
| 138 |
+
"cat": "控制",
|
| 139 |
+
"item": "抓取和接触设计",
|
| 140 |
+
"evidence_zh": "agent 自述（log step 71）叉颈抓握在倾斜腕部时滑脱；视频显示叉子在倾斜阶段脱手。抓取位置与倾斜动作对叉子不合适；替代方案（轻倾斜、握柄端）未验证。",
|
| 141 |
+
"source_zh": "视频、agent 自述",
|
| 142 |
+
"alt_feasible": "未知"
|
| 143 |
+
}
|
| 144 |
+
],
|
| 145 |
+
"gap_zh": "无状态日志，叉子具体脱手瞬间由视频帧判断，精度约 1 s；具体被抓位置不可见。",
|
| 146 |
+
"unmet": {
|
| 147 |
+
"fork_in_mug": false,
|
| 148 |
+
"spoon_in_mug": true
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"summary_zh": "观察：勺子约视频 14.3 s 入杯并保持到结束，叉子未入杯，1/2 节点完成。叉子在视频约 17-20 s 被夹起后因倾斜腕部而脱手并被甩出桌面，断点为叉子入杯（操作中），现象为没保持住，根因为抓取与倾斜动作设计不当（推断，部分来自 agent 自述）。无状态日志，时间来自视频。",
|
| 152 |
+
"conf": 6,
|
| 153 |
+
"review": {
|
| 154 |
+
"status": "agreed",
|
| 155 |
+
"rounds": 1,
|
| 156 |
+
"reviewers": [
|
| 157 |
+
{
|
| 158 |
+
"engine": "claude",
|
| 159 |
+
"model": "claude-sonnet-5-5",
|
| 160 |
+
"round": 1,
|
| 161 |
+
"verdict": "agree",
|
| 162 |
+
"conf": 6,
|
| 163 |
+
"summary_zh": "勺子约14.3 s入杯并保持、叉子未入杯、断点为叉子入杯（操作中）、现象没保持住与视频帧及log step 70/71一致；未发现需要修改的错误。",
|
| 164 |
+
"n_issues": 0,
|
| 165 |
+
"n_major": 0
|
| 166 |
+
}
|
| 167 |
+
],
|
| 168 |
+
"open_zh": []
|
| 169 |
+
},
|
| 170 |
+
"provenance": {
|
| 171 |
+
"prompt": "prompts/03_trajectory.md",
|
| 172 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 173 |
+
"engine": "claude",
|
| 174 |
+
"model": "claude-sonnet-5-5",
|
| 175 |
+
"effort": "high",
|
| 176 |
+
"created": "2026-11-08T22:06:13Z",
|
| 177 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 178 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 179 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 180 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 181 |
+
"calls": [
|
| 182 |
+
{
|
| 183 |
+
"stage": "traj",
|
| 184 |
+
"round": 0,
|
| 185 |
+
"ok": true,
|
| 186 |
+
"space": "work/runs/robolab-utensils-in-mug-i00-privileged--ferbtbh/03_label"
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"stage": "traj_review",
|
| 190 |
+
"round": 1,
|
| 191 |
+
"ok": true,
|
| 192 |
+
"space": "work/runs/robolab-utensils-in-mug-i00-privileged--ferbtbh/04_review_r1"
|
| 193 |
+
}
|
| 194 |
+
],
|
| 195 |
+
"review_engine": "claude",
|
| 196 |
+
"review_model": "claude-sonnet-5-5",
|
| 197 |
+
"inputs": {
|
| 198 |
+
"run_json_sha256": "61d13e308017813d8ae90e4e9aa29e299b4bae22ba41c518e9f2a343f916f6d9",
|
| 199 |
+
"video_sha256": "a2f7a2df70e88481289894293076935f6c176a32f050042d2f4f5efa9b4f98c0",
|
| 200 |
+
"states_sha256": null,
|
| 201 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 202 |
+
},
|
| 203 |
+
"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."
|
| 204 |
+
}
|
| 205 |
+
}
|