diff --git a/phaseR/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--j7okczu.json b/phaseR/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--j7okczu.json new file mode 100644 index 0000000000000000000000000000000000000000..4b07d8937ae7de95c389eeea3a92184c0d67d4cb --- /dev/null +++ b/phaseR/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--j7okczu.json @@ -0,0 +1,237 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-blanket-flatten-04-i01-standard--j7okczu", + "taskKey": "roboarc/blanket_flatten_04", + "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 2, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 7366, + "live_rows": 7366, + "sim_steps": 7366, + "physics_steps": 73660, + "steps": 905, + "elapsed_s": 9599.8, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-blanket-flatten-04-i01-standard--j7okczu.mp4", + "duration_s": 184.2, + "fps": 15.0, + "frames": 2763, + "sha256": "ad007f73e30dd2c018426571c267166f9a656cf1deee4981edbcbbc30edb71e0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blanket_flattened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 183.0, + "log_step": 171, + "text_zh": "观察：视频拼图（每8 s一帧）显示毯子起初折叠在桌中，约视频 30 s 起被拖成团挤到桌面远侧边缘，其后虽逐步被拉开，到视频末尾（约 184 s）仍是一块不规则斜长条、未铺满桌面。agent 末条自述（log step 171）称最后覆盖 0.165 m²，低于要求的 0.2736 m²；评分 success=0，live_success=0。推断：覆盖率始终未达 95%，节点未到达。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频中左右夹爪捏住毯子边角提起、拉开或拖动；也有单臂单独处理边角（推断：log step 46-72 的抓折、拖拽、抖动）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "coverage_ratio", + "value": null, + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "maximum_height_m", + "value": 0.012, + "unit": "m", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "minimum_height_m", + "value": null, + "unit": "m", + "threshold": -0.008, + "direction": "higher_better" + }, + { + "name": "maximum_stretch_ratio", + "value": null, + "unit": "ratio", + "threshold": 1.15, + "direction": "lower_better" + }, + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "maximum_drift_m", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "release_clearance_m", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "higher_better" + }, + { + "name": "confirmation_elapsed_s", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "blanket_flattened", + "t": 32.0, + "log_step": 56, + "where": "操作中", + "evidence_zh": "观察：约视频 30-40 s 毯子被拖成一团挤到远侧桌边（拼图）；agent 自述“The spread dragged the bundle to the far table edge”（log step 56）。之后多次拉展都没把面积恢复到要求，最终 0.165 m² < 0.2736 m²（log step 171）。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 32.0, + "log_step": 56, + "evidence_zh": "观察：毯子没有被展开铺平，而是被拖成皱团并停在夹爪够不到的远侧边缘，最终呈斜长条、覆盖不足（视频 184 s 末帧）。推断：夹爪抓点与拉展方向没有把布展开。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "evidence_zh": "观察：agent 选择提起折叠边、携带后释放并双角拉扯的展开策略，结果把毯子拖到低可达区（log step 53-61），之后再用多轮拖回恢复（log step 66-72）。推断：规划时未考虑拉扯会把布推出机械臂可达区。证据较弱。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "无状态日志，粒子级覆盖率和各时刻的数值未知；原因归纳主要来自 agent 日志与视频拼图，视频比会话压缩，无法逐步对应。", + "unmet": { + "blanket_flattened": false + } + }, + "summary_zh": "观察：毯子展平节点始终未达成，最终覆盖约 0.165 m²（agent 自述，log step 171），需 0.2736 m²。断点在展平操作中：约视频 30 s 起毯子被拖成团挤到远侧桌边，后续多次拉展仍只得到不规则斜长条。无状态日志，原因判断较弱。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "展平节点未达成、断点（视频约30 s毯子被拖到远侧）与现象/原因与视频拼图及服务确认读数（0.165 m² < 0.2736 m²）一致；无状态日志，原因证据较弱但已如实标注。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--j7okczu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--j7okczu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f37279e19670db36a12df3736b6a564d3a669ba6d328318515b30f98ec82cf1f", + "video_sha256": "ad007f73e30dd2c018426571c267166f9a656cf1deee4981edbcbbc30edb71e0", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-standard--p9jhr7t.json b/phaseR/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-standard--p9jhr7t.json new file mode 100644 index 0000000000000000000000000000000000000000..5fb8bccc4321efb65833c99f541f9b7a6f64cf2e --- /dev/null +++ b/phaseR/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-standard--p9jhr7t.json @@ -0,0 +1,195 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-blanket-flatten-07-i01-standard--p9jhr7t", + "taskKey": "roboarc/blanket_flatten_07", + "dag_sha256": "156cc67db22cef8d68926887fd6edd32d159d16cc6e2cf659a2d8a921fc5fcbe", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 8562, + "live_rows": 8562, + "sim_steps": 8562, + "physics_steps": 85620, + "steps": 3803, + "elapsed_s": 9951.1, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-blanket-flatten-07-i01-standard--p9jhr7t.mp4", + "duration_s": 214.134, + "fps": 15.0, + "frames": 3212, + "sha256": "9f135579aa04909c438cd420988773c9370f09b88bad5dc514dd99a4cd7e9f6c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blanket_flattened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 213.5, + "log_step": 134, + "text_zh": "观察：视频 213.5 s 毯子皱成一团堆在右侧桌面，右夹爪仍在毯角附近，远未铺平；视频 20 s 起初毯子仅有一道小褶脊，全程没有任何时刻铺平。日志 step 134 评分前自测：投影面积 0.1227 m²（需≥0.2736），最高 0.091 m（需≤0.03）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 36 s 帧左上夹爪夹住毯边，毯面被提成斜挂的帘状（42-44 s 同），接触建立；48 s 帧毯子已放回成带褶脊的皱团。具体是单手还是双手同时夹持未逐帧确认。推断（agent 自述，日志 step 133-134）：后期有多次抓空（held 0.00），不作视频观察。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "blanket_flattened", + "t": 44.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 44 s 起机器人（agent 脚本）用夹爪提拉毯子，视频 20 s 时仅一道小褶脊的毯子被拉成更多褶皱并向右堆成一团（视频 100-213 s 各帧），始终未展平，视频 213.5 s 仍为皱团。" + }, + "unmet": { + "blanket_flattened": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 44.0, + "log_step": null, + "evidence_zh": "观察：视频 36-44 s 毯子被夹住提起成斜挂帘状，48 s 帧放回后成带褶脊的皱团，100-213 s 反复牵拉后更皱，毯子始终未到展平的目标位姿。推断（agent 自述 step 134）：其后多次抓空，视频未逐次核对，不据此标没建立接触。" + } + ], + "root_causes": [], + "gap_zh": "没有状态日志，只能从视频和 agent 日志判断；毯子面积和高度数值来自 agent 自测，未被评分器字段验证；视频 36-48 s 可见接触已建立、放回时塌成皱团，但原因（agent 自述指向腕速限幅与动力学，也可能是抓点设计）证据不足，根因留空；后半段抓空未逐次核对。" + }, + "summary_zh": "观察：视频 0-214 s 毯子从未铺平（目标节点 final false）。视频 36-44 s 夹爪夹住毯边并提起，放回后塌成皱团（48 s），其后反复牵拉更皱，213.5 s 仍为皱团；断点在毯子展平的操作中，现象为位姿不准。根因证据不足（仅 agent 自述，无状态日志），留空。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点 blanket_flattened=false、断点在展平步骤（约视频 44 s）都对。但现象“没建立接触”只靠 agent 自述，视频 36-42 s 夹爪已抓住毯边并把整张毯面提起成帘，后续才在放回时塌成双层褶；该现象与视频矛盾，根因“抓取和接触设计”也只靠 agent 的后期自述，而 agent 自己把最初的塌褶归因于执行（腕速限幅+动力学）。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点 blanket_flattened=false、断点在展平操作中（视频约44 s）、现象位姿不准均与帧一致；根因留空并附 gap_zh 合理，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T21:39:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun1/runs/roboarc-blanket-flatten-07-i01-standard--p9jhr7t/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/roboarc-blanket-flatten-07-i01-standard--p9jhr7t/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/roboarc-blanket-flatten-07-i01-standard--p9jhr7t/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun1/runs/roboarc-blanket-flatten-07-i01-standard--p9jhr7t/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a00c967aa5da9d1490b5341c039f048406eb915c5c49f20526bbcf0445963552", + "video_sha256": "9f135579aa04909c438cd420988773c9370f09b88bad5dc514dd99a4cd7e9f6c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-standard--vgdyg5u.json b/phaseR/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-standard--vgdyg5u.json new file mode 100644 index 0000000000000000000000000000000000000000..92f1b1e85c8f39fd45933912599b263bda942391 --- /dev/null +++ b/phaseR/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-standard--vgdyg5u.json @@ -0,0 +1,223 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-blanket-flatten-07-i01-standard--vgdyg5u", + "taskKey": "roboarc/blanket_flatten_07", + "dag_sha256": "156cc67db22cef8d68926887fd6edd32d159d16cc6e2cf659a2d8a921fc5fcbe", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3301, + "live_rows": 3301, + "sim_steps": 3301, + "physics_steps": 33010, + "steps": 1908, + "elapsed_s": 9872.8, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-blanket-flatten-07-i01-standard--vgdyg5u.mp4", + "duration_s": 82.6, + "fps": 15.0, + "frames": 1239, + "sha256": "cff32d97725fc796164cc5004cf5a29fbfc6c9c3916f7a17bd490c8223788650" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blanket_flattened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0 s 毯子已大致铺在桌面，带斜向褶脊；条件（覆盖≥95%、高度≤30 mm）未满足，无法从帧中确认毫米级高度，但此时褶脊仍在。" + }, + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频约 12-60 s 机械臂夹爪多次夹取并拖拽毯子，毯子变得褶皱、折叠区增大，没有出现展平。" + }, + { + "t": 82.5, + "log_step": 201, + "text_zh": "观察：视频最后一帧（约 82.5 s）毯子中部和右侧仍明显皱起折叠，覆盖面积小于展开材料面积；agent 自述最终覆盖约0.16–0.18 m²、最大高度约100 mm（log step 201），评分 success=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频中以右夹爪为主夹住毯边并拖拽牵拉，左臂偶有动作，随后松手退开；未见双夹爪同时夹持。末次左臂拉动因IK失败未执行（log step 192-194）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "blanket_flattened", + "t": 40.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 12-82 s 夹爪牵拉毯子后毯面始终皱起，最后一帧仍有大折叠；毯子未展平，grader success=0。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 40.0, + "log_step": null, + "evidence_zh": "观察：视频中夹爪抓取/拖拽后毯子被拉出新的褶皱和折叠而非铺平；推断：抓点和牵拉方向不合适。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "观察：视频约 12–60 s 夹爪多次夹取并牵拉毯边，毯面由大致平整变为大面积折叠；推断：所选抓点与牵拉方式反而制造褶皱。末段 IK 失败（log step 192、194，waypoint 0 即中止，手中无毯）只是后续修复未能执行的背景，不是毯面变皱的原因。是否有可行替代抓法无法判定。", + "source_zh": "视频" + } + ], + "gap_zh": "无状态日志，毯子高度/覆盖只能从视频和 agent 自述近似判断；根因（抓点/牵拉方式制造褶皱）为视频推断，替代抓法是否可行未知；末段 IK 失败发生在抓取前，未改变毯面，不作根因。", + "unmet": { + "blanket_flattened": false + } + }, + "summary_zh": "观察：毯子在视频中从未达到展平（0/1 节点）。夹爪牵拉多次后毯面反而更皱，最终仍有大折叠，在“毯子展平”步骤操作中失败；推断根因为抓点与牵拉方式不当（抓取和接触设计，替代方案未知）。末段 IK 失败（log step 192-194）发生在抓取前，仅为背景。证据缺口：无状态日志，无法精确量化覆盖与高度。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点未达成、断点 blanket_flattened 与视频一致（0/1 正确）。问题在根因：把最后两次 IK 失败（log step 192、194，抓取前 waypoint 0 即中止，手中没有毯子）当作毯面变皱的原因，证据不支持；毯子是在此前的抓取/牵拉中被弄皱的。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成（0/1）、断点 blanket_flattened、根因（抓取和接触设计，替代未知）与视频一致：毯子 0 s 大致平整带斜脊，15–60 s 被右夹爪牵拉后出现大面积折叠，82 s 仍皱起；IK 失败仅作背景处理合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:08Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-07-i01-standard--vgdyg5u/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-07-i01-standard--vgdyg5u/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-07-i01-standard--vgdyg5u/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-07-i01-standard--vgdyg5u/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4118f0734fc2a797dfcee807b3fccb4706d052dceddea8c71e4d9d9112c8ca65", + "video_sha256": "cff32d97725fc796164cc5004cf5a29fbfc6c9c3916f7a17bd490c8223788650", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--je7gphd.json b/phaseR/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--je7gphd.json new file mode 100644 index 0000000000000000000000000000000000000000..41e1e08a3655fbc67ace1da91371deeaede28290 --- /dev/null +++ b/phaseR/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--je7gphd.json @@ -0,0 +1,298 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-blanket-flatten-08-i01-standard--je7gphd", + "taskKey": "roboarc/blanket_flatten_08", + "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 4, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 10842, + "live_rows": 10842, + "sim_steps": 10842, + "physics_steps": 108420, + "steps": 2679, + "elapsed_s": 7728.9, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-blanket-flatten-08-i01-standard--je7gphd.mp4", + "duration_s": 271.134, + "fps": 15.0, + "frames": 4067, + "sha256": "ca9c2db7dfe4573bf6188c4e17661b6288c198f470d9646cefe99baefd8bc7e0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blanket_flattened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 270.0, + "log_step": 69, + "text_zh": "观察：视频 270 s 毯子是一团皱缩的蓝色小块，远小于展平面积，未铺平；视频 0 s 为横向折叠的长条。log step 69 agent 自述最终投影面积 0.0798 m²（需 0.2736 m²）、最高 106 mm（限 30 mm），评分器 success=0。" + } + ] + } + }, + "constraints": {}, + "contact_actual": null + }, + "native_metrics": [ + { + "name": "coverage_ratio", + "value": null, + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "maximum_height_m", + "value": null, + "unit": "m", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "minimum_height_m", + "value": null, + "unit": "m", + "threshold": -0.008, + "direction": "higher_better" + }, + { + "name": "maximum_stretch_ratio", + "value": null, + "unit": "ratio", + "threshold": 1.15, + "direction": "lower_better" + }, + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "release_clearance_m", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "higher_better" + }, + { + "name": "maximum_drift_m", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "confirmation_time_s", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "blanket_flattened", + "t": 90.0, + "where": "操作中", + "evidence_zh": "观察：视频 0 s 毯子为折叠长条；45 s 接近平铺、仅一道折痕；约 62–80 s 被拖动后移位，90 s 起被夹爪提起扭成一团，150–270 s 始终是皱缩小团，未再展开。agent 自述面积停在 0.079 m²（log step 67，自述数值）。", + "log_step": 25 + }, + "phenomena": [ + { + "t": 150.0, + "log_step": 67, + "evidence_zh": "观察：视频 45 s 毯面近平，90–150 s 变为多层叠起的小团，150–270 s 未再展开。面积 0.079 m²、高度 106 mm 仅来自 agent 自述（log step 67/69），不是评分器读数。现象名按视觉效果近似，无法区分是哪个目标位姿偏差。", + "cat": "运动", + "item": "位姿不准" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "alt_feasible": "未知", + "evidence_zh": "推断：agent 日志 id 27 拖拽使毯子滑移重聚，id 38 选定“提起-抖动-放下”重置策略，id 39 自述“State degraded again”，id 41 自述“randomly crumpled pile”；视频 45 s 毯面近平，90–150 s 变为多层团，此后未恢复。跨阶段策略选错，属推断，非评分器读数。", + "source_zh": "agent 自述（会话日志 id 27/38/39/41）+ 视频 45 s 与 90–150 s 对比（推断）" + } + ], + "gap_zh": "根因为基于 agent 日志与视频对比的推断（规划）；也可能是抓取/接触几何问题，无法区分。现象名按视觉效果近似。native_metrics 的评分器数值未提供。", + "unmet": { + "blanket_flattened": false + } + }, + "summary_zh": "观察：graded 尝试未展平毯子，终态为皱缩多层小团（视频 270 s），投影面积约 0.08 m²（agent 自述，log step 69）远低于 0.2736 m²。断点在展平步骤的操作中，约视频 90 s 起毯子被提成团后未恢复；根因推断为所选“提起-抖动-放下”策略把近平毯面弄成团（agent 日志 id 38/41，推断）。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "终态未展平、blanket_flattened=false、断点放在展平步骤操作中均与视频一致；但视频 45 s 毯子已接近展平（仅一道折痕），断点证据只写了开局折叠与 90 s 之后的团，没有说明这一中间状态，且 1 个现象“位姿不准”与“没有根因”都缺乏视频支撑的论证。", + "n_issues": 2, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "终态未展平、断点 blanket_flattened/操作中、时间锚点与视频一致；但 root_causes 为空而 agent 日志对“提起-抖动-放下”策略把毯子弄成乱团有明确记录（可作根因证据），且 contact_actual 只写了单手抓握，视频与日志显示双臂都在动作。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "两条 round-2 问题均已在 prev/trajectory.json 中落实：root_causes 补了认知/推理规划（推断），contact_actual 拆为单夹爪与双臂协作两条。唯一偏差：回复写 alt_feasible=true，文件实为“未知”，但这是 docs/03_trajectory.md:301 允许且更保守的取值，不构成错误。", + "n_issues": 0, + "n_checks": 2 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "两条 round-2 问题均已在 prev/trajectory.json 中落实：root_causes 补了认知/推理规划（推断），contact_actual 拆为单夹爪与双臂协作两条。唯一偏差：回复写 alt_feasible=true，文件实为“未知”，但这是 docs/03_trajectory.md:301 允许且更保守的取值，不构成错误。", + "checks_ok": "2/2", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:56:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--je7gphd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--je7gphd/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--je7gphd/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--je7gphd/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--je7gphd/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--je7gphd/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ec1a56e4da45c397b37ab3a446bd74a7cff3243e83bec416409ac716c7e54920", + "video_sha256": "ca9c2db7dfe4573bf6188c4e17661b6288c198f470d9646cefe99baefd8bc7e0", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "contact_actual": { + "blanket_flattened": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：约 90–150 s 单只夹爪夹住布边提起悬空。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察/日志：约 195–255 s 两只夹爪各处作用并拉动（log id 63 two-hand spread，两手各抓顶层布反向拉）；agent 另有垂直压布（stamp，log id 53–66）等不抓握的接触，视频上无法逐一确认，具体方式未知。" + } + ] + } +} diff --git a/phaseR/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--ailhpsy.json b/phaseR/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--ailhpsy.json new file mode 100644 index 0000000000000000000000000000000000000000..94f00be60f8781bd3d8ba7311ccffb288660a1e8 --- /dev/null +++ b/phaseR/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--ailhpsy.json @@ -0,0 +1,311 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-blanket-fold-01-i01-standard--ailhpsy", + "taskKey": "roboarc/blanket_fold_01", + "dag_sha256": "f2fc63621488103c1d2a1d0d3685362e6c55c69995d562552a8eb587671c3155", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 5088, + "live_rows": 5088, + "sim_steps": 5088, + "physics_steps": 50880, + "steps": 1272, + "elapsed_s": 10736.1, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-blanket-fold-01-i01-standard--ailhpsy.mp4", + "duration_s": 127.267, + "fps": 15.0, + "frames": 1909, + "sha256": "00daf114ecb5229d163e8541a036b749de999e123cb4102745b519bd5368ad7c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "blanket_folded": { + "method": "visual", + "intervals": [ + [ + 9, + 28 + ] + ], + "final": false, + "evidence": [ + { + "t": 18, + "log_step": null, + "text_zh": "观察：视频约 9–28 s 毯子被折成双层长条（远半片翻到近半片上），两爪撤到毯外并保持十余秒；这是视觉近似，四角/IoU/层序等验收无状态日志和评分器分项可核，未必达到验收。" + }, + { + "t": 31, + "log_step": null, + "text_zh": "观察：约 28–31 s 双爪重新抓起毯边并展开，31 s 起为整张平铺；之后约 34–36 s、50 s、70 s 又多次出现双层长条，随后又被抬起展开（44 s、56 s、90–110 s 为整张或抬起状态）。" + }, + { + "t": 127.2, + "log_step": null, + "text_zh": "观察：视频末帧（127.2 s）毯子为整张平铺的单层方形，折叠未保持到终态；评分器 success=0。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 8–28 s 左、右夹爪各抓一侧毯边把远半片翻折成双层并撤离；约 28–40 s 双爪再次抓握毯边抬起、展开；之后多次重复抓起、折叠与展开（采样帧约 34–110 s）；末段左爪单独在远左角处拨弄布角。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_named_point_error", + "value": null, + "unit": "mm", + "threshold": 55, + "direction": "lower_better" + }, + { + "name": "stacking_all", + "value": null, + "unit": "ratio", + "threshold": 0.88, + "direction": "higher_better" + }, + { + "name": "stacking_covered", + "value": null, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "outline_iou_fitted", + "value": null, + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better" + }, + { + "name": "dz_max", + "value": null, + "unit": "mm", + "threshold": 35, + "direction": "lower_better" + }, + { + "name": "over_target", + "value": null, + "unit": "mm", + "threshold": 30, + "direction": "lower_better" + }, + { + "name": "placement_offset", + "value": null, + "unit": "mm", + "threshold": 40, + "direction": "lower_better" + }, + { + "name": "placement_abs_angle", + "value": null, + "unit": "deg", + "threshold": 5, + "direction": "lower_better" + }, + { + "name": "minimum_height_above_table", + "value": null, + "unit": "mm", + "threshold": -8, + "direction": "higher_better" + }, + { + "name": "maximum_stretch_ratio", + "value": null, + "unit": "ratio", + "threshold": 1.15, + "direction": "lower_better" + }, + { + "name": "clearance_lower_bound", + "value": null, + "unit": "mm", + "threshold": 5, + "direction": "higher_better" + }, + { + "name": "maximum_speed", + "value": null, + "unit": "mm/s", + "threshold": 30, + "direction": "lower_better" + }, + { + "name": "maximum_confirmation_drift", + "value": null, + "unit": "mm", + "threshold": 3, + "direction": "lower_better" + }, + { + "name": "stable_time", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "blanket_folded", + "where": "操作中", + "t": 28, + "evidence_zh": "观察：视频约 9–28 s 已折成双层长条，约 28–31 s 双爪重新抓起并展开成平铺；此后 34–110 s 多次再折又展开，末帧（127.2 s）仍为整张平铺，折叠没有保持到终态。agent 最后一步（log step 313）仍在整理远左角，仅作旁证。", + "log_step": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志，评分器未给出各项指标；视频可见折形出现后被自己抬起展开、反复重试，但无法判断是折形未达验收（对齐/层序）才被拆掉，还是别的原因，故现象与根因留空，不凭 agent 自述推断。", + "unmet": { + "blanket_folded": false + } + }, + "summary_zh": "观察：唯一节点“毯子对折到位”终态未达成。视频约 9–28 s 已出现双层折叠长条（视觉近似，未必达验收），约 28 s 起被双爪抬起展开，之后多次再折又展开，末帧 127.2 s 为整张平铺。断点在 ~28 s 折形被拆掉处；无状态日志，现象与根因未标注。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "主要问题：标注称“没有任何一帧出现双层长方形”与视频不符——视频约 9–27 s 毯子已被对折成双层长条且爪子撤离，随后（约 30–39 s）被重新抬起展开成整张平铺，之后又重复折叠尝试。末帧未折叠、final=false 正确，但节点轨迹（先达成后丢失/或折形不合格）、断点与现象均未反映这一点；observation 是假的。", + "n_issues": 5, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第2轮：标注已与视频一致——约9–28 s出现双层长条，之后被展开，末帧127.2 s为整张平铺，final=false与success=0相符；无状态日志与评分分项，现象/根因留空并有gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T21:39:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun1/runs/roboarc-blanket-fold-01-i01-standard--ailhpsy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/roboarc-blanket-fold-01-i01-standard--ailhpsy/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/roboarc-blanket-fold-01-i01-standard--ailhpsy/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun1/runs/roboarc-blanket-fold-01-i01-standard--ailhpsy/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "13bcdb08797e7fec03e6d59ea3f084b389efd03e8f50437516c2dba81f3d2de0", + "video_sha256": "00daf114ecb5229d163e8541a036b749de999e123cb4102745b519bd5368ad7c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--joed7kj.json b/phaseR/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--joed7kj.json new file mode 100644 index 0000000000000000000000000000000000000000..72294ed0345e0fa6fb5c8be11e9b99f9ab72880b --- /dev/null +++ b/phaseR/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--joed7kj.json @@ -0,0 +1,307 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-blanket-fold-01-i01-standard--joed7kj", + "taskKey": "roboarc/blanket_fold_01", + "dag_sha256": "f2fc63621488103c1d2a1d0d3685362e6c55c69995d562552a8eb587671c3155", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 8422, + "live_rows": 8422, + "sim_steps": 8422, + "physics_steps": 84220, + "steps": 4083, + "elapsed_s": 8900.8, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-blanket-fold-01-i01-standard--joed7kj.mp4", + "duration_s": 210.6, + "fps": 15.0, + "frames": 3159, + "sha256": "f61da3429d96aaddd9b2bfc17793575bb1650c35d70a917053fd3a2432a45b5b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blanket_folded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.0, + "log_step": 28, + "text_zh": "观察：视频约 21 s 远半片已翻到近半片上，双爪在两端放下；之后 25–40 s 双爪抬起时布料仍被带着拉起、拖成鼓起的带状，未留下平整双层折形。" + }, + { + "t": 210.0, + "log_step": 148, + "text_zh": "观察：视频最后一帧毯子为皱成一团的不规则条状，非整齐 600×240 mm 双层矩形，双爪在两端附近；折叠验收未达成（评分器 success=0）。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左右夹爪各捏住远边两侧布片，把远半片翻到近半片上（视频约 8–21 s）；其后松爪时布料卡在夹爪指缝，被带起并皱缩，后续又捏取皱布（视频 40–210 s）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "max_named_point_error", + "value": null, + "unit": "mm", + "threshold": 55, + "direction": "lower_better" + }, + { + "name": "stacking_all", + "value": null, + "unit": "ratio", + "threshold": 0.88, + "direction": "higher_better" + }, + { + "name": "stacking_covered", + "value": null, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "outline_iou_fitted", + "value": null, + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better" + }, + { + "name": "dz_max", + "value": null, + "unit": "mm", + "threshold": 35, + "direction": "lower_better" + }, + { + "name": "over_target", + "value": null, + "unit": "mm", + "threshold": 30, + "direction": "lower_better" + }, + { + "name": "placement_offset", + "value": null, + "unit": "mm", + "threshold": 40, + "direction": "lower_better" + }, + { + "name": "placement_abs_angle", + "value": null, + "unit": "deg", + "threshold": 5, + "direction": "lower_better" + }, + { + "name": "minimum_height_above_table", + "value": null, + "unit": "mm", + "threshold": -8, + "direction": "higher_better" + }, + { + "name": "maximum_stretch_ratio", + "value": null, + "unit": "ratio", + "threshold": 1.15, + "direction": "lower_better" + }, + { + "name": "clearance_lower_bound", + "value": null, + "unit": "mm", + "threshold": 5, + "direction": "higher_better" + }, + { + "name": "maximum_speed", + "value": null, + "unit": "mm/s", + "threshold": 30, + "direction": "lower_better" + }, + { + "name": "maximum_confirmation_drift", + "value": null, + "unit": "mm", + "threshold": 3, + "direction": "lower_better" + }, + { + "name": "stable_time", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "blanket_folded", + "t": 25.0, + "log_step": 41, + "where": "操作中", + "evidence_zh": "观察：视频约 21 s 折叠基本放到位，但 25–40 s 松爪撤离时布料被夹爪带起拖皱；之后 40–210 s 的再抓取、展平尝试均未恢复折形，最后一帧毯子皱成团。agent 自述“卷起的布边卡在指缝里”（log step 41 的 say，非 look 调用；agent 自述）。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没松开", + "t": 25.0, + "log_step": 75, + "evidence_zh": "观察：视频 25–40 s 双爪已开却仍带着布料抬起，布料悬在两夹爪间；agent 自述左爪“没松开”、指被布挡住（log step 75，会话证据，视频 25–40 s 的带起画面支持）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "agent 自述放置的布层穿进左爪指缝而卡住（log step 41、52），放置/松爪方式使布料易缠指；视频 25–40 s 与之相符。可行替代未验证。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "无状态日志，节点和接触靠视频；评分器未给出各项指标数值（native_metrics 为 null）。视频覆盖全部 8422 个控制步（210.6 s），但 agent 墙钟时间（约 8900 s）与视频时间是两个时钟，不能换算，恢复尝试只能按画面概略对应。", + "unmet": { + "blanket_folded": false + } + }, + "summary_zh": "观察：视频约 21 s 远半片被翻到近半片上，但松爪撤离时布料卡在夹爪指缝被带起，折形丢失，后续重新抓取失败，末帧毯子皱成团；blanket_folded 未达成（0/1）。断点在对折步骤的松手阶段，现象为没松开，根因倾向抓取和接触设计（agent 自述，推断）。缺口：无状态日志、无指标数值。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点 blanket_folded=false、接触、断点（对折松爪阶段）、现象“没松开”与视频一致（约 22–38 s 双爪在两端、布料被带起成拱带，末帧皱团）；仅有日志步号引用错误和 gap_zh 对视频覆盖范围的误述。", + "n_issues": 2, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "blanket_folded=false、双臂协作抓握、断点（对折松爪阶段）和现象“没松开”与视频一致：约21 s远半片已翻过，25–40 s毯子被双爪带起成拱带，末帧皱团。上一轮问题已修正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:08Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-01-i01-standard--joed7kj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-01-i01-standard--joed7kj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-01-i01-standard--joed7kj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-01-i01-standard--joed7kj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e3b62ca70996a0194960c3372f4970f9e243c2c718fee74f0443c42b78247f7e", + "video_sha256": "f61da3429d96aaddd9b2bfc17793575bb1650c35d70a917053fd3a2432a45b5b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--nilxkzc.json b/phaseR/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--nilxkzc.json new file mode 100644 index 0000000000000000000000000000000000000000..ec349d8d16070ac0aae97000a510f50ae889edd3 --- /dev/null +++ b/phaseR/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--nilxkzc.json @@ -0,0 +1,283 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-blanket-fold-01-i01-standard--nilxkzc", + "taskKey": "roboarc/blanket_fold_01", + "dag_sha256": "f2fc63621488103c1d2a1d0d3685362e6c55c69995d562552a8eb587671c3155", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 13060, + "live_rows": 13060, + "sim_steps": 13060, + "physics_steps": 130600, + "steps": 2606, + "elapsed_s": 10753.7, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.265, + "peak_processes": 9, + "peak_disk_gb": 1.872, + "peak_cpus": 1.23, + "peak_pids": 237, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-blanket-fold-01-i01-standard--nilxkzc.mp4", + "duration_s": 326.6, + "fps": 15.0, + "frames": 4899, + "sha256": "9ce4309ceeb27611c4c2897f48804760bcfe496606ea65a91c43f98f77893ca0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blanket_folded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 318.0, + "log_step": 541, + "text_zh": "观察：视频 318-326 s 毯子大体折成双层长方形，但右侧仍有明显皱褶/折回，右臂仍在毯子附近；评分器 success=0。agent 最终自述“右角仍有皱褶”（log step 541）。推断：未满足验收，节点未达成。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 60 s 前后左右夹爪各捏住毯子远边两侧，把远半片翻到近半片上；后期（视频 240 s 起）以单臂夹爪/张开手指修整右角。" + } + ] + } + }, + "constraints": {}, + "contact_actual": null + }, + "native_metrics": [ + { + "name": "max_named_point_error", + "value": null, + "unit": "mm", + "threshold": 55, + "direction": "lower_better" + }, + { + "name": "stacking_all", + "value": null, + "unit": "ratio", + "threshold": 0.88, + "direction": "higher_better" + }, + { + "name": "stacking_covered", + "value": null, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "outline_iou_fitted", + "value": null, + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better" + }, + { + "name": "dz_max", + "value": null, + "unit": "mm", + "threshold": 35, + "direction": "lower_better" + }, + { + "name": "over_target", + "value": null, + "unit": "mm", + "threshold": 30, + "direction": "lower_better" + }, + { + "name": "placement_offset", + "value": null, + "unit": "mm", + "threshold": 40, + "direction": "lower_better" + }, + { + "name": "placement_abs_angle", + "value": null, + "unit": "deg", + "threshold": 5, + "direction": "lower_better" + }, + { + "name": "minimum_height_above_table", + "value": null, + "unit": "mm", + "threshold": -8, + "direction": "higher_better" + }, + { + "name": "maximum_stretch_ratio", + "value": null, + "unit": "ratio", + "threshold": 1.15, + "direction": "lower_better" + }, + { + "name": "clearance_lower_bound", + "value": null, + "unit": "mm", + "threshold": 5, + "direction": "higher_better" + }, + { + "name": "maximum_speed", + "value": null, + "unit": "mm/s", + "threshold": 30, + "direction": "lower_better" + }, + { + "name": "maximum_confirmation_drift", + "value": null, + "unit": "mm", + "threshold": 3, + "direction": "lower_better" + }, + { + "name": "stable_time", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "blanket_folded", + "where": "操作中", + "t": 290.0, + "evidence_zh": "观察：视频 240-326 s 毯子已大致对折，但右角仍有折回/皱褶，机器人用右臂反复修整直到视频结束（326.6 s）；评分器 success=0，agent 最终自述右角仍皱（log step 541）。", + "log_step": 541 + }, + "phenomena": [ + { + "cat": "运动", + "t": 318.0, + "log_step": 541, + "evidence_zh": "观察：视频 318-326 s 终态毯子右侧角未与近角对齐、有皱褶。", + "item": "位姿不准" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，评分器只给成败，不给各项指标（native_metrics 为 null）；未检查具体根因，故根因层为空。", + "unmet": { + "blanket_folded": false + } + }, + "summary_zh": "观察：双臂先夹住远边翻折，后期单臂修整，最终毯子大体对折但右角仍皱，评分器判失败；唯一节点未达成。推断：折角对齐精度不足。无状态日志与分项指标，根因未能判定。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "单节点未达成、final=false 与评分器 success=0 及终帧（毯子大体对折但右侧有明显折皱）一致；位姿不准、空根因层并附 gap_zh 均有依据；log step 541 存在；contact_actual（双臂协作 抓握）与 60 s 帧一致。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:41Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-01-i01-standard--nilxkzc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-01-i01-standard--nilxkzc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ad60d2c806851f85017efabaf065cb29efbd1be1d54a80d0fc50c98a965c4562", + "video_sha256": "9ce4309ceeb27611c4c2897f48804760bcfe496606ea65a91c43f98f77893ca0", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--wguek4m.json b/phaseR/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--wguek4m.json new file mode 100644 index 0000000000000000000000000000000000000000..f0bee841d250974bfed78865757067e904de1f25 --- /dev/null +++ b/phaseR/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--wguek4m.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-blanket-fold-03-i01-privileged--wguek4m", + "taskKey": "roboarc/blanket_fold_03", + "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "all_success": 1, + "deterministic": 1, + "gpu_backend": 1, + "infra_error": 0, + "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 711, + "submitted_actions": 711, + "sim_steps": 711, + "physics_steps": 7106, + "sim_time_s": 17.76500000000006, + "final_reward": 1.0, + "replay_wall_s": 612.9, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 711, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 1, + "agent_resets": 7, + "agent_sim_steps": 0, + "agent_records": 2, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/roboarc-blanket-fold-03-i01-privileged--wguek4m/replay.mp4", + "duration_s": 17.867, + "fps": 15.0, + "frames": 268, + "sha256": "6f348d434ef34864bedb8771bd1e9f660c709b3f06d9144b2c2477aa35bf9e3e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "blanket_folded": { + "method": "visual", + "intervals": [ + [ + 17.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 17.8, + "log_step": 167, + "text_zh": "观察：视频 17.8 s（末帧）俯视图中蓝色网格毛毯为平整的双层长方形，两夹爪均已离开布叠，低视角可见平贴桌面。观察：评分器字段 strict_goal_reached=1、strict_goal_row=711（共 711 行动作），即严格验收在最后一行才满足，对应视频末尾约 17.8 s；success=1。推断：节点在视频末尾达成，无单独的中间状态可见。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 0-17 s 左右两只二指夹爪捏住毛毯布边/角部，展开、修角并翻折；无状态日志，具体逐次抓握未逐帧核对。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "named_points_mm.LN", + "value": null, + "unit": "mm", + "threshold": 55, + "direction": "lower_better" + }, + { + "name": "named_points_mm.LF", + "value": null, + "unit": "mm", + "threshold": 55, + "direction": "lower_better" + }, + { + "name": "named_points_mm.RN", + "value": null, + "unit": "mm", + "threshold": 55, + "direction": "lower_better" + }, + { + "name": "named_points_mm.RF", + "value": null, + "unit": "mm", + "threshold": 55, + "direction": "lower_better" + }, + { + "name": "stacking_all", + "value": null, + "unit": "ratio", + "threshold": 0.88, + "direction": "higher_better" + }, + { + "name": "stacking_covered", + "value": null, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "outline_iou_fitted", + "value": null, + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better" + }, + { + "name": "dz_max_mm", + "value": null, + "unit": "mm", + "threshold": 35, + "direction": "lower_better" + }, + { + "name": "over_target_mm", + "value": null, + "unit": "mm", + "threshold": 30, + "direction": "lower_better" + }, + { + "name": "placement.offset_mm", + "value": null, + "unit": "mm", + "threshold": 40, + "direction": "lower_better" + }, + { + "name": "abs_placement_angle_deg", + "value": null, + "unit": "deg", + "threshold": 5, + "direction": "lower_better" + }, + { + "name": "maximum_stretch_ratio", + "value": null, + "unit": "ratio", + "threshold": 1.15, + "direction": "lower_better" + }, + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "maximum_drift_m", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "release_clearance_m", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "成功：视频 17.8 s 毛毯成为目标位置的平整双层布叠，唯一节点 true；评分器 strict_goal_row=711 即最后一个动作行才满足严格验收。无状态日志，达成时刻来自评分器行号与末帧，各项原生指标数值未在 run.json 中给出（null）。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，单一目标节点在末帧（视频 17.8 s）达成，与评分器 strict_goal_row=711 及末帧所见一致；接触标注合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--wguek4m/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--wguek4m/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "775c0b7ca9682ee1523cd644de4b4fafd0b216be1dc9697746548f4bf903ed35", + "video_sha256": "6f348d434ef34864bedb8771bd1e9f660c709b3f06d9144b2c2477aa35bf9e3e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--ezrcd8n.json b/phaseR/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--ezrcd8n.json new file mode 100644 index 0000000000000000000000000000000000000000..70e389789e32d88d6c302150ac02490f72d2c5b9 --- /dev/null +++ b/phaseR/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--ezrcd8n.json @@ -0,0 +1,317 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-blanket-fold-04-i01-standard--ezrcd8n", + "taskKey": "roboarc/blanket_fold_04", + "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1828, + "live_rows": 1828, + "sim_steps": 1828, + "physics_steps": 18280, + "steps": 897, + "elapsed_s": 10732.1, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-blanket-fold-04-i01-standard--ezrcd8n.mp4", + "duration_s": 45.8, + "fps": 15.0, + "frames": 687, + "sha256": "f359b953f44e72ff9e59ac15314e9ebde0a469c249241127bc14d984e5e1c1da" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "blanket_half_folded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.8, + "log_step": null, + "text_zh": "观察：视频 0 s 俯视图毯子为窄矩形、左近角有小翘起折角；视频 20 s 左臂夹爪捏住左近角，30 s 左臂把左侧一层拖拽起皱；视频 45.8 s（最后一帧）左侧毯面堆叠凌乱、夹爪仍压在左端，远半幅未翻到近半幅，也无整齐的双层 600×240 主体，与 oracle 末帧的平整对折主体不同。推断：主对折未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "仅左臂二指夹爪捏住毯子左近角/上层并拖拽（视频约 20-45 s，右臂全程未动）；视频 20 s 起可见" + } + ] + }, + "top_corner_folded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.8, + "log_step": null, + "text_zh": "观察：视频 45.8 s 左近角处只有凌乱堆叠，没有 45° 斜折痕和平伏的三角叠片；前置节点未达成。推断：未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "named_points_mm_max", + "value": null, + "unit": "mm", + "threshold": 55, + "direction": "lower_better" + }, + { + "name": "stacking_all", + "value": null, + "unit": "ratio", + "threshold": 0.88, + "direction": "higher_better" + }, + { + "name": "stacking_covered", + "value": null, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "outline_iou_fitted", + "value": null, + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better" + }, + { + "name": "dz_max_mm", + "value": null, + "unit": "mm", + "threshold": 35, + "direction": "lower_better" + }, + { + "name": "over_target_mm", + "value": null, + "unit": "mm", + "threshold": 30, + "direction": "lower_better" + }, + { + "name": "placement_offset_mm", + "value": null, + "unit": "mm", + "threshold": 40, + "direction": "lower_better" + }, + { + "name": "placement_angle_deg_abs", + "value": null, + "unit": "deg", + "threshold": 5, + "direction": "lower_better" + }, + { + "name": "minimum_height_above_table_mm", + "value": null, + "unit": "mm", + "threshold": -8, + "direction": "higher_better" + }, + { + "name": "maximum_stretch_ratio", + "value": null, + "unit": "ratio", + "threshold": 1.15, + "direction": "lower_better" + }, + { + "name": "minimum_release_clearance_from_expanded_aabb_mm", + "value": null, + "unit": "mm", + "threshold": 5, + "direction": "higher_better" + }, + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "maximum_confirmation_drift_m", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "confirmation_duration_s", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "blanket_half_folded", + "t": 30.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 20-45.8 s 左臂夹爪抓住毯子左近角一带并拖拽，毯子左侧起皱堆叠，远半幅始终没被翻到近半幅；最后一帧仍是未折叠的皱团。" + }, + "unmet": { + "blanket_half_folded": false, + "top_corner_folded": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 30.0, + "log_step": null, + "evidence_zh": "观察：视频 30-45.8 s 左夹爪在左近角一带拖拽，毯面被揉成一团、没有翻起，远半幅未动，末端没有把毯子带到折叠位置（分类依据 TAXONOMY_v2 运动行：只看到末端没到位标位姿不准，不推断更具体原因）；未能量化抓取点相对目标的偏差；单臂操作。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：log 有计划记录（step 71 起先“peel back the left side of the top layer”暴露底层，step 142-301 的 step2_partA v1-v5 反复只对左侧底层角试抓/试拉，右臂与远半幅未用），视频 20-45 s 也只有左臂动。但该计划是否偏离、是否存在可行的替代（先铺开再对折）没有 grader 或状态日志证据可判定，故不标规划；评分器未给各指标数值，native_metrics 均为 null。" + }, + "summary_zh": "该次尝试两个节点都没达成：视频 0-45.8 s 只有左臂夹爪捏住左近角一带并拖拽，毯子左侧被揉成一团，远半幅未翻到近半幅，也无斜折角。断点在 blanket_half_folded 的操作中，现象判为位姿不准，根因证据不足留空；评分器没有给出各指标数值。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "视频与节点判断（两节点均未达成、断点 blanket_half_folded）与帧一致；但 root_causes 留空而 log 里有可引用的计划记录（只对左侧上层做“剥开/试抓”，从未翻远半幅），现象“位姿不准”也缺少支持。", + "n_issues": 2, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "两节点未达成、断点 blanket_half_folded 操作中，与帧一致（仅左臂夹爪在左近角拖拽，毯面起皱，远半幅未动）；现象与证据匹配，无 grader 证据不标根因并写 gap_zh 合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-04-i01-standard--ezrcd8n/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-04-i01-standard--ezrcd8n/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-04-i01-standard--ezrcd8n/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-04-i01-standard--ezrcd8n/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "330ef5f7f3776e0be889b81b18ab61bbfb794e5a628ecc851c38982ca2ed4f62", + "video_sha256": "f359b953f44e72ff9e59ac15314e9ebde0a469c249241127bc14d984e5e1c1da", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--uzmcacr.json b/phaseR/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--uzmcacr.json new file mode 100644 index 0000000000000000000000000000000000000000..11d553dff83e68c1e5ea9474c5fc9be118c4516f --- /dev/null +++ b/phaseR/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--uzmcacr.json @@ -0,0 +1,304 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-blanket-fold-04-i01-standard--uzmcacr", + "taskKey": "roboarc/blanket_fold_04", + "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3221, + "live_rows": 3221, + "sim_steps": 3221, + "physics_steps": 32210, + "steps": 243, + "elapsed_s": 5572.3, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-blanket-fold-04-i01-standard--uzmcacr.mp4", + "duration_s": 80.6, + "fps": 15.0, + "frames": 1209, + "sha256": "9980a2ecbddfc1e7b7ac4c7687f3a0a465c22a149a906dea7f8442b3adba2299" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "blanket_half_folded": { + "method": "visual", + "intervals": [ + [ + 60.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 60.0, + "log_step": 59, + "text_zh": "观察：视频 0 s 起毯子为窄矩形但左侧材料有褶、角未到位；视频约 60-80 s 毯子呈规整双层矩形（与 oracle 终帧外形相近），左近角附近仍有皱褶。推断：对折主体在 agent 反复展开/拉角后基本恢复，时间约 60 s 为估计；agent 自述起始已是对折（log step 11），不能仅凭外轮廓判定，置信度中等。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "agent 脚本控制左、右夹爪在毯面上压拖、拉角（log step 33-70），未做远半幅翻折" + } + ] + }, + "top_corner_folded": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 80.5, + "log_step": 78, + "text_zh": "观察：视频末帧（80.5 s）毯子为平整矩形，上层左近角处无与 oracle/目标图一致的三角叠片；agent 在 log step 33-39 用按压拖拽造成左侧带状折叠，之后多次展开修复（log 42-57），末次自述角点“plain-blue tab”位于目标附近（log step 78，自述，视频不支持）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "左夹爪闭合后在上层左近角按压并拖动（log step 29-34、63），未形成捏持翻折" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "named_points_mm_max", + "value": null, + "unit": "mm", + "threshold": 55, + "direction": "lower_better" + }, + { + "name": "stacking_all", + "value": null, + "unit": "ratio", + "threshold": 0.88, + "direction": "higher_better" + }, + { + "name": "stacking_covered", + "value": null, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "outline_iou_fitted", + "value": null, + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better" + }, + { + "name": "dz_max_mm", + "value": null, + "unit": "mm", + "threshold": 35, + "direction": "lower_better" + }, + { + "name": "over_target_mm", + "value": null, + "unit": "mm", + "threshold": 30, + "direction": "lower_better" + }, + { + "name": "placement_offset_mm", + "value": null, + "unit": "mm", + "threshold": 40, + "direction": "lower_better" + }, + { + "name": "placement_angle_deg_abs", + "value": null, + "unit": "deg", + "threshold": 5, + "direction": "lower_better" + }, + { + "name": "minimum_height_above_table_mm", + "value": null, + "unit": "mm", + "threshold": -8, + "direction": "higher_better" + }, + { + "name": "maximum_stretch_ratio", + "value": null, + "unit": "ratio", + "threshold": 1.15, + "direction": "lower_better" + }, + { + "name": "minimum_release_clearance_from_expanded_aabb_mm", + "value": null, + "unit": "mm", + "threshold": 5, + "direction": "higher_better" + }, + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "maximum_confirmation_drift_m", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "confirmation_duration_s", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "top_corner_folded", + "where": "操作中", + "t": null, + "evidence_zh": "观察：agent 在 log step 33-34 以按压拖拽方式做折角，自述“拖拽把整个叠层左带弄皱”（log step 39）；之后多次修复，直到视频末帧（80.5 s）仍无三角折角。", + "log_step": 34 + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "log_step": 39, + "evidence_zh": "观察：折角未形成目标要求的向右向远折入的三角叠片，反而使左侧带状叠起，末帧外形仍为矩形（视频 80.5 s）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "agent 自述选择“滑动角区而非真正折叠”的按压拖拽方案（log step 33），导致叠层屈曲（log step 39）；未用夹爪捏角翻折。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "视频为整段会话的压缩回放，无状态日志，评分器未给出逐项指标；时间锚点粗略；节点一的达成时间为估计。", + "unmet": { + "blanket_half_folded": true, + "top_corner_folded": false + } + }, + "summary_zh": "观察：对折主体在会话中被多次扰动并恢复，视频约 60 s 起为规整双层矩形（估计，推断）；上层左近角折入始终未完成，断点为折角（操作中）。agent 用按压拖拽代替捏持翻折致叠层起皱（log step 33-39），后续修复未能形成折角。证据缺口：无状态日志，评分器无分项指标。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "未发现需改内容的错误：断点为折角（操作中）、第一节点估计为 60 s 起已标明推断且置信度中等，根因基于 log step 33/39 的计划与结果，与视频末帧（无三角叠片）一致。视频为压缩回放，时间锚点粗略。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-04-i01-standard--uzmcacr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-blanket-fold-04-i01-standard--uzmcacr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d03fe5150dcb5f1e9ec591f090ea5efc97b085088f5f90d08406e3ae8cae343d", + "video_sha256": "9980a2ecbddfc1e7b7ac4c7687f3a0a465c22a149a906dea7f8442b3adba2299", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--7hl6ujd.json b/phaseR/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--7hl6ujd.json new file mode 100644 index 0000000000000000000000000000000000000000..6bee52740db0238643f41970b349ca15749a91d5 --- /dev/null +++ b/phaseR/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--7hl6ujd.json @@ -0,0 +1,220 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-buzz-wire-3d-01-i01-privileged--7hl6ujd", + "taskKey": "roboarc/buzz_wire_3d_01", + "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "bad_trajectory": 1, + "infra_error": 0, + "grader_error": 0, + "agent_sessions": 51, + "agent_resets": 51, + "agent_sim_steps": 9686, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 1.039, + "peak_memory_gb": 1.343, + "peak_processes": 12, + "peak_disk_gb": 0.798, + "peak_cpus": 1.36, + "peak_pids": 55, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 2, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "wire_traversed": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：评分 success=0，该目标节点 final=false。agent 会话脚本输出（log step 211，非评分字段）显示交付轨迹 294 行以 wire_touched 终止，wand 位置 x=-0.266（起点路点 x≈-0.208，终点 x≈0.144），距终点线端远大于10毫米。无视频，intervals 未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "无视频；会话输出显示抓握焊接生效（log step 211 ENGAGED: True）且金属环在起点附近碰线（wire_touched），均为会话读数，未经视频核实。" + } + ] + }, + "tool_on_finish_support": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 218, + "text_zh": "观察：评分 success=0（bad_trajectory=1）；该节点为目标节点，故 final=false。无视频，intervals 未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "无视频，无法确认；据 log step 211，交付轨迹在起点附近即以 wire_touched 终止，未到终点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "distance_to_finish_m", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "lower_better" + }, + { + "name": "finish_angle_deg", + "value": null, + "unit": "deg", + "threshold": 10.0, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "wire_traversed", + "t": null, + "log_step": 211, + "where": "操作中", + "evidence_zh": "观察（log step 211）：交付轨迹为 41 个路点的 IK 链、294 行，以 wire_touched 在 sim_steps 285、wand x=-0.266 终止，仍在起点附近；推断：金属环在抓取后向首路点过渡时碰线，遍历未真正展开。跨段逆解失败（log step 215）属未交付的重跑，不是此次失败点。" + }, + "unmet": { + "wire_traversed": false, + "tool_on_finish_support": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "alt_feasible": "未知", + "evidence_zh": "观察：agent 自述（log step 212、218）诊断为抓取后到首路点的关节空间插值把环横扫向导线，修复仅在未交付的重跑中；agent 未在期限内交付修正后的轨迹。旁注：重跑（log step 215）显示跨段路点 46 起 IK FAIL，即便修好此处也可能在跨段失败。", + "source_zh": "日志" + } + ], + "gap_zh": "无视频、无状态日志，现象层为空；wire_touched 与 wand 位置来自 agent 会话脚本输出（log step 211），未被评分字段核实。" + }, + "summary_zh": "观察：无视频与状态日志，评分 success=0。交付的 294 行轨迹（log step 211）在抓取后、wand 仍靠近起点时以 wire_touched 终止，两个目标节点均未达成。推断：断在遍历起始（抓取到首路点的过渡扫线）；跨段逆解不可达只是未交付重跑的发现。主要缺口是无视频。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "无视频无状态日志，success=0、两个目标节点的处理基本合理；但失败原因取自未交付的重跑（log step 215 的 IK FAIL wp 46+），而交付的 294 行轨迹（log step 211、217）是在跨段之前就以 wire_touched 终止的：链只截到 41 个路点，终止时 wand 位置 x=-0.266，仍在起点附近。因此“部分遍历”“失败于跨段逆解”缺乏依据，根因应改为抓取后到首路点的关节插值把环扫向导线。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第二轮：标签已按上轮意见修订。无视频/状态日志，两个目标节点 final=false 有 success=0 支撑，断点 wire_traversed 与 log step 211 一致（交付的 294 行轨迹以 wire_touched 终止，wand x=-0.266 靠近起点）。根因为轨迹或逆解，来源为 agent 自述并已标注为自述，现象层为空且有 gap_zh，conf=3 偏保守但可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--7hl6ujd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--7hl6ujd/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--7hl6ujd/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--7hl6ujd/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4217cc5c51da83e8afe5af4c0c21249b88255f81b8201b9848853651c0f2a2e2", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-standard--55keqky.json b/phaseR/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-standard--55keqky.json new file mode 100644 index 0000000000000000000000000000000000000000..1028b2955db727086821c0fc551cdc10f5c658b7 --- /dev/null +++ b/phaseR/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-standard--55keqky.json @@ -0,0 +1,212 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-buzz-wire-3d-02-i01-standard--55keqky", + "taskKey": "roboarc/buzz_wire_3d_02", + "dag_sha256": "35b7681bfd3d5b86305d4212ed2727ea7f8608426d8fbedd400758048cb51cff", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 5273, + "live_rows": 5273, + "sim_steps": 5273, + "physics_steps": 52730, + "steps": 1844, + "elapsed_s": 10450.7, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.989, + "peak_processes": 9, + "peak_disk_gb": 0.4, + "peak_cpus": 1.26, + "peak_pids": 146, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-buzz-wire-3d-02-i01-standard--55keqky.mp4", + "duration_s": 131.934, + "fps": 15.0, + "frames": 1979, + "sha256": "1461ced28ece818b4b221db62145f0ec805979c397d3e63621a7e4ad0f0b05cb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "wire_traversed": { + "method": "visual", + "intervals": [ + [ + 99.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 99.5, + "log_step": null, + "text_zh": "观察：视频 90-99 s 带木柄的银环套在铜线上，从左立柱沿拱线升起、越过弯曲段后下降；约 99-102 s 环到达右侧终点立柱，未见环与线碰撞；评分器 success=1 且 forcing_events=0。推断：到达时间约 99.5 s（±2 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "单臂夹爪夹持木柄，带环沿线走完；视频未见金属触线。" + } + ] + }, + "wand_on_finish_support": { + "method": "visual", + "intervals": [ + [ + 130.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 130.5, + "log_step": null, + "text_zh": "观察：视频约 104-114 s 工具平躺在终点台面上、夹爪离开；约 120-131.9 s 夹爪再次回到工具上方并张开对位，结束帧工具平躺在终点台面。评分器 success=1（log 最终报告称距离 1.9 mm、0.9°，为 agent 自述但与评分器一致）。推断：1 s 静稳完成时刻约在视频末尾，约 130.5 s，不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹木柄把工具降放到终点台面后松开；后段夹爪回到工具附近调整对位（视频 120-131 s）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "distance_to_finish_m", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "lower_better" + }, + { + "name": "finish_angle_deg", + "value": null, + "unit": "deg", + "threshold": 10, + "direction": "lower_better" + }, + { + "name": "route_cursor_m", + "value": null, + "unit": "m", + "direction": "higher_better", + "threshold": null + } + ], + "failure": null, + "summary_zh": "成功：视频约 99.5 s 环走完全线，约 104 s 工具落在终点台面，结束前夹爪再次对位，评分器判定成功。节点时间为视觉估计；无状态日志，原生指标未在 reward 字段中报告（agent 自述 1.9 mm / 0.9°）。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点值、时间和 contact_actual 与视频一致：约 99–101 s 环到右侧终点，约 104–105 s 工具落在终点台面，120–131 s 夹爪回到木柄旁做微调（与 log 的 Finish micro-adjustment 及 control step 5273≈132 s 一致），评分器 success=1。成功运行，failure 为 null 合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:30Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-02-i01-standard--55keqky/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-02-i01-standard--55keqky/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5552e9e840226efc9db41bdc1875b3576452128f1b4f5fc17e5fd3605fed957b", + "video_sha256": "1461ced28ece818b4b221db62145f0ec805979c397d3e63621a7e4ad0f0b05cb", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--7k9ke7q.json b/phaseR/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--7k9ke7q.json new file mode 100644 index 0000000000000000000000000000000000000000..236cf5c34ae2e40970282244ac5dbc46a683e417 --- /dev/null +++ b/phaseR/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--7k9ke7q.json @@ -0,0 +1,282 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-buzz-wire-3d-04-i01-privileged--7k9ke7q", + "taskKey": "roboarc/buzz_wire_3d_04", + "dag_sha256": "4f148c95e08380a88edecf02d0443af8e2ceb8cd5b78c8ce542485be88af0940", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "all_success": 0, + "deterministic": 1, + "gpu_backend": 1, + "infra_error": 0, + "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 40, + "submitted_actions": 40, + "sim_steps": 40, + "physics_steps": 400, + "sim_time_s": 1.0000000000000004, + "final_reward": 0.0, + "replay_wall_s": 13.5, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 17, + "agent_resets": 18, + "agent_sim_steps": 9409, + "agent_records": 11, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.864, + "peak_memory_gb": 4.708, + "peak_processes": 34, + "peak_disk_gb": 0.809, + "peak_cpus": 15.39, + "peak_pids": 1513, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-buzz-wire-3d-04-i01-privileged--7k9ke7q.mp4", + "duration_s": 1.067, + "fps": 15.0, + "frames": 16, + "sha256": "9a40aa2afc6f27899a2a3d7c5c980dd5011676cbd496259e7d8a6f3f29f0530c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "wire_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0–1.07 s 机械臂停在工具上方静止，金属环仍在起点线端，全程无移动；agent 提交的是 40 步“保持不动”轨迹（log step 156 自述）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "交付的轨迹只是保持不动，视频中机器人未抓取或移动工具。" + } + ] + }, + "wand_on_finish_support": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频末帧（约 1.0 s）工具仍在起点，未被搬到终点甲板；未完成遍历，此步不成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "start_arc_distance", + "value": null, + "unit": "m", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "finish_arc_distance", + "value": null, + "unit": "m", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "crossing_radial_distance", + "value": null, + "unit": "m", + "threshold": 0.01267, + "direction": "lower_better" + }, + { + "name": "finish_position_error", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "lower_better" + }, + { + "name": "finish_orientation_error", + "value": null, + "unit": "deg", + "threshold": 10, + "direction": "lower_better" + }, + { + "name": "robot_tool_aabb_clearance", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "higher_better" + }, + { + "name": "target_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "confirmation_linear_drift", + "value": null, + "unit": "m", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "target_angular_speed", + "value": null, + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "confirmation_angular_drift", + "value": null, + "unit": "rad", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "confirmation_duration", + "value": null, + "unit": "s", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "wire_traversed", + "where": "首步前", + "t": 0.5, + "evidence_zh": "观察：视频 0–1.07 s 机器人未抓取、未移动工具；agent 最终交付 40 步“保持不动”轨迹（log step 156 自述）。", + "log_step": 156 + }, + "phenomena": [ + { + "t": 0.5, + "log_step": 156, + "evidence_zh": "观察：交付轨迹是 40 步保持不动，视频中工具始终在起点，遍历步骤在被评分的轨迹中从未开始。", + "cat": "没尝试", + "item": "没尝试" + } + ], + "root_causes": [], + "gap_zh": "根因留空：agent 在 session 中（log step 156 自述）称找不到无碰线路径，但这是 agent 自述，无状态日志核实；且不能由“没尝试”或交付缺失推出根因。无状态日志。", + "unmet": { + "wire_traversed": false, + "wand_on_finish_support": false + } + }, + "summary_zh": "观察：被评分的轨迹仅 40 步保持不动（视频 1.07 s），工具停在起点，两个节点均未达成（0/2）。断点为 金属环走完全线 的首步前；agent 自述（log step 156）找不到避开线的路径而放弃。证据缺口：无状态日志，根因无法核实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分轨迹为40步保持不动（视频1.07 s，首末帧机械臂与工具均未动），两节点未达、断点首步前+没尝试、根因留空并写明gap，均符合FAIL-22与03规则。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:29Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-04-i01-privileged--7k9ke7q/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-04-i01-privileged--7k9ke7q/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e884cdbaba69c39739c23bc106ad696ee34b3c73a925de35bc12548a2d31cb3d", + "video_sha256": "9a40aa2afc6f27899a2a3d7c5c980dd5011676cbd496259e7d8a6f3f29f0530c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-standard--velevxf.json b/phaseR/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-standard--velevxf.json new file mode 100644 index 0000000000000000000000000000000000000000..afe12e37cb2e48846af8bdb80103de6247f4223d --- /dev/null +++ b/phaseR/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-standard--velevxf.json @@ -0,0 +1,269 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-buzz-wire-3d-04-i01-standard--velevxf", + "taskKey": "roboarc/buzz_wire_3d_04", + "dag_sha256": "4f148c95e08380a88edecf02d0443af8e2ceb8cd5b78c8ce542485be88af0940", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 452, + "live_rows": 452, + "sim_steps": 452, + "physics_steps": 4520, + "steps": 216, + "elapsed_s": 10794.2, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.332, + "peak_processes": 10, + "peak_disk_gb": 0.288, + "peak_cpus": 1.06, + "peak_pids": 147, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-buzz-wire-3d-04-i01-standard--velevxf.mp4", + "duration_s": 11.4, + "fps": 15.0, + "frames": 171, + "sha256": "a2bbf401eb37838b2dfc84c24480cd7d328ddabff903ffba86efad6d1ae378a9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "wire_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": 361, + "text_zh": "观察：视频 0–11.4 s 全程只见夹爪在台面上方高处移动（腕部相机扫描姿态），工具/金属环仍停在起点线端，未被夹取，也未沿线移动。" + } + ] + }, + "wand_on_finish_support": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": 361, + "text_zh": "观察：视频 0–11.4 s（含最后一秒）工具始终在起点端，终点甲板上无工具。" + } + ] + } + }, + "constraints": {}, + "contact_actual": {} + }, + "native_metrics": [ + { + "name": "start_arc_distance", + "value": null, + "unit": "m", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "finish_arc_distance", + "value": null, + "unit": "m", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "crossing_radial_distance", + "value": null, + "unit": "m", + "threshold": 0.01267, + "direction": "lower_better" + }, + { + "name": "finish_position_error", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "lower_better" + }, + { + "name": "finish_orientation_error", + "value": null, + "unit": "deg", + "threshold": 10, + "direction": "lower_better" + }, + { + "name": "robot_tool_aabb_clearance", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "higher_better" + }, + { + "name": "target_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "confirmation_linear_drift", + "value": null, + "unit": "m", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "target_angular_speed", + "value": null, + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "confirmation_angular_drift", + "value": null, + "unit": "rad", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "confirmation_duration", + "value": null, + "unit": "s", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "wire_traversed", + "t": 0.0, + "where": "首步前", + "evidence_zh": "观察：视频 0–11.4 s 中夹爪只在台面上方移动，从未接触木柄；log 最后一步（log step 361）agent 仍在改写并运行轨迹规划脚本，奖励 success=0、n_actions=452。推断：交付给评分的执行从未开始走线这一步。", + "log_step": 361 + }, + "phenomena": [ + { + "t": 0.0, + "log_step": 361, + "evidence_zh": "观察：视频全程未见夹爪抓取工具或环移动；log step 357–361 agent 仍在调整规划参数，没有交付走线动作。", + "cat": "没尝试", + "item": "没尝试" + } + ], + "root_causes": [], + "gap_zh": "根因留空：agent 在约 10800 s 的会话里主要做扫描和轨迹规划（log step 2–361），未交付走线轨迹，其中 log step 55 有一次 Gemini 过滤拦截（仅一次，之后继续运行），没有证据说明为何没有执行；按规则不从没尝试或超时推根因。已检查 inputs/，无状态日志。", + "unmet": { + "wire_traversed": false, + "wand_on_finish_support": false + } + }, + "summary_zh": "观察：图像与评分一致，视频 11.4 s 内机器人只做高处腕部相机扫描式移动，从未夹取工具，两个节点（环走完全线、工具放终点）都未达成。断点在第一步，首步前，现象为没尝试；agent 把约 10800 s 用在扫描与规划上（log step 2–361），未交付走线动作，根因证据不足。无状态日志，节点按视频判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅见腕部相机扫描式移动，未夹取工具、未沿线移动，两个节点未达成；首步前+没尝试、根因留空并写 gap_zh，符合规则（agent 在 10800 s 预算内一直在规划，未交付走线动作）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-04-i01-standard--velevxf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-04-i01-standard--velevxf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "37a7d0dcf758a74ffe53e63a2c0919b72439788e5d707213c6c7789f3be0b456", + "video_sha256": "a2bbf401eb37838b2dfc84c24480cd7d328ddabff903ffba86efad6d1ae378a9", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "contact_actual": {} +} diff --git a/phaseR/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--a28gvpr.json b/phaseR/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--a28gvpr.json new file mode 100644 index 0000000000000000000000000000000000000000..9492079b301dc4016b9c0078e45e993da26e41d4 --- /dev/null +++ b/phaseR/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--a28gvpr.json @@ -0,0 +1,220 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-buzz-wire-3d-07-i01-standard--a28gvpr", + "taskKey": "roboarc/buzz_wire_3d_07", + "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 2, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1040, + "live_rows": 1040, + "sim_steps": 1040, + "physics_steps": 10400, + "steps": 303, + "elapsed_s": 10790.9, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.344, + "peak_processes": 8, + "peak_disk_gb": 0.379, + "peak_cpus": 1.27, + "peak_pids": 65, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-buzz-wire-3d-07-i01-standard--a28gvpr.mp4", + "duration_s": 26.067, + "fps": 15.0, + "frames": 391, + "sha256": "6e11662955fac48aa0c664743a717d9d7db803638405a55987f6df1b38a6d379" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "wire_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": null, + "text_zh": "观察：视频 0-26.1 s 三视角中，工具（小金属环与木柄）始终躺在甲板左侧起点桩附近，未被举起；金属环从未沿竖直段和上方弯曲线段移动，终点端也没有工具。" + } + ] + }, + "wand_on_finish": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": null, + "text_zh": "观察：视频末帧（视频 25.9 s）工具仍在起点桩旁，未放到终点甲板；前置节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "wire_traversed", + "where": "操作中", + "t": 23.0, + "log_step": null, + "evidence_zh": "观察：视频 23 s 机械臂夹爪到达起点桩旁工具处，至视频 26.1 s 结束工具一直留在甲板上，环从未上线行走。" + }, + "phenomena": [ + { + "t": 23.0, + "log_step": null, + "evidence_zh": "观察：视频 23-26 s 夹爪在工具旁，但工具从未被提起或移动；推断：未形成有效抓握。证据有限（夹爪是否碰到木柄看不清）。", + "cat": "接触", + "item": "没建立接触" + } + ], + "root_causes": [], + "gap_zh": "日志只到 agent 工作的后期且为 session 分析（log step 313-324 检查臂杆与线/柱碰撞间隙），不是图评分片段的证据；视频中看不清抓取细节，故根因留空；无状态日志。", + "unmet": { + "wire_traversed": false, + "wand_on_finish": false + } + }, + "summary_zh": "观察：图评分视频 26.1 s，机械臂夹爪仅接近起点桩旁的工具，工具始终未被提起，金属环未走线，两个节点均未达成（0/2）。断点在“金属环走完全线”的抓取操作中，现象推断为没建立接触；根因缺少证据。缺口：无状态日志，抓取细节被遮挡看不清。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点（两个均未达成，final=false）、断点 wire_traversed 与现象「没建立接触」与视频一致；仅 contact_actual 的时间描述有误：视频 12-19 s 夹爪在终点端/木柱上方，约 20 s 才离开，22-24 s 才回到起点桩旁。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个节点均未达成、断点 wire_traversed、现象「没建立接触」、contact_actual 的时间描述（第1轮已修正）均与视频一致：全程工具留在起点桩旁，未被提起；根因留空并有 gap_zh，证据不足以支持更多。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--a28gvpr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--a28gvpr/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--a28gvpr/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--a28gvpr/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "91d1bb63d3b356e2f908a0c0237dc0deca258d8dc9566caa60c76fda6ea541f9", + "video_sha256": "6e11662955fac48aa0c664743a717d9d7db803638405a55987f6df1b38a6d379", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "contact_actual": { + "wire_traversed": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 12-19 s 夹爪停在终点端木柱上方；约 22-24 s 才移到起点桩旁工具处（视频 23 s 贴近木柄），工具始终未被带离甲板，看不出夹爪是否夹住。" + } + ] + } +} diff --git a/phaseR/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-standard--6pzkqhi.json b/phaseR/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-standard--6pzkqhi.json new file mode 100644 index 0000000000000000000000000000000000000000..a2538e9e6563bff770136970c19aa300c91c3e5f --- /dev/null +++ b/phaseR/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-standard--6pzkqhi.json @@ -0,0 +1,196 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-buzz-wire-3d-09-i01-standard--6pzkqhi", + "taskKey": "roboarc/buzz_wire_3d_09", + "dag_sha256": "4aadb7f30e0f9dc92d811d6d611f4534baaee01b6ae4ac5552c5cbe7986c702c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 1, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 271, + "live_rows": 271, + "sim_steps": 271, + "physics_steps": 2710, + "steps": 135, + "elapsed_s": 10790.9, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.351, + "peak_processes": 9, + "peak_disk_gb": 0.287, + "peak_cpus": 1.51, + "peak_pids": 35, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-buzz-wire-3d-09-i01-standard--6pzkqhi.mp4", + "duration_s": 6.867, + "fps": 15.0, + "frames": 103, + "sha256": "c347f5531c8c9cac372b65e4f045bec6658b166783722dcf8f1fbcba0ff4727c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "wire_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.8, + "log_step": null, + "text_zh": "观察：视频 0 s 与 6.8 s 的两个视角中，小金属环与木柄仍躺在起点（左侧立柱脚下），环始终没有离开起点，更没有沿铜线走到黑色套终点；夹爪只在远端黑色立柱上方移动。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 0-6.87 s 夹爪从未靠近起点的 wand，没有发生任何接触（候选：无接触）。" + } + ] + }, + "wand_on_finish": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.8, + "log_step": null, + "text_zh": "观察：视频 6.8 s 终点黑色立柱脚边没有工具，工具仍在起点；前置节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "wire_traversed", + "t": 6.8, + "log_step": null, + "where": "首步前", + "evidence_zh": "观察：视频 0-6.87 s 机械臂只在远端立柱上方摆动，起点的 wand 原位未动，遍历从未开始。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 6.8, + "log_step": null, + "evidence_zh": "观察：视频 0-6.87 s 夹爪始终没有碰到起点的 wand，视频末帧工具仍躺在起点。" + } + ], + "root_causes": [], + "gap_zh": "视频仅 6.87 s（271 个动作），agent 在 10800 s 预算内主要做离线 IK/几何检查（log step 296-301 仍在写检查脚本），没有证据能确定夹爪未去抓起 wand 的具体原因（规划错误还是控制），故根因留空；超时本身不是根因。", + "unmet": { + "wire_traversed": false, + "wand_on_finish": false + } + }, + "summary_zh": "观察：graded 视频 6.87 s 内机械臂在远端上方运动，起点的 wand 未被碰触，两个节点均未达成（0/2）。断点为 环沿线走完（遍历从未开始）；现象为没建立接触，根因证据不足。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频 0 s 与 6.8 s 帧均显示环/木柄仍在起点，夹爪只在远端立柱上方，两节点未达成、首步前/没建立接触成立；根因留空并有 gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-09-i01-standard--6pzkqhi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-09-i01-standard--6pzkqhi/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e825891f5df26ff88970bf20a017ce2472d870a47ff4c2ad082989e966178cd4", + "video_sha256": "c347f5531c8c9cac372b65e4f045bec6658b166783722dcf8f1fbcba0ff4727c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--mpufdez.json b/phaseR/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--mpufdez.json new file mode 100644 index 0000000000000000000000000000000000000000..ee6cb858f36a358d898b1f7561dadf99f529e368 --- /dev/null +++ b/phaseR/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--mpufdez.json @@ -0,0 +1,258 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-buzz-wire-3d-10-i01-standard--mpufdez", + "taskKey": "roboarc/buzz_wire_3d_10", + "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 3, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 991, + "live_rows": 991, + "sim_steps": 991, + "physics_steps": 9901, + "steps": 432, + "elapsed_s": 7568.4, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.281, + "peak_processes": 9, + "peak_disk_gb": 0.276, + "peak_cpus": 1.55, + "peak_pids": 34, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-buzz-wire-3d-10-i01-standard--mpufdez.mp4", + "duration_s": 24.867, + "fps": 15.0, + "frames": 373, + "sha256": "fbc3043e50b0035e3134d1fd2541acd04b5d670dac4aea73d347a55ba9edcec6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "loop_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.8, + "log_step": 253, + "text_zh": "观察：视频 24.8 s（最后一帧）夹爪持工具仍在线的起端附近（外部视角），腕部视角下环在线起端，未见沿线走远、更未到终端立柱。观察：log step 253 服务读数 control_steps 991（≈ 24.75 s，与视频 24.87 s 吻合）、done: True、reason: wire_touched；step 247 的分块输出显示第 1 块（沿线 0.033-0.319 m）即 wire_touched。推断：金属工具在线的起段碰到裸露金属线，回合被评分器终止，完整通过未成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 24.8 s 机械臂二指夹爪持着环柄工具靠近线的起端；推断：夹爪抓握工具手柄。" + }, + { + "who": "手持工具", + "how": "其他", + "note_zh": "推断：log step 253 service 读数 reason: wire_touched，金属工具碰到裸露金属线（候选“碰线”，非避开），视频中接触点被遮挡/过小，未直接看清。" + } + ] + }, + "wand_on_finish": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.8, + "log_step": 253, + "text_zh": "观察：视频全程 0-24.87 s 工具未到终点支撑台，最后一帧夹爪仍持工具在线起端；前置节点未达成，本节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "distance_to_finish_m", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "lower_better" + }, + { + "name": "finish_angle_deg", + "value": null, + "unit": "deg", + "threshold": 10, + "direction": "lower_better" + }, + { + "name": "clearance_lower_bound_m", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "higher_better" + }, + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "maximum_drift_m", + "value": null, + "unit": "m", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "maximum_angular_speed_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "maximum_rotation_drift_rad", + "value": null, + "unit": "rad", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "stable_time_s", + "value": null, + "unit": "s", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "loop_traversed", + "t": 24.0, + "log_step": 253, + "where": "操作中", + "evidence_zh": "观察：视频 24.8 s 工具仍在线起端附近；log step 253 服务读数 done: True, reason: wire_touched（control_steps 991 ≈ 视频 24.75 s），step 247 显示第 1 块（沿线 0.033-0.319 m）即 wire_touched。推断：沿线移动的起段就碰线，未修复。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 24.0, + "log_step": 253, + "evidence_zh": "观察：log step 253 服务读数 reason: wire_touched（工具金属部分碰裸露金属线，固定物），回合随即结束；视频 24.8 s 工具停在线起端，碰撞点画面中看不清。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：没有状态日志，视频里工具细小、碰线瞬间被遮挡，agent 的计划（点云重建的线、离线 IK 轨迹）与实际碰线的原因（重建误差、跟踪误差还是规划）无法区分，故根因留空。另：log step 249 起 Gemini 过滤器拦截回复，但发生在图评回合已结束（step 247 done）之后，不属于外部因素，按常规标注。", + "unmet": { + "loop_traversed": false, + "wand_on_finish": false + } + }, + "summary_zh": "观察：图评回合在视频 24.87 s 内结束，工具在线起端附近就碰线（log step 253 reason: wire_touched），两个节点均未达成（0/2）。断点为金属环沿线移动（操作中），现象为碰线（被挡/碰撞）；根因因无状态日志、碰线瞬间被遮挡而留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点未达成、断点 loop_traversed（操作中）、被挡/碰撞（碰线）均有视频与 log step 247/253 服务读数（control_steps 991≈视频 24.75 s）支持；根因留空并给出 gap_zh 合理，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--mpufdez/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--mpufdez/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0d2e8eddd5bf36d7cfa5d2aaab8e656a09f92a8c6156f91731e86f73dc8b1c49", + "video_sha256": "fbc3043e50b0035e3134d1fd2541acd04b5d670dac4aea73d347a55ba9edcec6", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--zjvzfwn.json b/phaseR/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--zjvzfwn.json new file mode 100644 index 0000000000000000000000000000000000000000..7401c4f45f0f398111e60ab84205408d9cf859c0 --- /dev/null +++ b/phaseR/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--zjvzfwn.json @@ -0,0 +1,166 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-cast-coil-06-i01-standard--zjvzfwn", + "taskKey": "roboarc/cast_coil_06", + "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 2791, + "live_rows": 2791, + "sim_steps": 2791, + "physics_steps": 27901, + "steps": 447, + "elapsed_s": 7897.0, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.381, + "peak_processes": 8, + "peak_disk_gb": 0.449, + "peak_cpus": 1.14, + "peak_pids": 31, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-cast-coil-06-i01-standard--zjvzfwn.mp4", + "duration_s": 69.867, + "fps": 15.0, + "frames": 1048, + "sha256": "0647e575fa30e4f31064ae84dfc7890c328a3b3f0a8b2d4c948d38b38e3dd094" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "coils_assembled": { + "method": "visual", + "intervals": [ + [ + 69.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 69.5, + "log_step": 294, + "text_zh": "观察：视频 52-67 s 两只夹爪仍夹着金、银框片并对齐；视频 68.5-69.6 s 夹爪张开并退离，金银交替的四层整体立在桌面上，之后画面静止到结束（69.87 s）。评分器 success=1、review_events=0、forcing_events=0。推断：松开并静置0.5秒确认约在视频 69.5 s，时间为估计。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 52-67 s 左右两只二指夹爪各夹一件线圈并合拢嵌合，随后松开退离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "评分器判成功：视频中双臂各抓一件线圈对齐嵌合，约视频 69.2 s 松开退离，约 69.5 s 达成装配（时间为估计，毫米级精度视频无法核实）。log step 290 出现 Gemini 过滤提示，但交付已完成，不影响判定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，单节点 coils_assembled 终值为真、视频约 69.5 s 达成，帧上两夹爪夹着金银件至约 67 s，约 68.5-69.2 s 松开退离，整体立在桌面，与标注一致；contact_actual 双臂协作+抓握合理，无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-cast-coil-06-i01-standard--zjvzfwn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-coil-06-i01-standard--zjvzfwn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cf0f181e7f4d47b38f65e24d0da994baa2b4ba120a8be573ee12397b3deb3150", + "video_sha256": "0647e575fa30e4f31064ae84dfc7890c328a3b3f0a8b2d4c948d38b38e3dd094", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--9jlfttj.json b/phaseR/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--9jlfttj.json new file mode 100644 index 0000000000000000000000000000000000000000..40b279917a52a2fc23a667085140e817c0609697 --- /dev/null +++ b/phaseR/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--9jlfttj.json @@ -0,0 +1,212 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-cast-coil-07-i01-standard--9jlfttj", + "taskKey": "roboarc/cast_coil_07", + "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 4832, + "live_rows": 4832, + "sim_steps": 4832, + "physics_steps": 48320, + "steps": 2405, + "elapsed_s": 10784.8, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-cast-coil-07-i01-standard--9jlfttj.mp4", + "duration_s": 120.867, + "fps": 15.0, + "frames": 1813, + "sha256": "2431c434620a112a526a6b558f4303f6eab5f096a79c3e7be4fd1016f23c287e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "coils_assembled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.8, + "log_step": 405, + "text_zh": "观察：视频 120.8 s 末帧，金银件在桌面上已大致交错（约 80 s 起金件才部分叠到银件上，约 120 s 大致嵌合），但右夹爪仍夹着金件，未松手撤开，未满足“两件均已松手、净距≥5 mm、静止”的联合条件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右夹爪抓握金件，约 80 s 起移到银件上做嵌合与微调，直到视频结束仍夹持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "coils_assembled", + "t": 115, + "where": "终态验收", + "evidence_zh": "观察：视频约 80 s 金件部分叠在银件上，约 115-120.8 s 大致嵌合，但右夹爪始终夹持金件未松开；agent 在 log step 400-405 仍在做亚毫米微对准（agent 自述/脚本，非观察）。评分器 success=0。", + "log_step": 402 + }, + "phenomena": [ + { + "t": 120.8, + "log_step": 402, + "evidence_zh": "观察：视频末帧金银件大致嵌合但右夹爪仍夹持、未松手，位姿是否到位无法从画面确认。agent 自述（非观察）：log step 402 两件顶面高度差约 2 mm（z 156.31 vs 158.27 mm），仅作参考。", + "cat": "运动", + "item": "位姿不准" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：目标与接触方案可行（嵌合已近似达成），但需亚毫米级位姿精度与松手撤离，agent 反复微调仍未达标。", + "source_zh": "视频、日志" + } + ], + "gap_zh": "无状态日志，装配误差与松手条件靠视频和 agent 日志推断；根因子类型不明，故停在“控制”。 画面无法区分“位姿不准”与“未松手”，现象标签依赖 agent 自述的 2 mm，故降低置信度。", + "unmet": { + "coils_assembled": false + } + }, + "summary_zh": "观察：唯一节点“金银线圈装合”未达成。右夹爪把金件移到银件上形成近似嵌合，但直到视频 120.8 s 仍夹持未松手；位姿偏差仅有 agent 自述（约 2 mm）。断点在装配验收，现象为位姿不准，根因推断为控制精度；缺状态日志。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点未达成、final=false 与右手抓握接触基本成立；但“视频≈50 s 起已近似嵌合”与断点 t=50 与画面不符，现象证据把 agent 自述的 2 mm 当作观察。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成、final=false、右手抓握、断点 t≈115 s 与画面一致（60 s 金件在银件旁，100–120.5 s 嵌合但右夹爪仍夹持）；现象与根因已标为推断且 conf=4 诚实，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:40Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-cast-coil-07-i01-standard--9jlfttj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-coil-07-i01-standard--9jlfttj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-coil-07-i01-standard--9jlfttj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-cast-coil-07-i01-standard--9jlfttj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0d745e3c2c7400c54d7b7c7a496b3acdb6a135ecd42225f3da61f4c7a85097b6", + "video_sha256": "2431c434620a112a526a6b558f4303f6eab5f096a79c3e7be4fd1016f23c287e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--3whzho5.json b/phaseR/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--3whzho5.json new file mode 100644 index 0000000000000000000000000000000000000000..d4e1843d67ae873e806b44c9b026439e75992e50 --- /dev/null +++ b/phaseR/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--3whzho5.json @@ -0,0 +1,263 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-cast-keyhole-03-i01-standard--3whzho5", + "taskKey": "roboarc/cast_keyhole_03", + "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 1, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1230, + "live_rows": 1230, + "sim_steps": 1230, + "physics_steps": 12300, + "steps": 470, + "elapsed_s": 10840.6, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-cast-keyhole-03-i01-standard--3whzho5.mp4", + "duration_s": 30.8, + "fps": 15.0, + "frames": 462, + "sha256": "ce821fc54dc557b85dcf994078a1ce3f9822f7240b59ab634d6214203e81c550" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "gold_on_system_side": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0 s 金色件在绿框下方（系统侧），初态即成立。" + }, + { + "t": 30.8, + "log_step": 189, + "text_zh": "观察：视频末帧（30.8 s）左臂夹爪夹着金色件，位置仍在画面左中、远离绿框，与初态相比没有越向目标。推断：未越过分隔面，但分隔面 5 mm 阈值无法从画面精确判定，故置信度中等。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 5-30.8 s 左臂夹爪夹金色件（log step 158-189 的抓取轨迹）。" + } + ] + }, + "silver_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.8, + "log_step": 189, + "text_zh": "观察：视频 0-30.8 s 双臂夹爪抓住银色件与金色件并抬起，末帧两件仍互相嵌套、银色件在原位附近，远未进入绿色目标区。评分器 success=0。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频末段右臂夹爪夹银色件、左臂夹金色件，两件抬起但未解脱。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "silver_horizontal_border_clearance", + "value": null, + "unit": "m", + "threshold": 0.001, + "direction": "higher_better" + }, + { + "name": "silver_min_height_above_table", + "value": null, + "unit": "m", + "threshold": -0.001, + "direction": "higher_better" + }, + { + "name": "silver_max_height_above_table", + "value": null, + "unit": "m", + "threshold": 0.24454, + "direction": "lower_better" + }, + { + "name": "silver_max_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "silver_max_angular_speed", + "value": null, + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "remainder_max_signed_distance_goalward_of_separator", + "value": null, + "unit": "m", + "threshold": 0, + "direction": "lower_better" + }, + { + "name": "joint_goal_confirmation_time", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "silver_in_goal", + "where": "操作中", + "t": 30.0, + "evidence_zh": "观察：视频 30.8 s 末帧双夹爪已夹住两件，但金/银件仍互锁，没有执行把银色件从金色件中拉出的动作；agent 此后在 log step 288-304 仍在计算解锁路径，未再提交动作。", + "log_step": 189 + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "alt_feasible": "未知", + "evidence_zh": "日志：log step 288-304（agent 工作约 10264-10803 s）反复计算间隙，多数姿态最大间隙为负或仅 0.35-1.35 mm，agent 自述仍在求解 5D 通道（log step 296-299），始终没有可执行的解脱轨迹；已执行的只有抓取与抬起（log step 146-189）。推断：解脱序列没有事先规划出来，属推理/规划，证据为 agent 日志，待核实。", + "source_zh": "日志" + } + ], + "gap_zh": "视频只有 30.8 s 且未显示解脱动作，没有状态日志；未见可归为具体物理现象的失败（没有提交解脱动作），故现象层为空，不标没尝试（已抓握两件）。", + "unmet": { + "gold_on_system_side": true, + "silver_in_goal": false + } + }, + "summary_zh": "观察：视频 0-30.8 s 机器人双臂抓起金、银两件后停在互锁状态，银色件从未进入目标区（0/1 目标步完成，金色件留系统侧保持成立）。断点在“银色件入目标区”：解脱动作没有执行，推断为解脱路径未规划出（日志 288-304 仍在求解）。证据缺口：无状态日志，金色件分隔面判定仅靠画面。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（金色件初态成立、银色件未入区）、断点 silver_in_goal、空现象层及推理/规划根因与视频和日志一致；末帧两件仍嵌套未解脱。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--3whzho5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--3whzho5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cb9ad6c3973411b491845ef310b4c9040f859c49bdc27ace9caa679d0eb4361a", + "video_sha256": "ce821fc54dc557b85dcf994078a1ce3f9822f7240b59ab634d6214203e81c550", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--bjtheys.json b/phaseR/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--bjtheys.json new file mode 100644 index 0000000000000000000000000000000000000000..c3a0fbea42326b8db1976376c9f4930c86e1a114 --- /dev/null +++ b/phaseR/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--bjtheys.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-cast-keyhole-03-i01-standard--bjtheys", + "taskKey": "roboarc/cast_keyhole_03", + "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 26403, + "live_rows": 26403, + "sim_steps": 26403, + "physics_steps": 264030, + "steps": 5395, + "elapsed_s": 10814.4, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.48, + "peak_processes": 10, + "peak_disk_gb": 3.415, + "peak_cpus": 3.8, + "peak_pids": 246, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-cast-keyhole-03-i01-standard--bjtheys.mp4", + "duration_s": 660.134, + "fps": 15.0, + "frames": 9902, + "sha256": "261d13ab90890063396c416d880976152cf4090000fd1bd8a4eee9bc135fe68b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "gold_on_system_side": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": 6, + "text_zh": "观察：视频 0 s 金色件在绿框下方（系统侧），视频 659.8 s 金色件仍在桌面下半部、远离绿框，未见越过分隔面。推断：全程保持成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 20–550 s 抽样帧（20、40、100、250、400 s 等）中夹爪夹持并转动金色件（与银色件一同操作）。" + } + ] + }, + "silver_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 659.8, + "log_step": 516, + "text_zh": "观察：视频 659.8 s 银色件仍与金色件互锁、位于桌面下部，不在绿框内；视频 20、40、100、250、400、600 s 各抽样帧均为双臂夹持二件、姿态各异，从未见银色件解脱入区。agent 末条自述“两件仍互锁”（log step 521）。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 20–620 s 抽样帧中双臂夹爪各夹持一件，试图解开互锁。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "silver_in_goal", + "t": 20, + "where": "操作中", + "log_step": null, + "evidence_zh": "观察：视频 20 s 起双臂夹爪已夹持金、银二件并开始解脱操作，直至视频 659.8 s 仍互锁，银色件未解脱入区（视频 20、40、100、250、400、600 s 帧）。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 250, + "log_step": null, + "evidence_zh": "观察：视频 20–600 s 帧中双臂反复改变二件的相对姿态与换抓，但二件始终互锁，从未摆到可以滑开的相对位姿；agent 自述“两件仍互锁”（log step 521）。推断：解脱所需的相对位姿没有达成。" + } + ], + "root_causes": [], + "gap_zh": "根因层留空：无状态日志，仅有视频（已查 20–658 s 的 8 个时刻）与 agent 日志；日志 say 多为空，只有 step 514/519/521 的简短自述，无法区分是规划（选择双手持握扭转的策略）、抓取设计还是轨迹问题，也无 alt_feasible 的证据；服务读数无碰撞/review 事件，不支持碰撞类现象。", + "unmet": { + "gold_on_system_side": true, + "silver_in_goal": false + } + }, + "summary_zh": "观察：金色件始终在系统侧（节点1 成立），银色件直至视频 659.8 s 仍与金色件互锁，未入目标区。断点为银色件解脱/入区的操作中（视频 20 s 起双臂持二件操作）；现象标为位姿不准（解脱相对位姿未达成），根因因无状态日志、日志自述过少未判定。conf 对应节点值与断点较可靠、现象为视觉推断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（金色件成立、银色件未达成、final=1/2）与帧一致；但失败层完全留空且仅因“只抽样 9 帧”，不是证据不足；断点时间 150 s 也晚于操作开始（约 20–40 s 起双臂已夹持二件）。需补现象/根因并修正断点锚点。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（金色件全程在系统侧、银色件未入区、final=1/2）、断点（银色件解脱·操作中）与视频帧一致；现象位姿不准有帧证据，根因留空附具体 gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:56:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--bjtheys/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--bjtheys/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--bjtheys/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--bjtheys/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "de4c9fa5d6b89f2edcd00098f2fe394545e74a35581ed118bb52861cafa6a87f", + "video_sha256": "261d13ab90890063396c416d880976152cf4090000fd1bd8a4eee9bc135fe68b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--agcqqmx.json b/phaseR/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--agcqqmx.json new file mode 100644 index 0000000000000000000000000000000000000000..6368a7950a870a7de691291ed9f13cd5cc89e989 --- /dev/null +++ b/phaseR/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--agcqqmx.json @@ -0,0 +1,200 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-cast-keyhole-04-i01-standard--agcqqmx", + "taskKey": "roboarc/cast_keyhole_04", + "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1261, + "live_rows": 1261, + "sim_steps": 1261, + "physics_steps": 12610, + "steps": 315, + "elapsed_s": 10813.6, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-cast-keyhole-04-i01-standard--agcqqmx.mp4", + "duration_s": 31.6, + "fps": 15.0, + "frames": 474, + "sha256": "a554341b9a478d929b26260e94144eda2923af4d56833454c3f00390952a2764" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "silver_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.4, + "log_step": null, + "text_zh": "观察：视频 31.4 s 末帧，银色件仍与金色件互锁在桌面中部，远离右上方绿色虚线目标框；全程未见银色件进入方框。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 10-28 s 两臂夹爪夹住银色件和金色件尝试抬起、分离（视频 20-25 s 金色件被抬到空中），未能脱开。" + } + ] + }, + "gold_on_system_side": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 31.4, + "log_step": null, + "text_zh": "观察：金色件初始在系统侧，视频 20-25 s 被夹爪抬起，末帧 31.4 s 仍在桌面拼图区，未随银色件进入目标框。推断：未见其越过分隔平面（毫米级边界无法精确核对）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 15-25 s 一侧夹爪握住金色件并抬起。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "silver_in_goal", + "t": 20.0, + "where": "操作中", + "evidence_zh": "观察：视频 20-31.4 s 两臂夹持两件拼图，抬起、摆动后两件仍互锁，银色件没有脱开也没进入目标框，直到视频结束。", + "log_step": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频仅 31.6 s（1261 个控制步）；日志中 agent 反复做 3D 间隙/路径优化脚本（log step 299-323），说明互锁件的脱开路径一直没有解出，但无法从帧里确定具体接触细节，故现象与根因留空。", + "unmet": { + "silver_in_goal": false, + "gold_on_system_side": true + } + }, + "summary_zh": "观察：被评分的尝试里银色件始终没有与金色件脱开入区（0/1 个目标节点中的银色件节点），金色件留在系统侧（初态成立，终态据帧判断仍成立）。断点在“银色件入区”的操作中：两臂夹持拼图抬起后仍互锁。现象与根因证据不足，留空；视频短，毫米级判定无法核对。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点值、时间、contact_actual 与视频一致：银色件至终帧仍与金色件互锁，未入框；金色件留系统侧；断点与操作中位置合理。现象/根因留空并有 gap_zh，证据不足以支持具体类别，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--agcqqmx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--agcqqmx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e2835fa15237ba908f10a6396ac6102e0e9258fb981d34f85793e7d968fc50e1", + "video_sha256": "a554341b9a478d929b26260e94144eda2923af4d56833454c3f00390952a2764", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--sjwfmna.json b/phaseR/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--sjwfmna.json new file mode 100644 index 0000000000000000000000000000000000000000..4ad04320c320e1ab01137c8d1cef7045b4cbfd9e --- /dev/null +++ b/phaseR/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--sjwfmna.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-cast-keyhole-04-i01-standard--sjwfmna", + "taskKey": "roboarc/cast_keyhole_04", + "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 4, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 12347, + "live_rows": 12347, + "sim_steps": 12347, + "physics_steps": 123470, + "steps": 5200, + "elapsed_s": 3932.5, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.3, + "peak_processes": 9, + "peak_disk_gb": 0.715, + "peak_cpus": 2.52, + "peak_pids": 35, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-cast-keyhole-04-i01-standard--sjwfmna.mp4", + "duration_s": 308.734, + "fps": 15.0, + "frames": 4631, + "sha256": "f0941f1855a417dbc6f8884ee97cf8a502c9dd2f8a801469d2f9178a45b18b39" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "silver_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": 179, + "text_zh": "观察：视频全程银色环件未进入绿色虚线方框；终帧（308 s）银色与金色件仍相邻/相连（分辨率有限，两件中途姿态有变化，互锁程度以 agent 自述为准：“银色仍与金色相连，不在目标区”，log step 179）。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 60-250 s 两侧夹爪抓取/拖动金色与银色件试图分离，件被带动、重排，但未分离。" + } + ] + }, + "gold_on_system_side": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": 179, + "text_zh": "观察：视频 0 s 两件相连且在系统侧；视频 308 s 最后一帧金色件仍在拼图原位附近，未随银色件进入绿框。推断：未越过分隔面，但毫米级不可见；agent 自称金色件“可能已越过分隔面”（log step 179，仅自述）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪多次抓取金色件，agent 自述其抓取打滑、转动约 27°（log step 179）；金色件始终留在系统侧。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "silver_in_goal", + "where": "操作中", + "t": 60.0, + "log_step": 179, + "evidence_zh": "观察：视频 60-250 s 两臂反复抓取并拖动两件互锁的拼图，银色件全程未入框，终帧（视频 308 s）仍与金色件相邻/相连（互锁程度分辨率有限）。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "未给现象与根因：视频分辨率低，无状态日志，抓取是否打滑只能依据 agent 自述（log step 179），不足以定标签。agent 在剩余约 1 小时 50 分预算时自行停止（log step 179），这本身不是现象或根因。", + "unmet": { + "silver_in_goal": false, + "gold_on_system_side": true + } + }, + "summary_zh": "观察：视频 0-308 s 内银色件始终未进入目标框，终帧仍与金色件相连（银色入区 final 假）；金色件留在系统侧（从 0 s 起，视觉判断，终值真）。断点为银色件分离入区的操作；原因只有 agent 自述（抓取打滑、位置估计不准），无独立证据，故现象与根因留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点值（银色入区假、金色留系统侧真）、断点 silver_in_goal 和空现象/根因（带 gap_zh）基本可接受；但证据文字“0–308 s 始终互锁”过度断言，视频 180 s 前后两件姿态明显不同，只能说终帧仍相连/未入框。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（银色入区假、金色留系统侧自0 s起真）、断点 silver_in_goal 与空现象/根因加 gap_zh 均与视频和日志一致；第1轮的互锁措辞已改。独立证据不足以定现象（held/press 读数不能区分打滑与未握住）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--sjwfmna/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--sjwfmna/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--sjwfmna/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--sjwfmna/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cde4f97e86fe0510b6e3310a2943ea0f0839d370e60e2c07dfe8c58d2a60a4fa", + "video_sha256": "f0941f1855a417dbc6f8884ee97cf8a502c9dd2f8a801469d2f9178a45b18b39", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--wpd9kok.json b/phaseR/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--wpd9kok.json new file mode 100644 index 0000000000000000000000000000000000000000..0556fc1a91b7c8f7bade45d2ba3e48f6103d9b53 --- /dev/null +++ b/phaseR/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--wpd9kok.json @@ -0,0 +1,238 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-cast-keyhole-05-i01-standard--wpd9kok", + "taskKey": "roboarc/cast_keyhole_05", + "dag_sha256": "72c806611a2ace5a0d722fe75d51f43c87a2b2b6545ad3a20cbf47330adbbc70", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 2, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 6168, + "live_rows": 6168, + "sim_steps": 6168, + "physics_steps": 61680, + "steps": 1496, + "elapsed_s": 9600.0, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-cast-keyhole-05-i01-standard--wpd9kok.mp4", + "duration_s": 154.267, + "fps": 15.0, + "frames": 2314, + "sha256": "fe108b3228b291638ce95349a2c8b6f0ba288176fb75828a716b8f9769e43708" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "silver_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 154.0, + "log_step": null, + "text_zh": "观察：视频 100-154 s 右夹爪抓着银环向东（图右）拖，银环始终与金件钩连；末帧（视频 154 s）银环仍套在金件钩上，位于绿框外。agent 自述银件落在绿区南边界外约 1.8 cm（log 末步）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右夹爪抓住银环东端带动其向东拖拽（视频约 100-145 s）；agent 自述抓握中途松开（log 末步）。" + } + ] + }, + "gold_on_system_side": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 154.0, + "log_step": null, + "text_zh": "推断：未越过分隔面——依据仅为 agent 自述（log step 324 “金件始终在分隔面南侧”）；视频 100-154 s 金件被带动并旋转、向绿框移动数厘米，分隔面不可见，帧上不能核实未越面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "推断：金件未被夹爪直接抓，仅被钩连的银环拖动；末段夹爪在金件旁边拖/推。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "silver_in_goal", + "t": 140.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 100-154 s 夹爪拖银环，银环始终与金件钩连未解开；末帧（154 s）银环仍在金件钩上、在绿框外。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 140.0, + "log_step": null, + "evidence_zh": "观察：视频约 140 s 后银环不再被夹爪带着走，落回桌面仍与金件相连；agent 自述搬运中夹爪松开（openR→0，log 末步）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "观察：视频 100-154 s 银环始终钩连在金件上，持续向东拖拽未能解开；log step 322 agent 自述搬运中夹爪松开（openR→0.0），银环掉落。agent 对钩连拓扑的判断与画面一致，帧上未见规划错误；失败在夹持/拖拽的接触方式不足以带出银环。是否存在可行替代未验证。", + "source_zh": "视频观察 + agent 自述（log step 322、324）" + } + ], + "gap_zh": "无状态日志，银件落点与分隔面位置仅凭视频和 agent 自述推断；根因子类（抓取和接触设计 vs 轨迹/反馈控制）证据偏弱，alt_feasible 未知。", + "unmet": { + "silver_in_goal": false, + "gold_on_system_side": true + } + }, + "summary_zh": "观察：graded 视频 154 s 内银环始终钩连在金件上，从未脱开也未入绿区（节点1未达），金件始终留在系统侧（节点2 保持）。断点在银件分离入区的抓拽操作中，夹爪拖拽时抓握丢失。无状态日志，根因较不确定。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点值、断点与现象基本与视频一致（银环始终钩连金件，未入区）；但根因“推理/规划”证据不足：agent 对钩连拓扑的判断与帧一致，失败发生在拖拽/夹持执行（抓握中途丢失，银环始终未脱钩），更像抓取与接触设计或轨迹问题。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点值（银环未入区、金件留系统侧为未能核实的推断）、断点（silver_in_goal，操作中）、现象（接触·没保持住）与根因（控制·抓取和接触设计，alt_feasible 未知）与视频一致；第1轮意见已落实，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-05-i01-standard--wpd9kok/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-05-i01-standard--wpd9kok/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-05-i01-standard--wpd9kok/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-05-i01-standard--wpd9kok/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0ea21b992c967892ad8d8f97631bf023a330e49636b1d64b8e1554d161d4873d", + "video_sha256": "fe108b3228b291638ce95349a2c8b6f0ba288176fb75828a716b8f9769e43708", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--y84vtkd.json b/phaseR/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--y84vtkd.json new file mode 100644 index 0000000000000000000000000000000000000000..54c9fe60d3463bc1aa58719ea152300b5163f20e --- /dev/null +++ b/phaseR/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--y84vtkd.json @@ -0,0 +1,209 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-cast-keyhole-05-i01-standard--y84vtkd", + "taskKey": "roboarc/cast_keyhole_05", + "dag_sha256": "72c806611a2ace5a0d722fe75d51f43c87a2b2b6545ad3a20cbf47330adbbc70", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 24788, + "live_rows": 24788, + "sim_steps": 24788, + "physics_steps": 247880, + "steps": 4894, + "elapsed_s": 10799.4, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-cast-keyhole-05-i01-standard--y84vtkd.mp4", + "duration_s": 619.8, + "fps": 15.0, + "frames": 9297, + "sha256": "a3d37f2df2617f6a4bdfe75ba7d81c1218ff1bf5a4598ee2950ec6c13f982b27" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "silver_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 619, + "log_step": 434, + "text_zh": "观察：视频 500-619 s 银件与金件仍互相套住，夹爪持着银件悬在拼件一侧，未进入绿色虚线目标区；agent 自述“pieces remain linked”（log step 434）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 200-619 s 夹爪抓持银件反复尝试脱开，始终未分离。" + } + ] + }, + "gold_on_system_side": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": 6, + "text_zh": "观察：视频 0 s 金件在原拼图一侧；至视频 619 s 金件随银件被挂在拼件区附近，未见被带入绿框一侧。推断：分隔面不可见，毫米级边界未核实。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 200 s 起夹爪触及金件并随银件带动（推断）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "silver_in_goal", + "t": 200, + "where": "操作中", + "evidence_zh": "观察：视频 200-619 s 两件始终套在一起，银件未脱开也未入区。", + "log_step": 432 + }, + "phenomena": [ + { + "cat": "其他", + "item": "其他", + "t": 400, + "log_step": 432, + "evidence_zh": "观察：视频 400-619 s 夹爪持银件翻转，金件悬挂其上，两件始终未解开（agent 自述最后一次滚动未分离，log step 432）。候选：拼件未解开。", + "note_zh": "没有合适的值描述“两拼件始终未解开”；候选：未解开" + } + ], + "root_causes": [], + "gap_zh": "视频无法看清钥匙孔缺口几何，无状态日志，无法确定未解开的根因（推理/规划还是控制）；故根因留空。", + "unmet": { + "silver_in_goal": false, + "gold_on_system_side": true + } + }, + "summary_zh": "观察：视频 619.8 s 内银件与金件始终套在一起，银件未进入绿色目标区（0/1 目标节点达成）；金件初态在系统侧，推断终态仍在系统侧但未核实毫米边界。断点在银件分离入区的操作中；无状态日志，根因无法判断。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 0/100/200/300/400/500/540-619 s：两件始终套在一起，银件被夹爪持于绿框之外，金件挂在其上，与标注一致；silver 未达成、gold 初态成立且推断保持，断点与现象保守且有证据，根因留空附 gap_zh 可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-05-i01-standard--y84vtkd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-cast-keyhole-05-i01-standard--y84vtkd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a27e6bf0441cdd3682616bfdead8bbe1b9d4d3a88f60f5c9b529bc2b38acd57f", + "video_sha256": "a3d37f2df2617f6a4bdfe75ba7d81c1218ff1bf5a4598ee2950ec6c13f982b27", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-standard--yw2upvh.json b/phaseR/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-standard--yw2upvh.json new file mode 100644 index 0000000000000000000000000000000000000000..69866274bbb8ba9a6d5aa2afc9144212275d5916 --- /dev/null +++ b/phaseR/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-standard--yw2upvh.json @@ -0,0 +1,358 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-fiber-bundling-04-i01-standard--yw2upvh", + "taskKey": "roboarc/fiber_bundling_04", + "dag_sha256": "974ce857ea30b6ca70332e06d1d89dcd3504544bc3d10cacf082ea04b08fb4b6", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1107, + "live_rows": 1107, + "sim_steps": 1107, + "physics_steps": 11070, + "steps": 262, + "elapsed_s": 5628.1, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-fiber-bundling-04-i01-standard--yw2upvh.mp4", + "duration_s": 27.734, + "fps": 15.0, + "frames": 416, + "sha256": "7601b4800cc41d51766f16d0a1e74cd72ccfdefc1dad98c560e6642249d3b5a4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 9, + "final": 9, + "nodes": { + "fibers_through_1": { + "method": "visual", + "intervals": [ + [ + 18, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18, + "log_step": 190, + "text_zh": "观察：视频里腕部视角可见彩色纤维逐步穿过铜环，27.7 s 末帧铜环套在纤维与护套前端附近；评分器 success=1（live_success=1）。推断：该节点最终已达成，具体时刻仅约估（视频被加速，帧小，±3 s），success 由评分器保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda 夹爪夹住黑色厚护套，带动纤维穿环（视频 0-27.7 s）。" + } + ] + }, + "fibers_through_2": { + "method": "visual", + "intervals": [ + [ + 18.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.5, + "log_step": 190, + "text_zh": "观察：视频里腕部视角可见彩色纤维逐步穿过铜环，27.7 s 末帧铜环套在纤维与护套前端附近；评分器 success=1（live_success=1）。推断：该节点最终已达成，具体时刻仅约估（视频被加速，帧小，±3 s），success 由评分器保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda 夹爪夹住黑色厚护套，带动纤维穿环（视频 0-27.7 s）。" + } + ] + }, + "fibers_through_3": { + "method": "visual", + "intervals": [ + [ + 19, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 19, + "log_step": 190, + "text_zh": "观察：视频里腕部视角可见彩色纤维逐步穿过铜环，27.7 s 末帧铜环套在纤维与护套前端附近；评分器 success=1（live_success=1）。推断：该节点最终已达成，具体时刻仅约估（视频被加速，帧小，±3 s），success 由评分器保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda 夹爪夹住黑色厚护套，带动纤维穿环（视频 0-27.7 s）。" + } + ] + }, + "fibers_through_4": { + "method": "visual", + "intervals": [ + [ + 19.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 19.5, + "log_step": 190, + "text_zh": "观察：视频里腕部视角可见彩色纤维逐步穿过铜环，27.7 s 末帧铜环套在纤维与护套前端附近；评分器 success=1（live_success=1）。推断：该节点最终已达成，具体时刻仅约估（视频被加速，帧小，±3 s），success 由评分器保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda 夹爪夹住黑色厚护套，带动纤维穿环（视频 0-27.7 s）。" + } + ] + }, + "fibers_through_5": { + "method": "visual", + "intervals": [ + [ + 22, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22, + "log_step": 190, + "text_zh": "观察：视频里腕部视角可见彩色纤维逐步穿过铜环，27.7 s 末帧铜环套在纤维与护套前端附近；评分器 success=1（live_success=1）。推断：该节点最终已达成，具体时刻仅约估（视频被加速，帧小，±3 s），success 由评分器保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda 夹爪夹住黑色厚护套，带动纤维穿环（视频 0-27.7 s）。" + } + ] + }, + "fibers_through_6": { + "method": "visual", + "intervals": [ + [ + 23, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 23, + "log_step": 190, + "text_zh": "观察：视频里腕部视角可见彩色纤维逐步穿过铜环，27.7 s 末帧铜环套在纤维与护套前端附近；评分器 success=1（live_success=1）。推断：该节点最终已达成，具体时刻仅约估（视频被加速，帧小，±3 s），success 由评分器保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda 夹爪夹住黑色厚护套，带动纤维穿环（视频 0-27.7 s）。" + } + ] + }, + "fibers_through_7": { + "method": "visual", + "intervals": [ + [ + 24, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24, + "log_step": 190, + "text_zh": "观察：视频里腕部视角可见彩色纤维逐步穿过铜环，27.7 s 末帧铜环套在纤维与护套前端附近；评分器 success=1（live_success=1）。推断：该节点最终已达成，具体时刻仅约估（视频被加速，帧小，±3 s），success 由评分器保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda 夹爪夹住黑色厚护套，带动纤维穿环（视频 0-27.7 s）。" + } + ] + }, + "fibers_through_8": { + "method": "visual", + "intervals": [ + [ + 25, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25, + "log_step": 190, + "text_zh": "观察：视频里腕部视角可见彩色纤维逐步穿过铜环，27.7 s 末帧铜环套在纤维与护套前端附近；评分器 success=1（live_success=1）。推断：该节点最终已达成，具体时刻仅约估（视频被加速，帧小，±3 s），success 由评分器保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda 夹爪夹住黑色厚护套，带动纤维穿环（视频 0-27.7 s）。" + } + ] + }, + "front_sheath_through": { + "method": "visual", + "intervals": [ + [ + 27.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 27.0, + "log_step": 190, + "text_zh": "观察：视频里腕部视角可见彩色纤维逐步穿过铜环，27.7 s 末帧铜环套在纤维与护套前端附近；评分器 success=1（live_success=1）。推断：该节点最终已达成，具体时刻仅约估（视频被加速，帧小，±3 s），success 由评分器保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda 夹爪夹住黑色厚护套，带动纤维穿环（视频 0-27.7 s）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "成功：评分器 success=1，九个节点（8 根纤维、前护套穿环）均达成。视频约 27.7 s 且为加速回放、画面较小，各节点首次达成时间只是粗略视觉估计（±3 s）；纤维逐根穿越的精确时刻无法从帧中分辨。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "评分器 success=1，九个目标节点均 final=true，与视频末帧（铜环套在纤维与护套前端附近）一致；各节点首次达成时间是粗估并已在证据中如实说明，接触（夹爪夹护套）与视频相符。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-04-i01-standard--yw2upvh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-04-i01-standard--yw2upvh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c1f72e6073c643777e13ed5e14cd31c48bfc25db03439f0ed68e92455520d268", + "video_sha256": "7601b4800cc41d51766f16d0a1e74cd72ccfdefc1dad98c560e6642249d3b5a4", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--rqk7zmv.json b/phaseR/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--rqk7zmv.json new file mode 100644 index 0000000000000000000000000000000000000000..b744cc4a5a963815f1bf3a585b77e1c09e32f238 --- /dev/null +++ b/phaseR/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--rqk7zmv.json @@ -0,0 +1,533 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-fiber-bundling-06-i01-standard--rqk7zmv", + "taskKey": "roboarc/fiber_bundling_06", + "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 2493, + "live_rows": 2493, + "sim_steps": 2493, + "physics_steps": 24930, + "steps": 623, + "elapsed_s": 10790.9, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-fiber-bundling-06-i01-standard--rqk7zmv.mp4", + "duration_s": 62.4, + "fps": 15.0, + "frames": 936, + "sha256": "60c35bc38d3813bb3cb7a17c7528e0a3a038c7848b9c21875c26e03ea5b8f78a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 17, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fibers_through_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_11": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_12": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_13": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_14": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_15": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "fibers_through_16": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + }, + "front_sheath_through": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.3, + "log_step": null, + "text_zh": "观察：视频 62.3 s 末帧：多数纤维尖端已穿入/越过铜环孔，但黑色粗护套（夹爪夹持）停在环入口侧、纤维根部未越过出口，另有少数纤维散在环外侧；视频 31 s 纤维尖端仍在环前。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 夹爪夹住粗护套（视频 31 s、62.3 s 可见），借护套把纤维送向铜环；不接触细纤维。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_bend_deg", + "value": null, + "unit": "deg", + "threshold": 60, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fibers_through_1", + "t": 31.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 31-62.3 s 夹爪夹着护套把线束送到铜环前，多数纤维尖端已入环但护套与根部未过环，始终没有一根完整穿过环孔；评分 success=0。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 62.3, + "log_step": null, + "evidence_zh": "观察：视频 62.3 s 多数纤维尖端已穿入/越过环孔，但粗护套（夹爪夹持）停在环前、纤维根部未越过出口，另有少数纤维散在环外侧；因此没有一根满足“从尖端到根部全部过环”，护套前进量/横向偏移不足，为位姿不准。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：没有状态日志，视频看不出纤维散开的具体原因；agent 日志（log step 301-309）自述点云中只有少数点在孔内，属 agent 自述。Gemini 过滤器在 log step 311 拦截了一次请求，但 agent 之后仍继续并提交了轨迹（log step 313-316），不视为外部因素中断。视频 62.4 s 与日志的对应关系不明。", + "unmet": { + "fibers_through_1": false, + "fibers_through_2": false, + "fibers_through_3": false, + "fibers_through_4": false, + "fibers_through_5": false, + "fibers_through_6": false, + "fibers_through_7": false, + "fibers_through_8": false, + "fibers_through_9": false, + "fibers_through_10": false, + "fibers_through_11": false, + "fibers_through_12": false, + "fibers_through_13": false, + "fibers_through_14": false, + "fibers_through_15": false, + "fibers_through_16": false, + "front_sheath_through": false + } + }, + "summary_zh": "观察：视频全程夹爪夹住粗护套把线束送向铜环，多数纤维尖端入环但根部未过环，16 根均未完整穿环，前护套也未穿环（0/17）。断在第1根纤维过环，操作中位姿不准；因无状态日志，根因留空。log step 311 的 Gemini 过滤拦截发生在会话中途，之后 agent 仍提交了轨迹，故按正常失败标注。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（0/17）、断点 fibers_through_1 与 位姿不准 基本成立，但末帧证据把画面写错：62.3 s 时多根纤维已穿入环孔，并非“没有穿入环孔”。需改写观察，不改节点值。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "0/17、断点 fibers_through_1、位姿不准均与帧一致（末帧护套停在环入口侧、根部未过环）；根因留空并带 gap_zh 合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:29Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--rqk7zmv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--rqk7zmv/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--rqk7zmv/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--rqk7zmv/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "280e440d2d2d5f74ce9b2b22cb2d43fb7e109df258c926fd66b498dc34f91c9d", + "video_sha256": "60c35bc38d3813bb3cb7a17c7528e0a3a038c7848b9c21875c26e03ea5b8f78a", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-standard--ukjzgxz.json b/phaseR/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-standard--ukjzgxz.json new file mode 100644 index 0000000000000000000000000000000000000000..8981720e2ba603cd827d76a23b49f0964d16f9d1 --- /dev/null +++ b/phaseR/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-standard--ukjzgxz.json @@ -0,0 +1,413 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-fiber-bundling-07-i01-standard--ukjzgxz", + "taskKey": "roboarc/fiber_bundling_07", + "dag_sha256": "1ce1bfdb5bf606c4d4b92107ffc1a8763296257e268f8b357f247bdebab8c840", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1658, + "live_rows": 1658, + "sim_steps": 1658, + "physics_steps": 16580, + "steps": 770, + "elapsed_s": 10874.2, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-fiber-bundling-07-i01-standard--ukjzgxz.mp4", + "duration_s": 41.534, + "fps": 15.0, + "frames": 623, + "sha256": "b04b92b698f33ef29cff8bd1b18e251b60f1b5f46b34b9f8228e6fb4f5908466" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 17, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "other_fibers_through_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 16-39 s 夹爪夹住黑色粗护套前端并多次移向铜环，纤维线尖只在环口附近晃动、碰到环沿，未穿过。" + } + ] + }, + "other_fibers_through_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_11": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_12": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_13": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_14": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "other_fibers_through_15": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "marked_red_fiber_through": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ] + }, + "front_sheath_through": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.5 s（末帧）细纤维悬在铜环入口侧，线尖碰到环边缘但未穿过环孔，主视角与腕部近景均未见彩线从环孔伸到出口；整段视频未见任何一根穿环。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪夹持护套推向铜环，护套端面始终停在环入口侧，未穿环。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_bend_deg", + "value": null, + "unit": "deg", + "threshold": 60, + "direction": "lower_better" + }, + { + "name": "abs(lay.error_deg)", + "value": null, + "unit": "deg", + "threshold": 20, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "other_fibers_through_1", + "t": 39.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 16-41.5 s 机械臂夹住护套反复送向铜环，视频 39 s 与 41.5 s 纤维线尖停在环口、碰环沿而未穿过，第1根纤维穿环从未达成。" + }, + "unmet": { + "other_fibers_through_1": false, + "other_fibers_through_2": false, + "other_fibers_through_3": false, + "other_fibers_through_4": false, + "other_fibers_through_5": false, + "other_fibers_through_6": false, + "other_fibers_through_7": false, + "other_fibers_through_8": false, + "other_fibers_through_9": false, + "other_fibers_through_10": false, + "other_fibers_through_11": false, + "other_fibers_through_12": false, + "other_fibers_through_13": false, + "other_fibers_through_14": false, + "other_fibers_through_15": false, + "marked_red_fiber_through": false, + "front_sheath_through": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 39.0, + "log_step": null, + "evidence_zh": "观察：视频 39-41.5 s 护套端面与纤维束对准点偏在环口侧面，纤维尖碰环沿但未入孔；未见夹爪脱手或被挡的接触，故标位姿不准。" + } + ], + "root_causes": [], + "gap_zh": "根因未标：log 以 agent 写的脚本和 IK 计划为主（log step 252-256 自述定位 trunk 后执行整套抓取-穿线-推送），没有状态日志也没有视频外的证据说明是感知偏差还是轨迹问题，故不猜；无状态日志，夹爪与纤维的具体接触只凭视频。native_metrics 评分器未报告。" + }, + "summary_zh": "观察：视频 41.5 s 内夹爪夹住护套并多次把纤维送向铜环，但 16 根纤维、红纤和前护套均未穿环，17 个节点全为 false（无状态日志，按视频判）。断点在第1根纤过环（操作中），现象为位姿不准（线尖碰环沿未入孔）；根因证据不足留空。agent 自述最后一次执行仍在运行（log step 256）。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频各时刻（2、10、16、24、32、39、41.4 s）均未见任何纤维、红纤或护套穿过铜环，17个节点全为false、断点在第1根穿环、位姿不准均与帧相符；根因留空并附gap_zh可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-07-i01-standard--ukjzgxz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-07-i01-standard--ukjzgxz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5eb662b88a5f31e59d94ab5b89e540daef9b26cfaf13cd72a83907d20453e49b", + "video_sha256": "b04b92b698f33ef29cff8bd1b18e251b60f1b5f46b34b9f8228e6fb4f5908466", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/fiber_bundling_09/trajectories/roboarc-fiber-bundling-09-i01-privileged--hhixzdx.json b/phaseR/roboarc/fiber_bundling_09/trajectories/roboarc-fiber-bundling-09-i01-privileged--hhixzdx.json new file mode 100644 index 0000000000000000000000000000000000000000..730345a83ba4548c4847e67c362d8871ba9bed3c --- /dev/null +++ b/phaseR/roboarc/fiber_bundling_09/trajectories/roboarc-fiber-bundling-09-i01-privileged--hhixzdx.json @@ -0,0 +1,651 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-fiber-bundling-09-i01-privileged--hhixzdx", + "taskKey": "roboarc/fiber_bundling_09", + "dag_sha256": "5acf966283160f8de493061f23e8e4bed75e40c1a1d5c37f7208b78fda5d355e", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "all_success": 1, + "deterministic": 1, + "gpu_backend": 1, + "infra_error": 0, + "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 6552, + "submitted_actions": 6552, + "sim_steps": 6552, + "physics_steps": 65517, + "sim_time_s": 163.7925000000201, + "final_reward": 1.0, + "replay_wall_s": 4319.8, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 6552, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 1, + "agent_resets": 5, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 1.05, + "peak_memory_gb": 2.305, + "peak_processes": 11, + "peak_disk_gb": 0.896, + "peak_cpus": 1.18, + "peak_pids": 80, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-fiber-bundling-09-i01-privileged--hhixzdx.mp4", + "duration_s": 163.867, + "fps": 15.0, + "frames": 2458, + "sha256": "db83c9a443ce560a976d4cb9da16e8ee68a4241379e90c2d0b4fca5c87bd1f6d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 18, + "base": 1, + "peak": 18, + "final": 18, + "nodes": { + "fibers_through_1": { + "method": "visual", + "intervals": [ + [ + 158.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 158.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 158.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_2": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_3": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_4": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_5": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_6": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_7": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_8": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_9": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_10": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_11": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_12": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_13": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_14": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_15": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "fibers_through_16": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 铜环仍套在彩色细纤维上，161 s 起环在黑护套前端并随后套在护套上，纤维束位于环的出口侧；末帧与 oracle 终态一致。推断：16 根按计数口径约 160.0 s 前后到位（时间为估计，各根先后不可区分，无状态日志；success=1 决定终值为真）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "front_sheath_through": { + "method": "visual", + "intervals": [ + [ + 160.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：腕部视图 157 s 环仍在彩色细纤维上，161 s 环紧贴护套前端，163.5 s 环已套在护套上，末帧环仍在护套上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Panda 的 Robotiq 夹爪夹持黑色粗护套，带动细纤维穿环；夹爪不碰细纤维（视频 152-164 s 腕部视图）" + } + ] + }, + "sheath_routed_at_peg": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：0-55 s 主视图护套均搭在定位柱旁并向铜环方向伸出（5 s 帧已如此），属 t=0 已成立状态。推断：评分器判成功，终值为真。" + } + ], + "contact_actual": [], + "note_zh": "该节点开局已成立，本次未对其操作" + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_bend_deg", + "value": null, + "unit": "deg", + "threshold": 60, + "direction": "lower_better" + }, + { + "name": "lay.error_deg", + "value": null, + "unit": "deg", + "threshold": 15, + "direction": "lower_better" + }, + { + "name": "routes[0].gap_m", + "value": null, + "unit": "m", + "threshold": 0.02, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "观察：评分器判成功（success=1，strict_goal_reached=1，replay 确定性）；视频约 158-161 s 腕部视图铜环越过纤维到护套前端并套在护套上，护套自 0 s 起已在柱旁。推断：纤维 1-16 的先后无法区分，共用约 158-160 s，为目测估计，无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "成功运行（success=1）。front_sheath_through 的 153 s 偏早约 6-7 s（腕部相机里环 153-157 s 仍套在细纤维上，约 159-161 s 才到护套前端）；纤维 2-16 的 155 s 同样偏早；sheath_routed_at_peg 的 40 s 与自己的“整段视频都挂过”矛盾，应从 0 起。", + "n_issues": 3, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点时间已按上轮修正，终值与视频一致；但 summary_zh 仍是旧版本，与节点矛盾（149-155 s、40 s 粗估、151.5-155 s）。另 sheath_routed_at_peg 为 t=0 已成立节点，contact_actual 却复制了 152-164 s 的夹爪抓握说明。", + "n_issues": 2, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "两条 accept 均已在 prev/trajectory.json 中完整落实，与节点区间一致。", + "n_issues": 0, + "n_checks": 2 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "两条 accept 均已在 prev/trajectory.json 中完整落实，与节点区间一致。", + "checks_ok": "2/2", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:56:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-09-i01-privileged--hhixzdx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-09-i01-privileged--hhixzdx/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-09-i01-privileged--hhixzdx/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-09-i01-privileged--hhixzdx/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-09-i01-privileged--hhixzdx/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/roboarc-fiber-bundling-09-i01-privileged--hhixzdx/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "635a22390f495ae6cf6231010b546fc5f9be7f4289d2ece8e34bd1576ced8e17", + "video_sha256": "db83c9a443ce560a976d4cb9da16e8ee68a4241379e90c2d0b4fca5c87bd1f6d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--waztkvt.json b/phaseR/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--waztkvt.json new file mode 100644 index 0000000000000000000000000000000000000000..71dad95b78b8351b786b2e8c2f31f9c22a9de663 --- /dev/null +++ b/phaseR/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--waztkvt.json @@ -0,0 +1,197 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-hedgehog-in-cage-05-i01-privileged--waztkvt", + "taskKey": "roboarc/hedgehog_in_cage_05", + "dag_sha256": "fd387d7143797ed6749df0166e3b8c96a1d61da0c7146866e3936f95230860e7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "missing_trajectory": 1, + "infra_error": 0, + "grader_error": 0, + "agent_sessions": 1, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 2, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "hedgehog_out_of_cage": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 39, + "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1、agent_sim_steps=0、agent_records=0，说明没有交付任何轨迹（log step 37、39 为空回合，无调用）。" + } + ] + }, + "hedgehog_in_goal": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 39, + "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1、agent_sim_steps=0、agent_records=0，说明没有交付任何轨迹（log step 37、39 为空回合，无调用）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "target_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "target_angular_speed", + "value": null, + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "goal_confirmation_duration", + "value": null, + "unit": "s", + "threshold": 2.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "hedgehog_out_of_cage", + "where": "首步前", + "t": null, + "log_step": 39, + "evidence_zh": "观察：评分字段 missing_trajectory=1、agent_sim_steps=0、agent_records=0；agent 约 2128 s 工作时间（预算 10800 s）内只读源码、测夹爪几何（log step 33-36），最后两个回合（log step 37、39）为空，未交付任何轨迹，机器人从未动作。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频、无状态日志，且没有交付轨迹（agent 侧原因，未用完预算即停止）；按规则不给现象与根因，会话内的探索只是会话证据。节点 final 由评分记录 success=0 与未交付推出。", + "unmet": { + "hedgehog_out_of_cage": false, + "hedgehog_in_goal": false + } + }, + "summary_zh": "观察：agent 在 agent 工作约 2128 s 内只做源码阅读与夹爪标定，未交付任何轨迹（missing_trajectory=1），两个节点均未达成。断点为刺球出笼，首步前；现象与根因因证据不足留空，无视频与状态日志。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，评分记录 missing_trajectory=1、agent_sim_steps=0，未交付轨迹；两节点均未达成、断点首步前、现象与根因留空并写 gap_zh，符合 03 对“agent 侧原因未交付”的规则（D23）。时间均为 agent 工作时间并已注明时钟，未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--waztkvt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--waztkvt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4bc1e5c4eea492b74bfca6dc4f325c3b0851f0efb61df307b5019b0b1445e68f", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "contact_actual": { + "hedgehog_out_of_cage": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "没有交付轨迹（missing_trajectory=1）" + } + ], + "hedgehog_in_goal": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "没有交付轨迹（missing_trajectory=1）" + } + ] + } +} diff --git a/phaseR/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--skmnzax.json b/phaseR/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--skmnzax.json new file mode 100644 index 0000000000000000000000000000000000000000..52fc1839214fc2c4189f78e4bd7280d86af6aa4d --- /dev/null +++ b/phaseR/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--skmnzax.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-hedgehog-in-cage-06-i01-standard--skmnzax", + "taskKey": "roboarc/hedgehog_in_cage_06", + "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 4, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 32944, + "live_rows": 32944, + "sim_steps": 32944, + "physics_steps": 329438, + "steps": 8180, + "elapsed_s": 10262.8, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.375, + "peak_processes": 12, + "peak_disk_gb": 4.133, + "peak_cpus": 4.0, + "peak_pids": 72, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-hedgehog-in-cage-06-i01-standard--skmnzax.mp4", + "duration_s": 823.667, + "fps": 15.0, + "frames": 12355, + "sha256": "4a5a8f4259284edf2300de0bac731d1095b016d448620f6a07efdc27fb1e57f6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 1, + "peak": 3, + "final": 3, + "nodes": { + "star_out_of_cage": { + "method": "visual", + "intervals": [ + [ + 700, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 700, + "log_step": 510, + "text_zh": "观察：视频 692 s 主视角笼窗内仍见金色星刺；约 700 s 起窗内空出，706 s 起星体被夹持在笼外（约 700 s，±10 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机械臂夹爪夹住星体尖刺，带出笼子并保持夹持至终点" + } + ] + }, + "star_in_goal": { + "method": "visual", + "intervals": [ + [ + 816, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 822, + "log_step": 510, + "text_zh": "观察：视频 823 s 星体被夹持悬于绿色虚线框上方；816 s 起入框时刻为估计（±4 s）；评分器 success=1（log step 510 自述通过）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机械臂夹爪夹住星体尖刺，带出笼子并保持夹持至终点" + } + ] + }, + "remainder_on_system_side": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": 510, + "text_zh": "观察：全程笼架固定在支架上未被移动，视频 823 s 仍在原处；评分器 success=1。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "成功：三个节点均达成。观察：视频约 700 s 星体出笼，约 816 s 起被夹持悬于绿色框上方，评分器判成功。入框时刻为估计；视频为双视角交替，对入框时间精度有限。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "成功运行，三节点终态正确，但 star_out_of_cage 的达成时间错误：视频约 685 s 前后笼窗内已无星体，而文件写 734 s，且证据称“712 s 星体仍在笼窗内”与帧不符。star_in_goal 816 s 估计合理。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，三个节点终态与评分器 success=1 一致；star_out_of_cage 约 700 s 与 star_in_goal 约 816 s 的帧核对后合理，上一轮问题已处理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:57:39Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--skmnzax/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--skmnzax/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--skmnzax/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--skmnzax/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7b5f3659f31bc4b48d94e20e45de68b1dd29287f7cf439ca24154c38e9e1d828", + "video_sha256": "4a5a8f4259284edf2300de0bac731d1095b016d448620f6a07efdc27fb1e57f6", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--ztmjs7c.json b/phaseR/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--ztmjs7c.json new file mode 100644 index 0000000000000000000000000000000000000000..7b35c28c9f6112c2274cf6661ca6e51738d52526 --- /dev/null +++ b/phaseR/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--ztmjs7c.json @@ -0,0 +1,297 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-02-i01-standard--ztmjs7c", + "taskKey": "roboarc/horseshoe_ring_02", + "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 2928, + "live_rows": 2928, + "sim_steps": 2928, + "physics_steps": 29280, + "steps": 732, + "elapsed_s": 10793.3, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.878, + "peak_processes": 9, + "peak_disk_gb": 0.429, + "peak_cpus": 1.79, + "peak_pids": 146, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-horseshoe-ring-02-i01-standard--ztmjs7c.mp4", + "duration_s": 73.267, + "fps": 15.0, + "frames": 1099, + "sha256": "623a3a782f3fba0bbdc74e160a1c1664161d9e8e2e7705a9570268e7f399a0ba" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 4, + "peak": 4, + "final": 4, + "nodes": { + "ring_separated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 73.2, + "log_step": null, + "text_zh": "观察：视频 73.2 s（最后一帧），金色圆环仍与银色马蹄铁互相套连，两侧夹爪仍在环/马蹄铁处，圆环未越过马蹄铁外缘；与 oracle 成功运行中圆环独立移走的画面不同。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "未知", + "note_zh": "观察：两侧夹爪全程在金色圆环/马蹄铁附近，腕部视角下无法确认是否夹紧。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 73.2, + "log_step": null, + "text_zh": "观察：视频 73.2 s 前方绿色虚线目标框内是空的，圆环仍在谜题处。" + } + ] + }, + "horseshoes_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 73.2, + "log_step": null, + "text_zh": "观察：开局成立；视频全程马蹄铁与链条留在绿框后方的谜题一侧，最后一帧仍在原处。推断：分隔面不可见，按其仍在谜题侧判为保持。" + } + ] + }, + "horseshoes_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 73.2, + "log_step": null, + "text_zh": "观察：开局成立；视频全程马蹄铁与链条留在绿框后方的谜题一侧，最后一帧仍在原处。推断：分隔面不可见，按其仍在谜题侧判为保持。" + } + ] + }, + "chains_on_system_side_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 73.2, + "log_step": null, + "text_zh": "观察：开局成立；视频全程马蹄铁与链条留在绿框后方的谜题一侧，最后一帧仍在原处。推断：分隔面不可见，按其仍在谜题侧判为保持。" + } + ] + }, + "chains_on_system_side_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 73.2, + "log_step": null, + "text_zh": "观察：开局成立；视频全程马蹄铁与链条留在绿框后方的谜题一侧，最后一帧仍在原处。推断：分隔面不可见，按其仍在谜题侧判为保持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "target_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "target_angular_speed", + "value": null, + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ring_separated", + "t": 73.2, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 73.2 s 最后一帧圆环仍套在马蹄铁上，全程未见圆环退出；机器人一直在该步骤上操作而未完成。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "现象与根因证据不足：仅抽样帧检查，未逐帧确认夹爪是否夹住圆环/如何脱开；无状态日志；日志末段只是 agent 的 IK 脚本调试，不作为证据。", + "unmet": { + "ring_separated": false, + "ring_in_goal": false, + "horseshoes_on_system_side_1": true, + "horseshoes_on_system_side_2": true, + "chains_on_system_side_1": true, + "chains_on_system_side_2": true + } + }, + "summary_zh": "观察：视频 73.3 s 内机器人双臂一直在圆环与马蹄铁处操作，最后一帧圆环仍套在马蹄铁上，目标框为空，故圆环脱离与入目标区均未达成；四个留侧节点开局成立并保持（推断）。断点在 圆环脱离谜题（操作中）。未逐帧核实，现象与根因留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（ring_separated/ring_in_goal 未达成、断点在 ring_separated、四个留侧节点保持）与帧一致。唯一问题：contact_actual 写了“抓握”但备注承认未核实夹爪是否夹紧，应改为未知；现象/根因留空且有 gap_zh，可接受。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "WHERE 标签（ring_separated/ring_in_goal 未达成，断点 ring_separated 操作中，四个留侧节点保持）与帧一致；contact_actual 已改为未知；现象/根因留空并有 gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:29Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--ztmjs7c/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--ztmjs7c/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--ztmjs7c/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--ztmjs7c/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7e6e388727eaac3d2fd7b15eaa24f82ec74f9ad395298c1a6e92260c6cc6f092", + "video_sha256": "623a3a782f3fba0bbdc74e160a1c1664161d9e8e2e7705a9570268e7f399a0ba", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--exz8xfc.json b/phaseR/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--exz8xfc.json new file mode 100644 index 0000000000000000000000000000000000000000..50727d8809c86ff2a1b3a80e02ce8e54c41e9d03 --- /dev/null +++ b/phaseR/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--exz8xfc.json @@ -0,0 +1,243 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-horseshoe-ring-03-i01-standard--exz8xfc", + "taskKey": "roboarc/horseshoe_ring_03", + "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 13942, + "live_rows": 13942, + "sim_steps": 13942, + "physics_steps": 139417, + "steps": 3431, + "elapsed_s": 8070.3, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.445, + "peak_processes": 10, + "peak_disk_gb": 1.666, + "peak_cpus": 1.48, + "peak_pids": 241, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-horseshoe-ring-03-i01-standard--exz8xfc.mp4", + "duration_s": 348.6, + "fps": 15.0, + "frames": 5229, + "sha256": "812735c5a2bc3d836e2c28cdd718b96f80bf3fce1b29a5394f48c9db9cdc9b7d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 1, + "peak": 3, + "final": 3, + "nodes": { + "ring_detached": { + "method": "visual", + "intervals": [ + [ + 296.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 296.0, + "log_step": 239, + "text_zh": "观察：视频 290 s 铜环仍与悬挂的马蹄/链条相套并被夹爪抬着；视频 300 s 起铜环单独在右夹爪下方，与悬在左夹爪上的马蹄和链条分开（视频 296 s 为估计时刻，±5 s）。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左夹爪夹住银色马蹄，右夹爪夹住铜环，协同把环从马蹄/链条中退出。" + } + ] + }, + "remnants_system_side": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：开局马蹄与链条均在拼图/系统侧；视频 300-348 s 马蹄与链条一直悬在左夹爪下，未进入绿框，终态成功判定通过（推断：评分器 success=1 要求余件留在系统侧）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪全程抓住一只银色马蹄，使马蹄与链条悬空留在系统侧。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [ + [ + 346.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 346.0, + "log_step": 241, + "text_zh": "观察：视频 335-348.4 s 右夹爪夹着铜环移到前方绿色虚线框附近并停住；推断：评分器 success=1（agent 自述服务确认静止保持成功，log step 241），到位时刻约 346 s 为估计，因环被夹爪遮挡。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右夹爪夹住铜环搬运并放入绿框、保持静止。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "target_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "target_angular_speed", + "value": null, + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "goal_horizontal_clearance", + "value": null, + "unit": "m", + "threshold": 0.001, + "direction": "higher_better" + }, + { + "name": "joint_confirmation_time", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "评分器 success=1，三个节点均达成：视频约 296 s 环与马蹄分离，余件始终在系统侧，约 346 s 环放入绿框并静止。无状态日志，时间为视觉估计（环入框时被夹爪遮挡，约 ±5 s）；评分器未给出各原生指标数值。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，三个节点的取值、时间（视频时钟，约±5 s 的估计已标明）和 contact_actual 均与画面一致；没有发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--exz8xfc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--exz8xfc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0c51e8eafe249c514f59a47ce935521a97f115f46ffbeccdb8c78b3c5a5e82e6", + "video_sha256": "812735c5a2bc3d836e2c28cdd718b96f80bf3fce1b29a5394f48c9db9cdc9b7d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--i2rfgcp.json b/phaseR/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--i2rfgcp.json new file mode 100644 index 0000000000000000000000000000000000000000..088c58617ce69ab7d69fc8f01cd043829521fc28 --- /dev/null +++ b/phaseR/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--i2rfgcp.json @@ -0,0 +1,346 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-ikea-eket-i00-standard--i2rfgcp", + "taskKey": "roboarc/ikea_eket", + "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "live_rows": 71260, + "sim_steps": 285040, + "control_steps": 71260, + "sim_time_s": 178.15000000098732, + "elapsed_s": 10753.3, + "service_time_s": 153.6, + "calls": 149, + "settle_failed": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "instance_mismatch": 0, + "video_rendered": 1, + "video_segments": 1, + "sim_error": 0, + "dump_lost": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.346, + "peak_processes": 9, + "peak_disk_gb": 0.457, + "peak_cpus": 1.18, + "peak_pids": 146, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-ikea-eket-i00-standard--i2rfgcp.mp4", + "duration_s": 178.2, + "fps": 10.0, + "frames": 1782, + "sha256": "ddfd96ee76a74b8f74dea76b8ba7c49314c21d55df0420725783c365f09b330c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "side_a_assembled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 177.8, + "log_step": null, + "text_zh": "观察：视频 177.8 s（末帧）顶板仍独立立在桌面上，右臂夹爪握着一块侧板在其旁边，侧板与顶板未形成相接的框边；全程未见任何板与顶板装配成框。" + }, + { + "t": 120, + "log_step": null, + "text_zh": "观察：视频 120 s 左臂夹爪靠近顶板、右臂握侧板，侧板仍在顶板外。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 118-178 s 右臂二指夹爪握住侧板送向顶板，未完成装配。" + } + ] + }, + "side_b_assembled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 177.8, + "log_step": null, + "text_zh": "观察：视频 177.8 s（末帧）顶板仍独立立在桌面上，右臂夹爪握着一块侧板在其旁边，侧板与顶板未形成相接的框边；全程未见任何板与顶板装配成框。" + } + ] + }, + "back_inserted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 177.8, + "log_step": null, + "text_zh": "观察：视频 177.8 s（末帧）顶板仍独立立在桌面上，右臂夹爪握着一块侧板在其旁边，侧板与顶板未形成相接的框边；全程未见任何板与顶板装配成框。" + } + ] + }, + "bottom_assembled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 177.8, + "log_step": null, + "text_zh": "观察：视频 177.8 s（末帧）顶板仍独立立在桌面上，右臂夹爪握着一块侧板在其旁边，侧板与顶板未形成相接的框边；全程未见任何板与顶板装配成框。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "report.end_pose.max_error_mm", + "value": null, + "unit": "mm", + "threshold": 10, + "direction": "lower_better" + }, + { + "name": "report.end_pose.max_angle_deg", + "value": null, + "unit": "deg", + "threshold": 2, + "direction": "lower_better" + }, + { + "name": "terminal.max_part_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "terminal.max_part_angular_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.05, + "direction": "lower_better" + }, + { + "name": "terminal.max_part_depth_mm", + "value": null, + "unit": "mm", + "threshold": 10, + "direction": "lower_better" + }, + { + "name": "side_a_entry.position_error_m", + "value": null, + "unit": "m", + "threshold": 0.0008, + "direction": "lower_better" + }, + { + "name": "side_a_entry.angle_error_deg", + "value": null, + "unit": "deg", + "threshold": 1, + "direction": "lower_better" + }, + { + "name": "side_a_slide.position_error_m", + "value": null, + "unit": "m", + "threshold": 0.00025, + "direction": "lower_better" + }, + { + "name": "side_a_slide.angle_error_deg", + "value": null, + "unit": "deg", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "side_b_entry.position_error_m", + "value": null, + "unit": "m", + "threshold": 0.0008, + "direction": "lower_better" + }, + { + "name": "side_b_entry.angle_error_deg", + "value": null, + "unit": "deg", + "threshold": 1, + "direction": "lower_better" + }, + { + "name": "side_b_slide.position_error_m", + "value": null, + "unit": "m", + "threshold": 0.00025, + "direction": "lower_better" + }, + { + "name": "side_b_slide.angle_error_deg", + "value": null, + "unit": "deg", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "back_slide.position_error_m", + "value": null, + "unit": "m", + "threshold": 0.0008, + "direction": "lower_better" + }, + { + "name": "back_slide.angle_error_deg", + "value": null, + "unit": "deg", + "threshold": 1, + "direction": "lower_better" + }, + { + "name": "bottom_entry.position_error_m", + "value": null, + "unit": "m", + "threshold": 0.0008, + "direction": "lower_better" + }, + { + "name": "bottom_entry.angle_error_deg", + "value": null, + "unit": "deg", + "threshold": 1, + "direction": "lower_better" + }, + { + "name": "bottom_slide.position_error_m", + "value": null, + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better" + }, + { + "name": "bottom_slide.angle_error_deg", + "value": null, + "unit": "deg", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "side_a_assembled", + "where": "操作中", + "t": 120, + "log_step": null, + "evidence_zh": "观察：视频 60-177.8 s 机器人反复把侧板送向顶板，末帧（视频 177.8 s）侧板仍未与顶板装配；评分器 success=0。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频俯视视角下无法看清侧板与顶板的接头对齐/卡滞细节，无状态日志；agent 日志只显示其在微米级调平（log step 350-357，session 证据），不足以确定现象与根因，故留空。", + "unmet": { + "side_a_assembled": false, + "side_b_assembled": false, + "back_inserted": false, + "bottom_assembled": false + } + }, + "summary_zh": "观察：视频 178.2 s 内四个装配节点均未达成，末帧顶板与侧板仍分离，评分器 success=0。断点为甲侧板装配（操作中），因俯视画面与无状态日志，现象与根因无法确定。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四个装配节点未达成与末帧所见一致（顶板与侧板未形成框边，评分器 success=0）；断点 side_a_assembled/操作中合理；无状态日志、俯视画面看不清接头，现象/根因留空且有 gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-ikea-eket-i00-standard--i2rfgcp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-ikea-eket-i00-standard--i2rfgcp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c4d2e7cc468970461d8a24310deca349db8b7769a027527c13521a2e38a121f9", + "video_sha256": "ddfd96ee76a74b8f74dea76b8ba7c49314c21d55df0420725783c365f09b330c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--rvdsrts.json b/phaseR/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--rvdsrts.json new file mode 100644 index 0000000000000000000000000000000000000000..62a4e63c27ddea32a7b866a7027856c68518cefc --- /dev/null +++ b/phaseR/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--rvdsrts.json @@ -0,0 +1,325 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-ikea-gladom-i00-standard--rvdsrts", + "taskKey": "roboarc/ikea_gladom", + "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "live_rows": 20651, + "sim_steps": 82604, + "control_steps": 20651, + "sim_time_s": 51.62749999996211, + "elapsed_s": 10737.8, + "service_time_s": 135.8, + "calls": 84, + "settle_failed": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "instance_mismatch": 0, + "video_rendered": 1, + "video_segments": 1, + "sim_error": 0, + "dump_lost": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.319, + "peak_processes": 7, + "peak_disk_gb": 0.475, + "peak_cpus": 3.87, + "peak_pids": 175, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-ikea-gladom-i00-standard--rvdsrts.mp4", + "duration_s": 51.7, + "fps": 10.0, + "frames": 517, + "sha256": "dc1cf478296f57b3190aae5346b16ee351f53f14a38f185edc7b61ceccda7733" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "frame_b_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 51.6, + "log_step": null, + "text_zh": "观察：视频 8 s 起两臂把两副橙色框架拖到台面中部，视频 35-51.6 s 两夹爪停在框架交叉中心，两副框架呈交叉但互相偏斜的 X 形（与 oracle 末帧同心对合的桌腿结构不同），最后一帧仍如此。推断：对合误差（倾角/偏移）未达 ≤2°/≤1 mm，节点未达成；agent 会话中自测显示腿倾斜数度（log step 365 Leg slope 约 -1.3~-5.1°），仅作旁证。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左右二指夹爪抓持两副框架并搬到台面中部、在交叉中心保持；夹爪是否夹住杆件在俯视角下看不清，推断为抓握" + } + ] + }, + "long_screw_driven": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 51.6, + "log_step": null, + "text_zh": "观察：视频全程螺钉留在蓝色盒中，框架中心无螺钉被旋入；末帧同。" + } + ] + }, + "bottom_screw_driven": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 51.6, + "log_step": null, + "text_zh": "观察：视频全程螺钉留在蓝色盒中，框架中心无螺钉被旋入；末帧同。" + } + ] + }, + "ring_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 51.6, + "log_step": null, + "text_zh": "观察：视频全程（至 51.6 s 末帧）蓝色盒中的螺钉未被取出，圆环仍在台面后部、托盘（红色半圆）仍在台面前部，该节点所需的零件未动或未装；前置节点也未达成。" + } + ] + }, + "ring_screws_driven_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 51.6, + "log_step": null, + "text_zh": "观察：视频全程（至 51.6 s 末帧）蓝色盒中的螺钉未被取出，圆环仍在台面后部、托盘（红色半圆）仍在台面前部，该节点所需的零件未动或未装；前置节点也未达成。" + } + ] + }, + "ring_screws_driven_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 51.6, + "log_step": null, + "text_zh": "观察：视频全程（至 51.6 s 末帧）蓝色盒中的螺钉未被取出，圆环仍在台面后部、托盘（红色半圆）仍在台面前部，该节点所需的零件未动或未装；前置节点也未达成。" + } + ] + }, + "tray_on_ring": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 51.6, + "log_step": null, + "text_zh": "观察：视频全程（至 51.6 s 末帧）蓝色盒中的螺钉未被取出，圆环仍在台面后部、托盘（红色半圆）仍在台面前部，该节点所需的零件未动或未装；前置节点也未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "assembly_axial_gap", + "value": null, + "unit": "m", + "threshold": 0.0008, + "direction": "lower_better" + }, + { + "name": "assembly_lateral_error", + "value": null, + "unit": "m", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "assembly_tilt", + "value": null, + "unit": "deg", + "threshold": 2, + "direction": "lower_better" + }, + { + "name": "tray_yaw_error", + "value": null, + "unit": "deg", + "threshold": 7.5, + "direction": "lower_better" + }, + { + "name": "assembly_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.025, + "direction": "lower_better" + }, + { + "name": "tray_support_samples_above_0_01_N", + "value": null, + "unit": "samples", + "threshold": 12, + "direction": "higher_better" + }, + { + "name": "tray_ring_mean_force", + "value": null, + "unit": "N", + "threshold": 0.01, + "direction": "higher_better" + }, + { + "name": "max_part_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "max_part_angular_speed", + "value": null, + "unit": "rad/s", + "threshold": 0.05, + "direction": "lower_better" + }, + { + "name": "max_part_penetration", + "value": null, + "unit": "m", + "threshold": 0.01, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "frame_b_crossed", + "t": 35.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 20-51.6 s 两臂把框架停在台面中部交叉位置不再变化，两框架呈斜交 X 形，后续螺钉、圆环、托盘均未被操作；评分 success=0（run.json reward），本局只有这一局 51.6 s 的 live 局。第一步对合未修复，故断点为框架交叉装配。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 45.0, + "log_step": null, + "evidence_zh": "观察：视频 35-51.6 s 两副框架交叉但相互偏斜，未形成同心、垂直的对合结构（对比 oracle 末帧）。推断：对合位姿（倾角/横向偏差）超出阈值。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，俯视视频看不清夹爪是否夹住杆件、也无法量化亚毫米/2°误差，故根因留空（agent 会话自测的腿倾斜只是会话证据，不能当作图中成因）。native_metrics 评分器未给出数值，记 null。", + "unmet": { + "frame_b_crossed": false, + "long_screw_driven": false, + "bottom_screw_driven": false, + "ring_seated": false, + "ring_screws_driven_1": false, + "ring_screws_driven_2": false, + "tray_on_ring": false + } + }, + "summary_zh": "观察：graded 局（视频 51.6 s，live 单局）里双臂把两副框架搬到台面中部并保持在斜交 X 位，螺钉仍在蓝盒、圆环与托盘未动，7 个节点均未达成（0/7）。断点在第一步框架交叉装配（操作中），现象为位姿不准；无状态日志且视角不能量化对合误差，根因未判。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标注与视频一致：7 个节点均未达成（final 0），断点在 frame_b_crossed，现象位姿不准（推断已标明），根因留空并有 gap_zh；未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:39Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-ikea-gladom-i00-standard--rvdsrts/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-ikea-gladom-i00-standard--rvdsrts/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6c0f5b920ecf824b52d386c1c1cc4d82d1c2921ebf259817668be4641b90d0e9", + "video_sha256": "dc1cf478296f57b3190aae5346b16ee351f53f14a38f185edc7b61ceccda7733", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--jbltdgx.json b/phaseR/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--jbltdgx.json new file mode 100644 index 0000000000000000000000000000000000000000..2eb30b343d0622f55c83158b12fd056b599d80a9 --- /dev/null +++ b/phaseR/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--jbltdgx.json @@ -0,0 +1,276 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-ikea-ikea365-i00-standard--jbltdgx", + "taskKey": "roboarc/ikea_ikea365", + "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "live_rows": 57688, + "sim_steps": 230752, + "control_steps": 57688, + "sim_time_s": 144.2200000002467, + "elapsed_s": 10764.8, + "service_time_s": 742.8, + "calls": 196, + "settle_failed": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "instance_mismatch": 0, + "video_rendered": 1, + "video_segments": 1, + "sim_error": 0, + "dump_lost": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.568, + "peak_processes": 10, + "peak_disk_gb": 0.412, + "peak_cpus": 0.85, + "peak_pids": 211, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-ikea-ikea365-i00-standard--jbltdgx.mp4", + "duration_s": 144.3, + "fps": 10.0, + "frames": 1443, + "sha256": "8c1b5643e06c715df17f2ced3e4a83cf8881547a7eb2610df7ff76b5cf3963c4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "screw_unscrewed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 144.0, + "log_step": null, + "text_zh": "观察：视频 5-144 s 的俯视帧中，红色螺丝刀始终躺在桌面右侧，从未被拿起；棕色构件在桌面上被夹爪搬动，但未见螺钉退出、暂放、两杆交叉叠合、翻转或碗放到支架上（视频 144 s 末帧仍为分离状态，碗在桌上）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 60-130 s 机械臂夹爪夹住并搬动棕色构件（agent 自述抓取构件 A 抬到空中，log step 64），未见刀头嵌入螺钉，螺钉未退出。" + } + ] + }, + "screw_parked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 144.0, + "log_step": null, + "text_zh": "观察：视频 5-144 s 的俯视帧中，红色螺丝刀始终躺在桌面右侧，从未被拿起；棕色构件在桌面上被夹爪搬动，但未见螺钉退出、暂放、两杆交叉叠合、翻转或碗放到支架上（视频 144 s 末帧仍为分离状态，碗在桌上）。" + } + ] + }, + "members_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 144.0, + "log_step": null, + "text_zh": "观察：视频 5-144 s 的俯视帧中，红色螺丝刀始终躺在桌面右侧，从未被拿起；棕色构件在桌面上被夹爪搬动，但未见螺钉退出、暂放、两杆交叉叠合、翻转或碗放到支架上（视频 144 s 末帧仍为分离状态，碗在桌上）。" + } + ] + }, + "screw_reinstalled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 144.0, + "log_step": null, + "text_zh": "观察：视频 5-144 s 的俯视帧中，红色螺丝刀始终躺在桌面右侧，从未被拿起；棕色构件在桌面上被夹爪搬动，但未见螺钉退出、暂放、两杆交叉叠合、翻转或碗放到支架上（视频 144 s 末帧仍为分离状态，碗在桌上）。" + } + ] + }, + "stand_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 144.0, + "log_step": null, + "text_zh": "观察：视频 5-144 s 的俯视帧中，红色螺丝刀始终躺在桌面右侧，从未被拿起；棕色构件在桌面上被夹爪搬动，但未见螺钉退出、暂放、两杆交叉叠合、翻转或碗放到支架上（视频 144 s 末帧仍为分离状态，碗在桌上）。" + } + ] + }, + "bowl_on_stand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 144.0, + "log_step": null, + "text_zh": "观察：视频 5-144 s 的俯视帧中，红色螺丝刀始终躺在桌面右侧，从未被拿起；棕色构件在桌面上被夹爪搬动，但未见螺钉退出、暂放、两杆交叉叠合、翻转或碗放到支架上（视频 144 s 末帧仍为分离状态，碗在桌上）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "terminal_axial_error", + "value": null, + "unit": "mm", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "terminal_lateral_error", + "value": null, + "unit": "mm", + "threshold": 0.6, + "direction": "lower_better" + }, + { + "name": "terminal_axis_error", + "value": null, + "unit": "deg", + "threshold": 1.5, + "direction": "lower_better" + }, + { + "name": "max_part_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "max_part_angular_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.05, + "direction": "lower_better" + }, + { + "name": "max_part_depth_mm", + "value": null, + "unit": "mm", + "threshold": 10, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "screw_unscrewed", + "t": null, + "log_step": null, + "where": "探索", + "evidence_zh": "观察：视频全程第一步“拧出螺钉”未完成；螺丝刀从未被拿起，夹爪只搬动构件。log 末段（log step 267-272）agent 仍在做 IK / 腕部滚转的试探脚本，视频 144.3 s 时仍未拧出螺钉。" + }, + "unmet": { + "screw_unscrewed": false, + "screw_parked": false, + "members_crossed": false, + "screw_reinstalled": false, + "stand_turned": false, + "bowl_on_stand": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "现象与根因留空：无状态日志，螺钉被夹爪遮挡且视频分辨率低，无法确定是没建立接触还是别的现象；log 只显示 agent 反复试探 IK，没有足够证据定根因。" + }, + "summary_zh": "观察：视频 144.3 s 内 6 个节点均未达成，未拧出螺钉，螺丝刀始终未被拿起，只见夹爪搬动棕色构件。断在第一步“拧出螺钉”（探索阶段，log 末尾仍在试 IK）。现象与根因因证据不足留空；没有状态日志，且仅粗看了约 9 帧。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频144.3 s（graded episode，与 control_steps 144.2 s 一致）内螺丝刀始终躺在桌面右侧未被拿起，构件 A 被夹爪抬起、交接、立起，螺钉未退出，6 个节点全 false、断点 screw_unscrewed 正确；现象/根因留空并给出 gap_zh，证据（无状态日志、螺钉被遮挡、log 主要是 agent 自述）确实不足以定论，予以接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-ikea-ikea365-i00-standard--jbltdgx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-ikea-ikea365-i00-standard--jbltdgx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7f90fa64f52cd3d1002e112f8d6e00753c0583bcc58b2ac59ee961487407dd2d", + "video_sha256": "8c1b5643e06c715df17f2ced3e4a83cf8881547a7eb2610df7ff76b5cf3963c4", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--ulq2i52.json b/phaseR/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--ulq2i52.json new file mode 100644 index 0000000000000000000000000000000000000000..1b052b322d3e620af7426fe457946f0776d8e3ef --- /dev/null +++ b/phaseR/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--ulq2i52.json @@ -0,0 +1,236 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-ikea-lack-i00-standard--ulq2i52", + "taskKey": "roboarc/ikea_lack", + "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "live_rows": 228349, + "sim_steps": 913396, + "control_steps": 228349, + "sim_time_s": 570.8725000095595, + "elapsed_s": 10755.4, + "service_time_s": 2372.4, + "calls": 236, + "settle_failed": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "instance_mismatch": 0, + "video_rendered": 1, + "video_segments": 1, + "sim_error": 0, + "dump_lost": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.367, + "peak_processes": 9, + "peak_disk_gb": 0.464, + "peak_cpus": 0.49, + "peak_pids": 35, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-ikea-lack-i00-standard--ulq2i52.mp4", + "duration_s": 570.9, + "fps": 10.0, + "frames": 5709, + "sha256": "2eaf4fa3be96837b04246fe452c091a387b70b3a930f330c61589799a283f0b9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "legs_screwed_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 570.0, + "log_step": null, + "text_zh": "观察：视频 570.0 s 末帧，桌板被推斜转动，桌腿零散横放在桌板角部外侧/边缘，没有一根竖直套在螺柱上；视频 0-570 s 抽帧(每20 s)也未见任何一根腿坐实在螺柱上。 第1根腿都未达成，后续节点也未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：双臂二指夹爪多次夹取桌腿并试图对准螺柱（视频 60-500 s 多帧），未成功坐实；后段夹爪推动桌板使其转斜。" + } + ] + }, + "legs_screwed_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 570.0, + "log_step": null, + "text_zh": "观察：视频 570.0 s 末帧，桌板被推斜转动，桌腿零散横放在桌板角部外侧/边缘，没有一根竖直套在螺柱上；视频 0-570 s 抽帧(每20 s)也未见任何一根腿坐实在螺柱上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：双臂二指夹爪多次夹取桌腿并试图对准螺柱（视频 60-500 s 多帧），未成功坐实；后段夹爪推动桌板使其转斜。" + } + ] + }, + "legs_screwed_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 570.0, + "log_step": null, + "text_zh": "观察：视频 570.0 s 末帧，桌板被推斜转动，桌腿零散横放在桌板角部外侧/边缘，没有一根竖直套在螺柱上；视频 0-570 s 抽帧(每20 s)也未见任何一根腿坐实在螺柱上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：双臂二指夹爪多次夹取桌腿并试图对准螺柱（视频 60-500 s 多帧），未成功坐实；后段夹爪推动桌板使其转斜。" + } + ] + }, + "legs_screwed_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 570.0, + "log_step": null, + "text_zh": "观察：视频 570.0 s 末帧，桌板被推斜转动，桌腿零散横放在桌板角部外侧/边缘，没有一根竖直套在螺柱上；视频 0-570 s 抽帧(每20 s)也未见任何一根腿坐实在螺柱上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：双臂二指夹爪多次夹取桌腿并试图对准螺柱（视频 60-500 s 多帧），未成功坐实；后段夹爪推动桌板使其转斜。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "legs_screwed_1", + "where": "操作中", + "t": 120.0, + "evidence_zh": "观察：视频 60-200 s 机械臂抓起桌腿并移向螺柱，至视频 570 s 无一根腿坐实螺柱；桌板被推斜，腿散落在板角。", + "log_step": null + }, + "phenomena": [ + { + "t": 300.0, + "log_step": null, + "evidence_zh": "观察：视频 300-570 s 腿多次放在螺柱附近但未与螺柱对准坐实，最终横放在角部。", + "cat": "运动", + "item": "位姿不准" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：日志为 agent 长时间的相机标定与脚本调试，未能据此判定具体根因；未取得状态日志，现象仅按画面判断。", + "unmet": { + "legs_screwed_1": false, + "legs_screwed_2": false, + "legs_screwed_3": false, + "legs_screwed_4": false + } + }, + "summary_zh": "观察：视频 0-570.9 s 标准模式双臂多次抓取桌腿，但四根腿均未坐实在螺柱上，末帧桌板被推斜、腿散落。0/4节点达成，断点为第1根腿拧紧（操作中）。根因证据不足，无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "0/4 节点均未达成与视频一致：抽帧 30-570 s 未见任何腿竖直坐实在螺柱上，末帧桌板被推斜、腿散落板角；断点 legs_screwed_1 操作中、位姿不准、根因留空并给 gap_zh 均可接受。agent 日志中的 'all 4 legs done' 属自述，不作依据；无状态日志无法进一步判定根因。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-ikea-lack-i00-standard--ulq2i52/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-ikea-lack-i00-standard--ulq2i52/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5bbba205aeba162eabff0fff001fd9c432b695685646ab120b44b3e9bccb830c", + "video_sha256": "2eaf4fa3be96837b04246fe452c091a387b70b3a930f330c61589799a283f0b9", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--akxa8jp.json b/phaseR/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--akxa8jp.json new file mode 100644 index 0000000000000000000000000000000000000000..6dd393219249d79b1dab1aedd897c936dfbf218b --- /dev/null +++ b/phaseR/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--akxa8jp.json @@ -0,0 +1,399 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-ikea-stegesund-i00-standard--akxa8jp", + "taskKey": "roboarc/ikea_stegesund", + "dag_sha256": "656c0569e355e439cb282a42fb9657ffccf7c2ef372b5f148b5847054d6d406a", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "live_rows": 19801, + "sim_steps": 79204, + "control_steps": 19801, + "sim_time_s": 49.502499999964044, + "elapsed_s": 5820.9, + "service_time_s": 146.5, + "calls": 41, + "settle_failed": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "instance_mismatch": 0, + "video_rendered": 1, + "video_segments": 1, + "sim_error": 0, + "dump_lost": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.561, + "peak_processes": 9, + "peak_disk_gb": 0.391, + "peak_cpus": 1.38, + "peak_pids": 182, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-ikea-stegesund-i00-standard--akxa8jp.mp4", + "duration_s": 49.6, + "fps": 10.0, + "frames": 496, + "sha256": "41c7154017d5e214e1f490d983ede53434ac385ff927437f31db3c97ad9d1379" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "half_b_assembled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.5, + "log_step": null, + "text_zh": "观察：视频 49.5 s 末帧，两半架仍分离平放，搁板散落在右半架旁的桌面上，未见该节点的装配/竖立/就座；视频 0-49.6 s 内也未见。" + } + ] + }, + "shelf_assembled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.5, + "log_step": null, + "text_zh": "观察：视频 49.5 s 末帧，两半架仍分离平放，搁板散落在右半架旁的桌面上，未见该节点的装配/竖立/就座；视频 0-49.6 s 内也未见。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 25-45 s 一侧夹爪（log step 123/141 脚本为左臂）夹持搁板，侧立后放在右半架旁（视频时间；log step 126-142），未装入框架。" + } + ] + }, + "hex_key_in_hand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.5, + "log_step": null, + "text_zh": "观察：视频 2-45 s 两臂分别处理顶杆（右臂，step 121）和搁板（左臂，step 123/141），脚本中无扳手动作；扳手在视频 5 s 与 49.5 s 仍平躺原处，未见被夹起离开承托面（视频 2 s 扳手被夹爪遮挡，无法排除短暂接触）。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "左夹爪在视频 2-15 s 靠近扳手与顶杆，帧中无法确认是否夹住。" + } + ] + }, + "bolts_seated_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.5, + "log_step": null, + "text_zh": "观察：视频 49.5 s 末帧，两半架仍分离平放，搁板散落在右半架旁的桌面上，未见该节点的装配/竖立/就座；视频 0-49.6 s 内也未见。" + } + ] + }, + "bolts_seated_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.5, + "log_step": null, + "text_zh": "观察：视频 49.5 s 末帧，两半架仍分离平放，搁板散落在右半架旁的桌面上，未见该节点的装配/竖立/就座；视频 0-49.6 s 内也未见。" + } + ] + }, + "bolts_seated_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.5, + "log_step": null, + "text_zh": "观察：视频 49.5 s 末帧，两半架仍分离平放，搁板散落在右半架旁的桌面上，未见该节点的装配/竖立/就座；视频 0-49.6 s 内也未见。" + } + ] + }, + "bolts_seated_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.5, + "log_step": null, + "text_zh": "观察：视频 49.5 s 末帧，两半架仍分离平放，搁板散落在右半架旁的桌面上，未见该节点的装配/竖立/就座；视频 0-49.6 s 内也未见。" + } + ] + }, + "frame_upright": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.5, + "log_step": null, + "text_zh": "观察：视频 49.5 s 末帧，两半架仍分离平放，搁板散落在右半架旁的桌面上，未见该节点的装配/竖立/就座；视频 0-49.6 s 内也未见。" + } + ] + }, + "top_rod_placed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.5, + "log_step": null, + "text_zh": "观察：视频 49.5 s 末帧，两半架仍分离平放，搁板散落在右半架旁的桌面上，未见该节点的装配/竖立/就座；视频 0-49.6 s 内也未见。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：agent 脚本 Move 0A（log step 108-122）把顶杆移到 X=-230 mm 的暂放位，视频 2-25 s 顶杆由原处移到半架间空地，未放到框架顶部。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "half_b_position_error", + "value": null, + "unit": "mm", + "threshold": 0.6, + "direction": "lower_better" + }, + { + "name": "half_b_orientation_error", + "value": null, + "unit": "deg", + "threshold": 1, + "direction": "lower_better" + }, + { + "name": "shelf_position_error", + "value": null, + "unit": "mm", + "threshold": 0.6, + "direction": "lower_better" + }, + { + "name": "shelf_orientation_error", + "value": null, + "unit": "deg", + "threshold": 1, + "direction": "lower_better" + }, + { + "name": "bolt_axial_error_each", + "value": null, + "unit": "mm", + "threshold": 0.6, + "direction": "lower_better" + }, + { + "name": "bolt_transverse_error_each", + "value": null, + "unit": "mm", + "threshold": 0.6, + "direction": "lower_better" + }, + { + "name": "bolt_axis_error_each", + "value": null, + "unit": "deg", + "threshold": 2, + "direction": "lower_better" + }, + { + "name": "top_rod_position_error", + "value": null, + "unit": "mm", + "threshold": 3, + "direction": "lower_better" + }, + { + "name": "top_rod_symmetry_orientation_error", + "value": null, + "unit": "deg", + "threshold": 1, + "direction": "lower_better" + }, + { + "name": "half_a_world_z_angle", + "value": null, + "unit": "deg", + "threshold": 1, + "direction": "lower_better" + }, + { + "name": "max_part_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "max_part_angular_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.05, + "direction": "lower_better" + }, + { + "name": "max_part_depth_mm", + "value": null, + "unit": "mm", + "threshold": 10, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "where": "首步前", + "t": null, + "log_step": 150, + "evidence_zh": "观察：log step 150 起 agent 的模型请求被 Gemini 过滤器拦截（log step 150/152/154/157/159/161/163 均为拦截提示），此前只执行了顶杆与搁板的暂放动作，视频 49.5 s 仍无任何装配节点达成。推断：运行被模型提供方过滤器截断，属外部因素。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "外部因素：模型提供方（Gemini）过滤器在 log step 150 之后反复拦截请求，运行在完成装配前被截断，按规则不给现象与根因；日志中无任何可追溯到截断前机器人失败的证据。无状态日志，节点依视频判断。", + "unmet": { + "half_b_assembled": false, + "shelf_assembled": false, + "bolts_seated_1": false, + "bolts_seated_2": false, + "bolts_seated_3": false, + "bolts_seated_4": false, + "frame_upright": false, + "top_rod_placed": false + } + }, + "summary_zh": "观察：graded 视频 0-49.6 s 中机器人只把顶杆移到空地并把搁板侧放在右半架旁，9 个节点均未达成。agent 在 log step 150 之后被 Gemini 过滤器反复拦截，运行被外部因素截断（任务未做完，不归为 agent 失败）。无状态日志，扳手是否被短暂夹起无法确认。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "外部截断（log step 150 起 Gemini 过滤器拦截，wall 5851 s < 10800 s 限，无任何已交付/验证的轨迹）判断成立，breakpoint unknown/首步前、空现象与根因、9 节点均 false 与视频 0-49.5 s 一致。仅有 contact_actual 的执行臂描述有误：搁板由左臂（log step 123/141 move_0b 的 left arm）搬运，顶杆由右臂（step 121 move_0a 的 right arm）搬运。", + "n_issues": 2, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "外部截断判断成立（log step 150 起 Gemini 过滤器反复拦截，无交付），首步前/空现象与根因/9节点均 false 与视频一致；第1轮的两处臂归属问题已修正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-ikea-stegesund-i00-standard--akxa8jp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-ikea-stegesund-i00-standard--akxa8jp/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-ikea-stegesund-i00-standard--akxa8jp/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-ikea-stegesund-i00-standard--akxa8jp/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f51fb049125c7302ca3309f54c0e7f96a32049fc49382a6bcb6a091e39313059", + "video_sha256": "41c7154017d5e214e1f490d983ede53434ac385ff927437f31db3c97ad9d1379", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--r7at7fx.json b/phaseR/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--r7at7fx.json new file mode 100644 index 0000000000000000000000000000000000000000..935a29ba65bdfa4771ce79cafb94ec5b13dcc2db --- /dev/null +++ b/phaseR/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--r7at7fx.json @@ -0,0 +1,525 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-ikea-vesken-i00-standard--r7at7fx", + "taskKey": "roboarc/ikea_vesken", + "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "live_rows": 49146, + "sim_steps": 196584, + "control_steps": 49146, + "sim_time_s": 122.86499999989732, + "elapsed_s": 10770.5, + "service_time_s": 311.3, + "calls": 97, + "settle_failed": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "instance_mismatch": 0, + "video_rendered": 1, + "video_segments": 1, + "sim_error": 0, + "dump_lost": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.492, + "peak_processes": 9, + "peak_disk_gb": 0.457, + "peak_cpus": 1.78, + "peak_pids": 146, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-ikea-vesken-i00-standard--r7at7fx.mp4", + "duration_s": 122.9, + "fps": 10.0, + "frames": 1229, + "sha256": "81805d4f35531288a15df76a3a038f1a8480a0e2e3abbdaaa4092a78a243c81e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 23, + "base": null, + "peak": null, + "final": null, + "nodes": { + "feet_seated_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 61.0, + "log_step": 244, + "text_zh": "观察：视频约 28-36 s 左臂在零件盒取脚，44-67 s 右臂把底托盘竖起并翻转携带，脚插入处被托盘和夹爪遮挡，俯视帧无法分辨脚1是否扣入 BR 孔。agent 自述（log step 237-247）用深度图推断脚1已扣入并焊接，属 agent 自述，非视频证据；无状态日志，故无法判定，标 unknown。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左夹爪抓脚1，右夹爪抓住底托盘并翻转抬起（视频约 28-67 s）；扣入瞬间被遮挡，仅推断。" + } + ] + }, + "feet_seated_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 80-122 s 左夹爪在木盒上方多次靠近、拨动并抓取脚2（log step 272-407 的重复尝试），尚未送到托盘孔。" + } + ] + }, + "feet_seated_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "feet_seated_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "bottom_columns_seated_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "bottom_columns_seated_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "bottom_columns_seated_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "bottom_columns_seated_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "second_tray_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "middle_columns_seated_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "middle_columns_seated_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "middle_columns_seated_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "middle_columns_seated_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "third_tray_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "upper_columns_seated_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "upper_columns_seated_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "upper_columns_seated_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "upper_columns_seated_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "top_tray_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "caps_seated_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "caps_seated_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "caps_seated_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + }, + "caps_seated_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 122.8, + "log_step": null, + "text_zh": "观察：视频 122.8 s 末帧，左臂在木盒上方抓取脚2，托盘区未见第二只脚或任何立柱扣合；本节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "operations_passed", + "value": null, + "unit": "count", + "threshold": 23, + "direction": "higher_better" + }, + { + "name": "connector_abs_axial_gap", + "value": null, + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better" + }, + { + "name": "connector_lateral_error", + "value": null, + "unit": "m", + "threshold": 0.0008, + "direction": "lower_better" + }, + { + "name": "connector_axis_tilt", + "value": null, + "unit": "deg", + "threshold": 2, + "direction": "lower_better" + }, + { + "name": "floor_contact_N", + "value": null, + "unit": "N", + "threshold": 0.1, + "direction": "higher_better" + }, + { + "name": "orientation_deg", + "value": null, + "unit": "deg", + "threshold": 3, + "direction": "lower_better" + }, + { + "name": "max_part_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "max_part_angular_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.05, + "direction": "lower_better" + }, + { + "name": "max_part_depth_mm", + "value": null, + "unit": "mm", + "threshold": 10, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "feet_seated_2", + "where": "操作中", + "t": 110.0, + "log_step": 390, + "evidence_zh": "观察：视频 80-122.8 s 左臂反复在木盒上方处理脚2（log step 272-407：多次滑动分开、重抓），视频结束时脚2仍未到托盘 FR 孔，未扣合。推断：脚2是第一个未修复的步骤。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志，俯视低分辨率视频中脚2与相邻脚的接触细节、抓取是否成功无法分辨；log 中 agent 自述脚2与邻脚相贴难以分离，但只是自述，不作现象或根因。日志含多次 Gemini 过滤拦截（log step 135、137、316、384、386），会话在 log step 407 后结束，但图片图层不足以判断是外因还是用尽预算，故现象与根因留空。", + "unmet": { + "feet_seated_1": null, + "feet_seated_2": false, + "feet_seated_3": false, + "feet_seated_4": false, + "bottom_columns_seated_1": false, + "bottom_columns_seated_2": false, + "bottom_columns_seated_3": false, + "bottom_columns_seated_4": false, + "second_tray_seated": false, + "middle_columns_seated_1": false, + "middle_columns_seated_2": false, + "middle_columns_seated_3": false, + "middle_columns_seated_4": false, + "third_tray_seated": false, + "upper_columns_seated_1": false, + "upper_columns_seated_2": false, + "upper_columns_seated_3": false, + "upper_columns_seated_4": false, + "top_tray_seated": false, + "caps_seated_1": false, + "caps_seated_2": false, + "caps_seated_3": false, + "caps_seated_4": false + } + }, + "summary_zh": "观察：视频 122.9 s（仿真钟，agent 会话约 10770 s）内，机器人取脚1并翻转托盘，脚1是否扣入因遮挡无法判定（agent 自述已扣入），随后转向脚2，视频结束时仍在盒上处理脚2，其余节点均未达成。断点：第2只脚扣好（操作中）。主要缺口：无状态日志、现象与根因证据不足。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时钟、断点 feet_seated_2（操作中）与 feet_seated_1 的 unknown 均与视频一致：俯视低分辨率画面下脚1是否扣入确实无法分辨，视频末帧（122.8 s）木盒内仍有脚、托盘区无第二只脚扣合。agent 会话于 10800 s 限时被截断，现象与根因留空并写明 gap_zh，符合规则（用尽预算不作现象/根因）。未发现需改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:54:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-ikea-vesken-i00-standard--r7at7fx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-ikea-vesken-i00-standard--r7at7fx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3e6ca3dc5a9cfc6ab3e056fee03124cf0f35a26ba9f3736bbdeb900b7cd5ba05", + "video_sha256": "81805d4f35531288a15df76a3a038f1a8480a0e2e3abbdaaa4092a78a243c81e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-standard--qckzwow.json b/phaseR/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-standard--qckzwow.json new file mode 100644 index 0000000000000000000000000000000000000000..d0f43b6ec5f13b6083f9bdec27a9d64dab6c5db1 --- /dev/null +++ b/phaseR/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-standard--qckzwow.json @@ -0,0 +1,183 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-interlocked-claws-11-i01-standard--qckzwow", + "taskKey": "roboarc/interlocked_claws_11", + "dag_sha256": "bc162c49544ac4b5300a01bc75957a2a28650c18ef52e774b3d3dcccd78f8423", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 0, + "live_rows": 0, + "sim_steps": 0, + "physics_steps": 0, + "steps": 0, + "elapsed_s": 10796.2, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.616, + "peak_processes": 15, + "peak_disk_gb": 0.277, + "peak_cpus": 1.55, + "peak_pids": 146, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-interlocked-claws-11-i01-standard--qckzwow.mp4", + "duration_s": 0.067, + "fps": 15.0, + "frames": 1, + "sha256": "d7b6dcd3c21c7b5bdfabbbe688de13dc82eb98e738982fae960873e185664662" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pieces_separated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频仅 1 帧（0.067 s），主视角与右腕视角均显示棕色 C 环仍穿套在蓝绿色 AB 板上，两件在夹爪中，未分离。观察：run.json 中 n_actions=0、live_rows=0、steps=0，agent 全程没有向仿真发送任何动作（日志中 control_steps 只出现 0）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：没有交付任何轨迹（n_actions=0）；初帧两夹爪已夹着两件但未动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "pieces_separated", + "t": 0.0, + "log_step": null, + "where": "首步前", + "evidence_zh": "观察：视频仅初始帧，两件仍互锁；run.json n_actions=0，agent 在约 10800 s 的预算内（log step 2-203）只做几何分析和路径搜索脚本，从未向机器人发送动作（视频 0 s 起无任何运动）。拆开步骤的工作从未开始。" + }, + "unmet": { + "pieces_separated": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": null, + "evidence_zh": "观察：n_actions=0，视频只有未动的初始帧，没有任何抓取/拉拽动作，拆开步骤从未开始。" + } + ], + "root_causes": [], + "gap_zh": "根因层为空：agent 未交付任何动作，且 log step 195 出现 Gemini 过滤器拦截提示但会话随后继续，不属于外部截断；不能仅凭没尝试或缺少交付推断根因（D23）。无状态日志，视频只有 1 帧。" + }, + "summary_zh": "观察：graded 视频仅 1 帧（视频 0 s），C 环仍穿套在 AB 板上，agent 未发送任何动作（n_actions=0），唯一节点“分离互锁件”未达成。推断：断点是拆开步骤的首步前，agent 把约 10800 s 预算花在几何重建与 BFS 搜索（log step 2-203）而未执行；根因无证据，留空。主要缺口：无状态日志、视频只有 1 帧。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与证据一致：视频仅 1 帧（视频 0 s），C 环仍穿套在 AB 板上；n_actions=0；断点 pieces_separated / 首步前 / 没尝试，根因留空并写 gap_zh，符合 D23(a) 与 FAIL-22。未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:41Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-interlocked-claws-11-i01-standard--qckzwow/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-interlocked-claws-11-i01-standard--qckzwow/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3790eea654af843a0cb958934501495f7e854be4bace1f7142141d07ca67bec9", + "video_sha256": "d7b6dcd3c21c7b5bdfabbbe688de13dc82eb98e738982fae960873e185664662", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--vddcsg2.json b/phaseR/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--vddcsg2.json new file mode 100644 index 0000000000000000000000000000000000000000..053fff27cf7ee04ea71f7b215bcb725136788965 --- /dev/null +++ b/phaseR/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--vddcsg2.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-interlocked-claws-12-i01-privileged--vddcsg2", + "taskKey": "roboarc/interlocked_claws_12", + "dag_sha256": "af14f5c1b0564d10e4673fd97ca6f56e837c744669a0870c60a18be316795d51", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "all_success": 0, + "deterministic": 1, + "gpu_backend": 1, + "infra_error": 0, + "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 411, + "submitted_actions": 411, + "sim_steps": 411, + "physics_steps": 4110, + "sim_time_s": 10.275000000000079, + "final_reward": 0.0, + "replay_wall_s": 155.1, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 5, + "agent_resets": 25, + "agent_sim_steps": 822, + "agent_records": 0, + "agent_replays": 8, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.83, + "peak_memory_gb": 27.458, + "peak_processes": 27, + "peak_disk_gb": 0.699, + "peak_cpus": 15.9, + "peak_pids": 1677, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 1, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_oom": 1, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-interlocked-claws-12-i01-privileged--vddcsg2.mp4", + "duration_s": 10.334, + "fps": 15.0, + "frames": 155, + "sha256": "f098df0e1312add2040ead02c135a319edba7cc7776c25f11817c052c303316b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pieces_separated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.3, + "log_step": 302, + "text_zh": "观察：视频约 1.5-8.5 s 双臂各夹一件并移动、翻转；约 9 s 起右臂松开退开，至 10.3 s 两件落在桌面上仍互扣，无间隙；agent 的 trajectory 回放末帧也自述 10 方向间隙 -46.8 mm（需 ≥ +10 mm）（log step 302，agent 自述）。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频中左右两臂的二指夹爪各抓一件并带动其移动、转动；两件始终扣在一起。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "separating_plane_gap_m", + "value": -0.0468, + "unit": "m", + "threshold": 0.01, + "direction": "higher_better" + }, + { + "name": "maximum_linear_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "maximum_angular_speed_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "stable_time_s", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pieces_separated", + "t": 10.3, + "log_step": 302, + "where": "操作中", + "evidence_zh": "观察：视频约 1.5-8.5 s 双臂抓住两件并移动，约 9 s 起右臂松开退开，至 10.3 s 两件落在桌面上仍扣在一起，未形成间隙；agent 自述最终间隙 -46.8 mm（log step 302）。" + }, + "unmet": { + "pieces_separated": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 10.3, + "log_step": 302, + "evidence_zh": "观察：双臂夹持两件并按预定路径运动，但相对位姿未能把爪部拉开，视频末帧两件落在桌面上仍互锁。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "alt_feasible": "未知", + "evidence_zh": "agent 自述其 6D 网格 BFS 搜索即使允许 ±60° 倾斜也找不到拆开的通路，最佳 -52.3 mm，最终提交的轨迹仅 -46.8 mm（log step 302）：交付的是已知无法解开的路径。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "phenomenon 仅按视频与 agent 自述判断；无状态日志，未能核对接触力或夹爪是否滑脱。" + }, + "summary_zh": "观察：视频约 1.5-8.5 s 双臂各夹一件并移动，约 9 s 后右臂松开，至视频末帧两件落在桌面上仍互锁，唯一节点“完全拆开两件”未达成。断点在拆开操作本身；agent 自述（log step 302）规划搜索未找到通路，最终间隙 -46.8 mm。无状态日志，原因主要来自 agent 自述。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "整体同意：pieces_separated 未达成、断点在拆开操作、推理/规划根因有 agent 回放 -46.8 mm 支持。仅一处证据描述不准：视频约 9–10.3 s 右臂已松开并退到远处，两件落在桌面仍互扣，并非“至末帧双臂仍各夹一件”。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "同意：唯一节点 pieces_separated 未达成（视频 8 s 与 9.5 s 帧两件仍互扣，右臂已退开），断点、contact_actual（双臂协作+抓握）、推理/规划根因（agent log step 302 自述搜索平台约 -30 mm、最终 -46.8 mm）均有证据支持；上一轮的证据措辞已修正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--vddcsg2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--vddcsg2/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--vddcsg2/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--vddcsg2/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e67fb8f8212f41fc54c24f1e74c06b90d58b41fc04b61ec65b08c5c4ba8df663", + "video_sha256": "f098df0e1312add2040ead02c135a319edba7cc7776c25f11817c052c303316b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--uqhwdea.json b/phaseR/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--uqhwdea.json new file mode 100644 index 0000000000000000000000000000000000000000..74f3b11e78bb922367aa7352ce0600c53b0bc628 --- /dev/null +++ b/phaseR/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--uqhwdea.json @@ -0,0 +1,174 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-06-i01-privileged--uqhwdea", + "taskKey": "roboarc/knot_untying_06", + "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "all_success": 1, + "deterministic": 1, + "gpu_backend": 1, + "infra_error": 0, + "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 1041, + "submitted_actions": 1101, + "sim_steps": 1041, + "physics_steps": 5202, + "sim_time_s": 26.009999999999593, + "final_reward": 1.0, + "replay_wall_s": 2045.7, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 0, + "replay_tolerance_needed": 0, + "strict_goal_reached": 1, + "strict_goal_row": 1041, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 2, + "agent_resets": 5, + "agent_sim_steps": 2082, + "agent_records": 0, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.849, + "peak_memory_gb": 2.053, + "peak_processes": 14, + "peak_disk_gb": 0.544, + "peak_cpus": 1.53, + "peak_pids": 200, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-knot-untying-06-i01-privileged--uqhwdea.mp4", + "duration_s": 26.134, + "fps": 15.0, + "frames": 392, + "sha256": "39b927d039a3373575b6837c9ac4a281c618ae8dd9c39f159b21a25ddb109442" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "rope_untangled_flat": { + "method": "visual", + "intervals": [ + [ + 26.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.0, + "log_step": null, + "text_zh": "观察：视频 22.5-23.5 s 绳中央仍有线圈打结，视频 24.5 s 起结已展开成宽弯，视频 25.5 s 和末帧 26.1 s 绳子贴桌、俯视无交叉，夹爪已离开绳。评分器字段：strict_goal_row=1041（共 1101 行，最后 60 行为保持），sim_time 26.0 s，成功。推断：达成时刻约视频 26.0 s（毫米级静止/净距条件只能由评分器确认）。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 6-23 s 左右两个二指夹爪分别夹持绳段，拉开并解开中央线圈（视频 12、18 s 帧可见夹爪在绳结处）；之后松开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "成功：双臂夹爪在视频约 6-24 s 解开中央绳结并铺开，末段（视频约 26.0 s，评分器 strict_goal_row 1041）满足无交叉、贴桌、离手。无状态日志，毫米级条件靠评分器结果确认。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行；视频 22.5-23.5 s 仍有线圈，24.5 s 起展开，25.5-26.0 s 绳子平铺无交叉，与节点时间、final 及评分器 strict_goal_row=1041 一致，接触标注合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-knot-untying-06-i01-privileged--uqhwdea/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-06-i01-privileged--uqhwdea/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "290949aa8d25b174a1cc0ba99645ba47f9ca2323d37ad9cefcd7404c06e108f9", + "video_sha256": "39b927d039a3373575b6837c9ac4a281c618ae8dd9c39f159b21a25ddb109442", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--wva6gar.json b/phaseR/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--wva6gar.json new file mode 100644 index 0000000000000000000000000000000000000000..90b28fcc4560797c911cfd3a8c51e982952406af --- /dev/null +++ b/phaseR/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--wva6gar.json @@ -0,0 +1,183 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-06-i01-standard--wva6gar", + "taskKey": "roboarc/knot_untying_06", + "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 6, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 5617, + "live_rows": 5617, + "sim_steps": 5617, + "physics_steps": 28085, + "steps": 1059, + "elapsed_s": 7955.3, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.203, + "peak_processes": 9, + "peak_disk_gb": 0.367, + "peak_cpus": 1.0, + "peak_pids": 68, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-knot-untying-06-i01-standard--wva6gar.mp4", + "duration_s": 140.534, + "fps": 15.0, + "frames": 2108, + "sha256": "ae2b5964cd44a73a91c18ac4932f253223879da126f5406c00db7b18f353d0df" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled_flat": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 140.4, + "log_step": 106, + "text_zh": "观察：视频 140.4 s（末帧）主俯视图中橙色绳子中段仍有一个收紧的小结，尾段有弯折，绳体并未铺成无交叉的平面曲线；对照初始帧（视频 0 s）的松散中央线圈，结只是变紧并移位。无状态日志，毫米级条件无法核实，但可见的结已足以判定未达成。推断：agent 自述“结仍在”（log step 106）与此一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频中左右夹爪多次夹住绳段并牵拉（如视频 20-120 s），结被拖动、收紧；末段双爪松开回到起始位。双臂也曾相互碰撞（agent 自述 safety_force 最高约 530 N，log step 106）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "rope_untangled_flat", + "t": 20.0, + "log_step": 106, + "where": "操作中", + "evidence_zh": "观察：视频整段内夹爪反复抓拉绳子，结未解开，视频 140.4 s 仍有一个收紧的结。agent 最终报告（log step 106）自述首次拉拽就让整个结滑动收紧，之后各次尝试同样失败。" + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "alt_feasible": "未知", + "evidence_zh": "agent 自述把结判为八字结，并选择拉内侧绳段，结果结整体滑动收紧（log step 106）；视频中结确实变紧。该判断是否为错误的解结顺序仅出自 agent 自述，待核实。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "现象层留空：视频只显示结被拖紧、未解开，没有足够清晰的画面区分抓握失败、滑脱或其他具体现象；无状态日志。根因仅来自 agent 自述与末帧。", + "unmet": { + "rope_untangled_flat": false + } + }, + "summary_zh": "观察：唯一节点“绳子解开铺平”未达成（final false）。机器人反复抓拉绳段，视频 140.4 s 结仍在且被拉紧，断点为该解结步骤的操作中。根因推断为解结策略不当（agent 自述，log step 106），现象与细节因无状态日志、视频分辨率有限而未细分。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "唯一节点未达成与末帧一致（140.4 s 仍有收紧的结，尾部另有环），断点与保守的空现象层及 gap_zh 可接受；根因已标为 agent 自述、alt_feasible 未知。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:28Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-knot-untying-06-i01-standard--wva6gar/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-06-i01-standard--wva6gar/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7ebca3ce613fa8c65c8887b04fe755e657105f6c2cde80e33291b85b83b08e40", + "video_sha256": "ae2b5964cd44a73a91c18ac4932f253223879da126f5406c00db7b18f353d0df", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--qrtm7bh.json b/phaseR/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--qrtm7bh.json new file mode 100644 index 0000000000000000000000000000000000000000..5a25683efad237075e60c5a2bad9c85f2d3247c1 --- /dev/null +++ b/phaseR/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--qrtm7bh.json @@ -0,0 +1,219 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-privileged--qrtm7bh", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "all_success": 0, + "deterministic": 1, + "gpu_backend": 1, + "infra_error": 0, + "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 3944, + "submitted_actions": 3944, + "sim_steps": 4024, + "physics_steps": 20120, + "sim_time_s": 100.60000000000575, + "final_reward": 0.0, + "replay_wall_s": 5354.4, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 80, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 1, + "agent_resets": 6, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.848, + "peak_memory_gb": 1.413, + "peak_processes": 12, + "peak_disk_gb": 0.265, + "peak_cpus": 1.49, + "peak_pids": 199, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-knot-untying-09-i01-privileged--qrtm7bh.mp4", + "duration_s": 100.667, + "fps": 15.0, + "frames": 1510, + "sha256": "0d1091781efbe5ab903dc86dce4d8cde2d5d44b6deb33c399961287c85f08c8d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 100.0, + "log_step": 111, + "text_zh": "观察：视频 0-100 s 绳始终有交叉；视频 100 s 帧中左爪旁仍是缠结的结（cam_high 与腕部视图可见多处交叉），与 oracle 的解开形态不同。agent 终报也自述图八结仍在、12 个投影交叉（log step 111，会话证据）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 10-100 s 左（及右）夹爪夹住结内绳段上提、牵引，结整体滑过柱子仍未解开。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 100.0, + "log_step": 111, + "text_zh": "观察：视频 50-100 s 绳被摆到左下区域，但左爪在视频 100 s 仍在结旁抓/贴绳，未见两爪松开并静止；绳形也未解开。推断：该节点的离手静止验收未成立，且与解结共同判据不满足；中心线是否全在绿框内无法逐点核实。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 30-90 s 夹爪抓取绳段逐段挪放到桌面左下区域。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 20.0, + "where": "操作中", + "evidence_zh": "观察：视频约 10-20 s 夹爪夹住结内绳段上提，结整体滑离柱子仍是结；之后一直把结拉紧、重新铺放，直到视频 100 s 仍未解开。agent 自述（log step 111）图八结被拉紧靠近夹子。", + "log_step": 111 + }, + "phenomena": [ + { + "cat": "其他", + "item": "其他", + "t": 20.0, + "log_step": 111, + "evidence_zh": "观察：视频 20-100 s 结从未被解开，只是被整体搬移并拉紧；推断：属于解结操作未改变绳的拓扑（候选：结未解开/拓扑未变），无现有现象值恰当。", + "note_zh": "候选名“结未解开（拓扑未变）”：现有现象值（没建立接触/没保持住/位姿不准等）均不描述夹到绳却解不开结。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "evidence_zh": "agent 自述先将结内绳段上提，期望穿过自由端，结果整个结滑过柱顶；事后自述应先在柱仍撑开结时解开（log step 111）。解法可预先推演，属顺序/策略错误。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "无状态日志，目标区中心线是否全在框内只能目测；phenomenon 取值为其他，因无合适现有项。", + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + } + }, + "summary_zh": "观察：graded 视频 100.7 s 内，机器人把整根绳连同图八结从柱上拉下并铺到左下区，但结始终未解开，两个节点终态均为 false。断点在解结（视频约 10-20 s 把结整体滑过柱顶）；推断根因为解结策略/顺序错误（agent 终报自述，log step 111）。缺少状态日志，入区情况仅目测。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频帧支持标注：绳结被整体拉离柱子仍是结，100 s 绳仍有交叉，两节点 false、断点 rope_untangled 约 20 s 合理；根因的视频可见部分（结整体滑过柱顶）与 agent 终报一致，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:41Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-privileged--qrtm7bh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-privileged--qrtm7bh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a54d8b98450f9f45bd2d553a5cf29732204117a5d56f839e0e004d00432fc11f", + "video_sha256": "0d1091781efbe5ab903dc86dce4d8cde2d5d44b6deb33c399961287c85f08c8d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--ahstver.json b/phaseR/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--ahstver.json new file mode 100644 index 0000000000000000000000000000000000000000..6e87a34f71ba7929484f027c0e2f684b226e2d19 --- /dev/null +++ b/phaseR/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--ahstver.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-standard--ahstver", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 7022, + "live_rows": 7022, + "sim_steps": 7022, + "physics_steps": 35110, + "steps": 1755, + "elapsed_s": 10753.0, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-knot-untying-09-i01-standard--ahstver.mp4", + "duration_s": 175.6, + "fps": 15.0, + "frames": 2634, + "sha256": "a4b839419cdc901a2cc900683cfbd7f792768cdabfb1e1084c1b7d9d844557ca" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 绳在短柱旁盘成多处交叉的结。" + }, + { + "t": 170, + "log_step": 207, + "text_zh": "观察：视频 170 s 绳仍在订扣旁形成一个自交叉的环；视频 175.4 s 左夹爪正伸向该环，末帧交叉仍在。agent 自述 016_win 欲折开最后一环（log step 207）。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 30-90 s 右夹爪在订扣柱旁夹住并抬起绳段，左夹爪夹另一绳段牵引；120 s 后主要为左夹爪。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 175.4, + "log_step": 207, + "text_zh": "观察：视频末帧 175.4 s 夹爪仍在绳上未松开且绳仍有交叉；解结未完成，联合条件不成立。绳大部分位于左下目标区附近，但无法逐点核对边界与离手条件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪夹住绳段并向左下目标区拖放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "where": "操作中", + "t": 170, + "evidence_zh": "观察：视频 170-175.4 s 绳仍有自交叉环，末帧夹爪还在处理最后一环；解结步骤未完成。", + "log_step": 207 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "未能确定具体现象与根因：视频仅显示绳最后一环未解开，无状态日志，不足以区分位姿不准或抓取问题；agent 自述不作为证据。", + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + } + }, + "summary_zh": "观察：视频 175.6 s 内绳由多交叉的结展开为只剩最后一个自交叉环，最后一环在末帧时仍未解开，两节点均未达成（final false）。断点在解结/理绳步骤（操作中）。无状态日志，现象与根因留空；agent 最后一步 016_win 在视频结束时仍在执行。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值（两节点均未达成）、断点（rope_untangled，操作中）与留空现象/根因基本站得住；但 contact_actual 只写了左夹爪，视频显示右臂也多次夹绳，应为双臂协作。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点均未达成、断点 rope_untangled(操作中)、双臂协作·抓握（第1轮已改）与留空现象/根因（有 gap_zh）均与视频一致；末帧 175.4 s 绳仍有自交叉环。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--ahstver/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--ahstver/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--ahstver/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--ahstver/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7b1dbb18a6e461f7eb934bc883801f4fb71e36f029f1cf69bf70376ef4cc3465", + "video_sha256": "a4b839419cdc901a2cc900683cfbd7f792768cdabfb1e1084c1b7d9d844557ca", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--lfao7cb.json b/phaseR/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--lfao7cb.json new file mode 100644 index 0000000000000000000000000000000000000000..cef5182c80be71ea165919473d756593e7c7266e --- /dev/null +++ b/phaseR/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--lfao7cb.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-knot-untying-09-i01-standard--lfao7cb", + "taskKey": "roboarc/knot_untying_09", + "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 11, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 12232, + "live_rows": 12232, + "sim_steps": 12232, + "physics_steps": 61160, + "steps": 2380, + "elapsed_s": 10856.7, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.202, + "peak_processes": 11, + "peak_disk_gb": 0.396, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-knot-untying-09-i01-standard--lfao7cb.mp4", + "duration_s": 305.867, + "fps": 15.0, + "frames": 4588, + "sha256": "fa7b8eefcb512bfb4d6e98f554d79300f2b729c328eca2cb260c4f2918d46c09" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_untangled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 305.5, + "log_step": null, + "text_zh": "观察：视频 305.5 s（最后一帧）cam_high 中绳仍在短柱旁盘成圈并交叉重叠，与视频 0 s 的初始绳结形态基本相同；整段视频没有出现交叉消除的画面，未达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 150–305 s 夹爪在结/柱附近接触绳，但帧中无法确认是否夹住。" + } + ] + }, + "rope_in_goal_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 305.5, + "log_step": null, + "text_zh": "观察：视频 305.5 s 绳结仍在柱旁，长尾段伸向右下，右夹爪靠近尾端；整条绳未落入左下目标区，且夹爪仍在绳旁，未达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频中右夹爪靠近长尾段，但看不出是否把绳段移入目标区；绳最终未入区。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "minimum_nonlocal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.008, + "direction": "higher_better" + }, + { + "name": "outside_fraction", + "value": null, + "unit": "ratio", + "threshold": 0, + "direction": "lower_better" + }, + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "rope_untangled", + "t": 175.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 120–305.5 s 双臂在绳结/短柱附近反复操作，但 305.5 s 绳结仍盘在柱旁、交叉未消除；agent 自述计划“右臂把线圈抬过柱子再拉尾端展开”（log step 20），评分器 success=0、live_success=0（reward 字段）。解结是第一个未完成的步骤。" + }, + "unmet": { + "rope_untangled": false, + "rope_in_goal_region": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视角中夹爪常遮挡绳结，无状态日志，无法判定夹爪是否夹住并抬起绳圈，因此不给出接触类/运动类现象和根因；agent 日志最后一步（log step 72–78）显示其在最后 18 分钟改用“尾部拖拽”脚本，且 log step 74 报错 Exit code 144、step 77 找不到 phaseV.py，仅作会话证据。" + }, + "summary_zh": "观察：graded 视频 0–305.9 s 内绳结始终盘在短柱旁，最后一帧交叉仍在，两个目标节点（解结理绳、绳铺入目标区）均未达成，0/2。断点在解结（操作中）；因夹爪遮挡且无状态日志，失败现象与根因留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（两节点均未达成）、断点 rope_untangled 与留空现象/根因基本成立；视频首尾帧对比确认绳仍绕柱交叉。仅 contact_actual 的“抓握”缺乏帧证据，应改为未知。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个节点均未达成、断点为解结（操作中）与视频一致：220 s 和 305 s 帧中绳仍绕柱成圈。现象与根因留空且有 gap_zh，证据不足以判定，可接受；上一轮的 contact_actual 问题已修正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--lfao7cb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--lfao7cb/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--lfao7cb/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-knot-untying-09-i01-standard--lfao7cb/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4de1275357f601441ffa933b2f358ff38191df30dcafd61cedf2b926afb9e642", + "video_sha256": "fa7b8eefcb512bfb4d6e98f554d79300f2b729c328eca2cb260c4f2918d46c09", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-standard--dvovwbr.json b/phaseR/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-standard--dvovwbr.json new file mode 100644 index 0000000000000000000000000000000000000000..6d28c244781c13f42968e8cb55d56064e177f918 --- /dev/null +++ b/phaseR/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-standard--dvovwbr.json @@ -0,0 +1,184 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-04-i01-standard--dvovwbr", + "taskKey": "roboarc/lock_picking_04", + "dag_sha256": "d4e49ab65a201d93b24b5a78fce11e4b29d89296ffc4b5887819e083c1316e8d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 40, + "live_rows": 40, + "sim_steps": 40, + "physics_steps": 400, + "steps": 0, + "elapsed_s": 5631.4, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-lock-picking-04-i01-standard--dvovwbr.mp4", + "duration_s": 1.067, + "fps": 15.0, + "frames": 16, + "sha256": "0b6253650f590048e85ac41e656de9107210897c00c4d8aa91a85073772da2db" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "key_through_lock": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0–1.07 s 的 16 帧里机械臂始终停在初始位姿，钥匙未靠近转子板，紫/蓝/橙转子与绿色终板上无钥匙轴穿过（对比 oracle 视频 300 s 处钥匙贯穿）。log 中 sim.submit 全程为 0，只有 step 8 一次观察快照，没有提交任何动作。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：agent 没有提交任何轨迹（log 各步 sim.submit=0），视频中夹爪未接触钥匙孔或转子板。" + } + ] + } + }, + "constraints": {}, + "contact_actual": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "key_through_lock", + "t": null, + "where": "首步前", + "evidence_zh": "观察：视频 0–1.07 s 机械臂静止；log step 8 之后约 5500 s 全部用于点云/圆盘展开等离线感知分析（log step 71-80），sim.submit 一直为 0，到 log step 83 结束仍无动作。", + "log_step": 83 + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 83, + "evidence_zh": "观察：agent 从未提交动作，视频里机械臂全程不动，钥匙未接近锁。" + } + ], + "root_causes": [], + "gap_zh": "agent 只做感知分析、未交付任何轨迹，原因（停止而非规划错误）无证据，故根因层留空；无状态日志。", + "unmet": { + "key_through_lock": false + } + }, + "summary_zh": "观察：agent 在约 5600 s 的会话内只做了一次观察和大量离线点云分析，从未提交动作；视频 1.07 s 内机械臂静止，钥匙贯穿锁组未达成（0/1）。断点为钥匙穿锁首步前，没尝试；根因无证据留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅 1.07 s（16 帧）机械臂静止、钥匙仍在支架、终板无凸耳伸出，key_through_lock=false、0/1 正确；log sim_total submit=0，断点首步前/没尝试与 CASES FAIL-22 一致，根因层留空并有 gap_zh；时间引用均为 log 的 agent 时钟或视频时钟，未换算。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-lock-picking-04-i01-standard--dvovwbr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-04-i01-standard--dvovwbr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "06e4c4f5647c1dad2b299b71902897164665069714049e6638bd8fe196096c69", + "video_sha256": "0b6253650f590048e85ac41e656de9107210897c00c4d8aa91a85073772da2db", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--mrzlzth.json b/phaseR/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--mrzlzth.json new file mode 100644 index 0000000000000000000000000000000000000000..396e29cdfd52ccb9c00334d39a2a92b18ed85c3d --- /dev/null +++ b/phaseR/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--mrzlzth.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-lock-picking-05-i01-standard--mrzlzth", + "taskKey": "roboarc/lock_picking_05", + "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 7949, + "live_rows": 7949, + "sim_steps": 7949, + "physics_steps": 79481, + "steps": 1983, + "elapsed_s": 2909.6, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-lock-picking-05-i01-standard--mrzlzth.mp4", + "duration_s": 198.8, + "fps": 15.0, + "frames": 2982, + "sha256": "ca10a532f75d3bdbef0cbfd7ac34b0957d6ed2ad4915d816cfd990c2fdb6d2d3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "key_through_rotor_1": { + "method": "visual", + "intervals": [ + [ + 28, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28, + "log_step": null, + "text_zh": "推断：约 28 s 起轴尖进入第1板区域（仅为轴尖入板时间的估计），具体通过时刻不可辨，由评分器 success=1 保证终态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Franka 单臂的 Robotiq 二指夹爪夹持钥匙柄，推送钥匙轴穿板（视频 16 s 起可见夹爪持钥匙）。" + } + ] + }, + "key_through_rotor_2": { + "method": "visual", + "intervals": [ + [ + 36, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36, + "log_step": null, + "text_zh": "推断：约 36 s 为估计值，具体通过时刻不可辨，由评分器 success=1 保证终态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Franka 单臂的 Robotiq 二指夹爪夹持钥匙柄，推送钥匙轴穿板（视频 16 s 起可见夹爪持钥匙）。" + } + ] + }, + "key_through_rotor_3": { + "method": "visual", + "intervals": [ + [ + 80, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 80, + "log_step": null, + "text_zh": "观察：约 76–84 s 轴尖出现在第3板（橙）外；此前约 52 s 曾在第4板外见尖随后回撤（56–72 s 不可见）。长凸耳具体通过时刻不可辨，起点取可见线索约 80 s（推断），终态由评分器保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Franka 单臂的 Robotiq 二指夹爪夹持钥匙柄，推送钥匙轴穿板（视频 16 s 起可见夹爪持钥匙）。" + } + ] + }, + "key_through_rotor_4": { + "method": "visual", + "intervals": [ + [ + 90, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 90, + "log_step": null, + "text_zh": "观察：约 52 s 第4板（品红）外曾见尖后回撤；约 88–100 s 轴尖再次稳定出现在第4板外。起点取约 90 s（推断），具体通过时刻不可辨，终态由评分器保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Franka 单臂的 Robotiq 二指夹爪夹持钥匙柄，推送钥匙轴穿板（视频 16 s 起可见夹爪持钥匙）。" + } + ] + }, + "key_through_end": { + "method": "visual", + "intervals": [ + [ + 196, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 196, + "log_step": null, + "text_zh": "观察：视频 100–190 s 主视图轴尖未越过第4板；约 194 s 轴尖到板心，198 s 轴穿出品红板伸向 END（绿）板（最后一帧）。起点取约 196 s，终态由评分器 success=1 保证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Franka 单臂的 Robotiq 二指夹爪夹持钥匙柄，推送钥匙轴穿板（视频 16 s 起可见夹爪持钥匙）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：评分器 success=1，视频 198.8 s 最后一帧钥匙轴贯穿全部转子板并越过第4板伸向 END 板（约 194–198 s 才到 END 板）。五节点终态均达成；第1/2板时间为推断，第3/4板按可见线索约 80/90 s，具体通过时刻不可辨；无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "评分器 success=1，终态五节点全 true 正确；但 key_through_end 的开始时间 100 s 明显错误（轴尖越过 END 板只在视频约 194–198 s），第3/4板的 44/50 s 也与画面矛盾（轴尖约 52 s 到第4板外，随后回撤，约 76 s 才再到第3板、约 88 s 之后才再到第4板）。各时间是均匀猜测而非观察。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "评分器 success=1，五节点终态为真，与末帧一致；各起点时间已标为推断，第一轮问题已修正，未发现新错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:56:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--mrzlzth/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--mrzlzth/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--mrzlzth/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-lock-picking-05-i01-standard--mrzlzth/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1d0fea75e13e7b950e7f43d0be0a1bbdfa79ae17c6bb20e3f751d0f908f594c6", + "video_sha256": "ca10a532f75d3bdbef0cbfd7ac34b0957d6ed2ad4915d816cfd990c2fdb6d2d3", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--ttqn3yy.json b/phaseR/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--ttqn3yy.json new file mode 100644 index 0000000000000000000000000000000000000000..c6ffa00ba5b5b0b9bc24927b7c6a1edfa4fc29c4 --- /dev/null +++ b/phaseR/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--ttqn3yy.json @@ -0,0 +1,207 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-03-i01-standard--ttqn3yy", + "taskKey": "roboarc/rope_threading_03", + "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 3, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 5073, + "live_rows": 5073, + "sim_steps": 5073, + "physics_steps": 5073, + "steps": 1894, + "elapsed_s": 10806.8, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-rope-threading-03-i01-standard--ttqn3yy.mp4", + "duration_s": 203.0, + "fps": 15.0, + "frames": 3045, + "sha256": "ddf5d0274933be96000b6c770f64843d699c2801f329bb783e205efbe6208df2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "r1_threaded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 202.9, + "log_step": null, + "text_zh": "观察：视频 150-158 s 右夹爪在绳端上方/旁；视频 165-202.9 s 黄色绳始终以原来的弧形平躺在桌面上，从未被提起或移动，三个视角均未见绳穿过任何环；夹爪（无绳）在 170-202.9 s 停在青环 R1 处。（r1_threaded 未达成）" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：右夹爪（无绳）在视频 175-202.9 s 移到青环 R1 处，绳不在夹爪中；未见有效抓握或推绳。" + } + ] + }, + "r2_threaded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 202.9, + "log_step": null, + "text_zh": "观察：视频 150-158 s 右夹爪在绳端上方/旁；视频 165-202.9 s 黄色绳始终以原来的弧形平躺在桌面上，从未被提起或移动，三个视角均未见绳穿过任何环；夹爪（无绳）在 170-202.9 s 停在青环 R1 处。（r2_threaded 未达成）" + } + ] + }, + "r3_threaded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 202.9, + "log_step": null, + "text_zh": "观察：视频 150-158 s 右夹爪在绳端上方/旁；视频 165-202.9 s 黄色绳始终以原来的弧形平躺在桌面上，从未被提起或移动，三个视角均未见绳穿过任何环；夹爪（无绳）在 170-202.9 s 停在青环 R1 处。（r3_threaded 未达成）" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "r1_threaded", + "t": 160.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 150-158 s 右夹爪到达绳端后，绳仍以原弧形留在桌上（视频 165-202.9 s），夹爪空手移到青环 R1，绳从未穿环。推断：抓绳未成功，第一步青环从未完成。" + }, + "unmet": { + "r1_threaded": false, + "r2_threaded": false, + "r3_threaded": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 160.0, + "log_step": null, + "evidence_zh": "观察：视频 158-202.9 s 绳始终躺在桌面原位，夹爪空着推进青环，没有夹住绳。" + } + ], + "root_causes": [], + "gap_zh": "根因未填：agent 自述（log step 105、114、189）称绳已“weld”到右夹爪且三环均已穿过，但视频显示绳留在桌上，二者矛盾，视频为准；视频没有给出抓取失败的具体原因（位置偏差、夹爪闭合时机等），故不下根因。视频仅 203 s，与 agent 会话不同步，无状态日志。" + }, + "summary_zh": "观察：视频 0-203 s 中右臂在 150-158 s 接近绳端，之后空夹爪移向并停在青环处，绳始终留在桌面，三环均未穿过（0/3）。断在第一步绳穿青环的抓取/送绳，现象为没建立接触；agent 自述已抓住并穿过三环（log step 189），与视频矛盾，视频为准。根因缺证据，未填写。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频中绳始终平躺在桌面原弧形，三环均未穿过，0/3 与断点 r1_threaded 成立；无根因并附 gap_zh 合理（无状态日志，agent 自述与视频矛盾）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-rope-threading-03-i01-standard--ttqn3yy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-03-i01-standard--ttqn3yy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fbe35d2ff6ef44418ac799248073a828b2820865561e687576727efdb03f5ba9", + "video_sha256": "ddf5d0274933be96000b6c770f64843d699c2801f329bb783e205efbe6208df2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-standard--ngzn45w.json b/phaseR/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-standard--ngzn45w.json new file mode 100644 index 0000000000000000000000000000000000000000..23b80e88292e463fc88d1545038ca056be5c6619 --- /dev/null +++ b/phaseR/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-standard--ngzn45w.json @@ -0,0 +1,252 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-04-i01-standard--ngzn45w", + "taskKey": "roboarc/rope_threading_04", + "dag_sha256": "8b3850fa1c4bded1ee72d91f210918cde6a7ecb944e8b7638d56a47bd7705a89", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 6, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 15403, + "live_rows": 15403, + "sim_steps": 15403, + "physics_steps": 15403, + "steps": 4699, + "elapsed_s": 9866.7, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.264, + "peak_processes": 11, + "peak_disk_gb": 0.398, + "peak_cpus": 1.0, + "peak_pids": 116, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-rope-threading-04-i01-standard--ngzn45w.mp4", + "duration_s": 616.2, + "fps": 15.0, + "frames": 9243, + "sha256": "ed73f921d8c9a364ebb5abf7c3abf2b05cd7534d3f9a2cb3b404d13c53637304" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 616.0, + "log_step": null, + "text_zh": "观察：视频 0–616.2 s 抽帧（0/100/200/300/400/500/600/616 s）黄绳始终平放在隔墙右侧桌面，未穿过青色壁孔；末帧腕部视图仍见孔空着。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 160–220 s 右夹爪动过绳（绳弧形状/位置变化），之后 300–616 s 夹爪在壁孔前绳段上方反复下探，绳未穿孔。推断（agent 自述）：4 次闭合均为空夹读数。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 616.0, + "log_step": null, + "text_zh": "观察：视频 0–616.2 s 抽帧中该环/孔均无黄绳穿过，绳仍在桌面；agent 自述无任何穿越完成（log step 最后一步）。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 616.0, + "log_step": null, + "text_zh": "观察：视频 0–616.2 s 抽帧中该环/孔均无黄绳穿过，绳仍在桌面；agent 自述无任何穿越完成（log step 最后一步）。" + } + ] + }, + "rope_through_b": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 616.0, + "log_step": null, + "text_zh": "观察：视频 0–616.2 s 抽帧中该环/孔均无黄绳穿过，绳仍在桌面；agent 自述无任何穿越完成（log step 最后一步）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_g1", + "t": 300.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 300–616 s 夹爪在壁孔前方桌面反复下探，绳始终未穿孔。推断（agent 自述）：最后几次抓取空夹。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 500.0, + "log_step": null, + "evidence_zh": "观察：视频 400–616 s 夹爪停在绳段上方/旁边，绳未离桌。推断（据 agent 自述）：闭合抓空；视频无法区分没建立接触与位姿不准。" + } + ], + "root_causes": [], + "gap_zh": "根因未知：agent 自述给出可达性死区（z≈0.025、高度差约12 mm）与腕部相机拟合偏差 21–25 mm 两种解释，视频与状态日志（无）均无法区分；无状态日志；夹爪动作只按稀疏帧核对。", + "unmet": { + "rope_through_g1": false, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_b": false + } + }, + "summary_zh": "观察：视频 0–616.2 s 全程黄绳未穿过任何孔，四个节点均未达成（0/4）。断点在绳穿青色壁孔一步，夹爪多次下探但绳未穿孔（空夹为 agent 自述）。根因未知（agent 自述的可达死区与感知拟合偏差无法区分）。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "四节点未达成、断点 rope_through_g1 与视频一致（全程绳未穿孔）。但根因只来自 agent 自述（且自述本身同时提到感知拟合偏差），不应作为已定根因；接触描述与 160–220 s 视频中绳被拖动重排的可见事实不符。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "四节点均未达成、断点 rope_through_g1、根因置空并写 gap_zh，均与视频一致（全程绳未穿孔，无状态日志）；第 1 轮意见已落实，未发现新错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:56:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-rope-threading-04-i01-standard--ngzn45w/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-04-i01-standard--ngzn45w/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-04-i01-standard--ngzn45w/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-rope-threading-04-i01-standard--ngzn45w/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7a91257f4293dd81f68143ead6268f78912d843b6b85bdd8b04768a1e961a474", + "video_sha256": "ed73f921d8c9a364ebb5abf7c3abf2b05cd7534d3f9a2cb3b404d13c53637304", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-standard--arm3cda.json b/phaseR/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-standard--arm3cda.json new file mode 100644 index 0000000000000000000000000000000000000000..c158dceb648b4057c33b632807d2410a7b384ac2 --- /dev/null +++ b/phaseR/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-standard--arm3cda.json @@ -0,0 +1,225 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-05-i01-standard--arm3cda", + "taskKey": "roboarc/rope_threading_05", + "dag_sha256": "28a255a86b5f6b2d7fe5380ac2da36d476396319370f0867564cba1178f62a54", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1501, + "live_rows": 1501, + "sim_steps": 1501, + "physics_steps": 1501, + "steps": 302, + "elapsed_s": 10782.4, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-rope-threading-05-i01-standard--arm3cda.mp4", + "duration_s": 60.134, + "fps": 15.0, + "frames": 902, + "sha256": "065fecb4c72d1a7026efabb1515a6cb651054c5d966b3abde6087546bb441666" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [ + [ + 52.5, + 58.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 54.4, + "log_step": 117, + "text_zh": "观察：视频 52-57 s 右夹爪夹着绳端穿过青色墙孔，左夹爪在墙另一侧接绳；视频末帧（≈60 s）绳端已回到墙右侧、右夹爪在墙边，未见穿孔。agent 自述“rope is through cyan”（log step 117）。推断：仅绳端局部穿越，约视频 58 s 前后丢失，区间边界不确定。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "右夹爪捏住绳端送入青孔，左夹爪多次尝试在墙另一侧接绳（log 156-185 记录未夹住）" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.9, + "log_step": 207, + "text_zh": "观察：全视频 0-60 s 绳未靠近绿环/紫孔/琥珀环，末帧三者周围无绳；agent 末报告（log step 207）称未完成四孔序列。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.9, + "log_step": 207, + "text_zh": "观察：全视频 0-60 s 绳未靠近绿环/紫孔/琥珀环，末帧三者周围无绳；agent 末报告（log step 207）称未完成四孔序列。" + } + ] + }, + "rope_through_v": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.9, + "log_step": 207, + "text_zh": "观察：全视频 0-60 s 绳未靠近绿环/紫孔/琥珀环，末帧三者周围无绳；agent 末报告（log step 207）称未完成四孔序列。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "rope_through_g1", + "where": "操作中", + "t": 57.0, + "log_step": 185, + "evidence_zh": "观察：视频 52-57 s 绳端穿过青孔后，左夹爪未能夹住绳（log 156-185 多次闭合落空/碰到右夹爪），末帧绳端回到墙右侧；第一孔就未稳定完成交接。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 55.0, + "log_step": 156, + "evidence_zh": "观察：log step 156、176 称左夹爪闭合时未夹住绳；视频 53-57 s 左夹爪在墙左侧张合，绳未随其移动。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "观察：左夹爪多次接绳均被墙/右夹爪阻挡或夹空（log 125,163,185）；推断：交接几何（接收位姿与露出绳段）不合适。", + "source_zh": "日志、视频" + } + ], + "gap_zh": "无状态日志，节点时间由视频目测；视频仅60 s，agent 会话约 3 小时，其余为会话证据。", + "unmet": { + "rope_through_g1": false, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_v": false + } + }, + "summary_zh": "观察：视频 60 s 内右夹爪把绳端送过青孔（约视频 52-58 s），但左夹爪交接始终未夹住，末帧绳端回到墙右侧；四节点均未保持到结束，0/4。推断：断点在 G1 的交接，原因为接收夹爪的接触几何不合适；无状态日志，穿孔区间边界不确定。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、断点（G1 交接）与现象（没建立接触）与视频一致：绳端约 52-56 s 穿过青孔，57 s 起绳端回到右侧，后三孔全程无绳。无足以要求修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-rope-threading-05-i01-standard--arm3cda/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-05-i01-standard--arm3cda/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d0c63099e3efef8364cbe12fd5c50d7cb735316365a93aba0b3c5f58cf9e85aa", + "video_sha256": "065fecb4c72d1a7026efabb1515a6cb651054c5d966b3abde6087546bb441666", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-standard--yb7uylq.json b/phaseR/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-standard--yb7uylq.json new file mode 100644 index 0000000000000000000000000000000000000000..f6c1ecdcd6d96dea4788771f6084c1a5925f5ef1 --- /dev/null +++ b/phaseR/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-standard--yb7uylq.json @@ -0,0 +1,248 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-05-i01-standard--yb7uylq", + "taskKey": "roboarc/rope_threading_05", + "dag_sha256": "28a255a86b5f6b2d7fe5380ac2da36d476396319370f0867564cba1178f62a54", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1910, + "live_rows": 1910, + "sim_steps": 1910, + "physics_steps": 1910, + "steps": 765, + "elapsed_s": 10784.5, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.403, + "peak_processes": 9, + "peak_disk_gb": 0.38, + "peak_cpus": 0.96, + "peak_pids": 142, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-rope-threading-05-i01-standard--yb7uylq.mp4", + "duration_s": 76.467, + "fps": 15.0, + "frames": 1147, + "sha256": "504dabb381503f84c8cc19661fd6c35e419b3f6e4b369cb56d3c751ae480a5f4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [ + [ + 57.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 57.5, + "log_step": 203, + "text_zh": "观察：56 s 绳仍在孔下方未入孔；约 57.5-58 s 起，两个青环广角/腕部视图中米黄色绳穿过青色墙孔 G1，并持续到视频末（76.3 s）。推断：G1 在约 57-58 s 到达，不确定约 ±1 s（无状态日志，穿越方向与整绳速度条件无法从画面核实）。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左右夹爪交接并牵引绳段穿过 G1（agent 用 Move 3-10 送绳、交接）；视频中夹爪捏绳" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 76.3, + "log_step": 203, + "text_zh": "观察：视频全程直至末帧 76.3 s，绳均未穿过绿色环（绿环在左座上无绳，琥珀环无绳）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：约 70-76 s 左夹爪抓绳靠近绿环（log step 203 Move 11 准备穿绿环），未穿过" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 76.3, + "log_step": 203, + "text_zh": "观察：视频全程直至末帧 76.3 s，绳均未穿过紫孔（绿环在左座上无绳，琥珀环无绳）。" + } + ] + }, + "rope_through_v": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 76.3, + "log_step": 203, + "text_zh": "观察：视频全程直至末帧 76.3 s，绳均未穿过琥珀环（绿环在左座上无绳，琥珀环无绳）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "rope_through_a", + "where": "操作中", + "t": 70.0, + "evidence_zh": "观察：G1 约 58 s 后，视频 70-76.3 s 左夹爪抓绳向绿环 A 移动，末帧绳仍未穿环；log step 203 agent 称启动 Move 11 穿绿环，随后视频结束，成功=0。", + "log_step": 203 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：只完成 G1（约 58 s），绿环尝试尚未完成时视频结束；无状态日志，无法确认失败时的具体接触状态，现象与根因证据不足故留空。agent 会话耗时极长（log 10 784 s）但视频仅 76 s；不据此推断原因。", + "unmet": { + "rope_through_g1": true, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_v": false + } + }, + "summary_zh": "图式：绳在视频约 58 s 穿过青色墙孔 G1（视觉判断，±1 s），绿环、紫孔、琥珀环均未完成，1/4。断点为穿绿环 A（视频 70-76 s 正在抓绳靠近绿环时视频结束）；无状态日志，现象与根因证据不足留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "G1 到达时间标得偏晚：视频约 57.5-58 s 起绳已穿过青孔（两个青环视图），不是 62 s。其余节点（A/G2/V 未达成）和断点基本合理。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "G1 约 57.5-58 s 到达与帧一致；A/G2/V 至末帧未达成；断点在绿环 A 合理；日志 wall 10803 s 超 10800 s 时限，视频在 Move 11 执行中结束，现象/根因留空并有 gap_zh 说明，符合规则。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-rope-threading-05-i01-standard--yb7uylq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-05-i01-standard--yb7uylq/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-05-i01-standard--yb7uylq/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-rope-threading-05-i01-standard--yb7uylq/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "717ccc8b44b357fe3277eec155b87fd9b100da1766086c92395c1c8b1777898a", + "video_sha256": "504dabb381503f84c8cc19661fd6c35e419b3f6e4b369cb56d3c751ae480a5f4", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--v7jm25o.json b/phaseR/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--v7jm25o.json new file mode 100644 index 0000000000000000000000000000000000000000..ee144f9cf4a9374bc59d0b016933b6895f4e44d5 --- /dev/null +++ b/phaseR/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--v7jm25o.json @@ -0,0 +1,263 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-06-i01-standard--v7jm25o", + "taskKey": "roboarc/rope_threading_06", + "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 5, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3024, + "live_rows": 3024, + "sim_steps": 3024, + "physics_steps": 3024, + "steps": 2807, + "elapsed_s": 10826.2, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-rope-threading-06-i01-standard--v7jm25o.mp4", + "duration_s": 121.0, + "fps": 15.0, + "frames": 1815, + "sha256": "355cf75645b7c037757cd31c1fc6aa83e6f18cbc09159fccf8d8a6f3df35cd42" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "g1_threaded": { + "method": "visual", + "intervals": [ + [ + 12.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 12 s 腕部相机可见绳段贯穿青色壁孔G1，20 s、30 s 仍在孔内；推断：约 12 s 达成（精度约数秒）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "二指夹爪捏持绳段穿孔，随后换手" + } + ] + }, + "a_threaded": { + "method": "visual", + "intervals": [ + [ + 35.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 45.0, + "log_step": null, + "text_zh": "观察：视频 30 s 夹爪把绳端送到绿环A，45 s 总览中绳穿过绿环并延伸，之后保持；推断：约 35 s 达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "二指夹爪捏持绳段穿孔，随后换手" + } + ] + }, + "g2_threaded": { + "method": "visual", + "intervals": [ + [ + 55.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 55.0, + "log_step": null, + "text_zh": "观察：视频 55 s、68 s、80 s 腕部相机可见绳穿过紫色壁孔G2，45 s 时尚空；推断：约 55 s 达成。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "一爪穿绳过G2后由另一爪接手（agent 自述 log step 208）" + } + ] + }, + "b_threaded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.0, + "log_step": null, + "text_zh": "观察：视频末帧 120 s 绳端停在琥珀环B前，绳未穿过B（高位视图）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪尝试在B处重抓，观察到未穿过；agent 自述右爪被环B卡住（log step 205）" + } + ] + }, + "g3_threaded": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.0, + "log_step": null, + "text_zh": "观察：视频末帧红色壁孔G3处无绳穿过；B 未完成故 G3 未开始。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "b_threaded", + "where": "操作中", + "t": 95.0, + "evidence_zh": "观察：视频末帧（约 120 s）绳端停在琥珀环B前未穿过；agent 自述（log step 208）右夹爪在 012_thread_B 中被环B卡住。", + "log_step": 205 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "现象与根因均留空：右夹爪被环B卡住只有 agent 自述（log step 205、208），视频未显示该接触，按规则不据自述给接触现象；无状态日志。节点时间为视频目测，精度约数秒。", + "unmet": { + "g1_threaded": true, + "a_threaded": true, + "g2_threaded": true, + "b_threaded": false, + "g3_threaded": false + } + }, + "summary_zh": "观察：视频中 G1（约 12 s）、A（约 35 s）、G2（约 55 s）依次穿过，B 与 G3 未完成，3/5。推断：断点在穿过琥珀环B的操作（agent 自述右夹爪被环B卡住，log step 208）；时间预算用尽不是原因。证据缺口：无状态日志，卡住细节视频不可见。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "G1/A/G2 视频可见依次穿过，B、G3 末帧未完成，3/5 与帧相符；断点 b_threaded 合理；现象/根因留空并给出 gap_zh，因卡住只有 agent 自述，符合规则。未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-rope-threading-06-i01-standard--v7jm25o/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-06-i01-standard--v7jm25o/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8a16ab11add0013ed3b310edf8672995ce061b53ffa34e4f4d2b6d17ea7cf021", + "video_sha256": "355cf75645b7c037757cd31c1fc6aa83e6f18cbc09159fccf8d8a6f3df35cd42", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/rope_threading_07/trajectories/roboarc-rope-threading-07-i01-standard--ltydtnq.json b/phaseR/roboarc/rope_threading_07/trajectories/roboarc-rope-threading-07-i01-standard--ltydtnq.json new file mode 100644 index 0000000000000000000000000000000000000000..11b69d252d5b09666133f39005dc8216a7704163 --- /dev/null +++ b/phaseR/roboarc/rope_threading_07/trajectories/roboarc-rope-threading-07-i01-standard--ltydtnq.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-07-i01-standard--ltydtnq", + "taskKey": "roboarc/rope_threading_07", + "dag_sha256": "d8fd620b0fb7ce9c7451f794c8021bc625b601720b669d609467ed82926c5b1d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 2, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 757, + "live_rows": 757, + "sim_steps": 757, + "physics_steps": 757, + "steps": 608, + "elapsed_s": 7669.4, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.388, + "peak_processes": 10, + "peak_disk_gb": 0.348, + "peak_cpus": 1.06, + "peak_pids": 147, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-rope-threading-07-i01-standard--ltydtnq.mp4", + "duration_s": 30.334, + "fps": 15.0, + "frames": 455, + "sha256": "0978b1ff121039071e7cb5b05329062c8f732e1320e47ac2281f8b895b1c5cd4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [ + [ + 11.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.0, + "log_step": 98, + "text_zh": "观察：视频 9-11 s 腕部视角中黄色绳端穿过青色孔口，视频 18 s 与 30.2 s 总览中绳从墙孔一直延伸到左侧工作区；推断：G1 约视频 11 s 起已穿过且未被抽回（时间不确定，约±2 s）。agent 自述 log step 98 把绳端经 G1 交给左夹爪。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：右夹爪夹绳端经 G1 送入，左夹爪在孔另一侧接绳（log step 98 自述交接，视频 9-18 s 两夹爪靠近墙孔）。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.2, + "log_step": 161, + "text_zh": "观察：视频 30.2 s（最后一帧）左夹爪持绳端停在绿环 A 旁，绳未从环中穿出，左腕视角中绳端靠近环但未穿过；agent 自述 log step 161 仍在尝试把绳尖送入 A。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪夹住绳端在绿环 A 附近操作，绳未穿过环。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.2, + "log_step": null, + "text_zh": "观察：视频全程两臂都未触及 G2、T、G3 附近，绳未穿过；这些节点未被尝试（依赖前序）。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.2, + "log_step": null, + "text_zh": "观察：视频全程两臂都未触及 G2、T、G3 附近，绳未穿过；这些节点未被尝试（依赖前序）。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.2, + "log_step": null, + "text_zh": "观察：视频全程两臂都未触及 G2、T、G3 附近，绳未穿过；这些节点未被尝试（依赖前序）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "maximum_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "rope_through_a", + "where": "操作中", + "t": 30.0, + "log_step": 161, + "evidence_zh": "观察：视频 30.2 s 左夹爪持绳端停在绿环 A 旁，绳未穿环；log step 161 agent 自述正把绳尖送入 A。log step 167-173 连续四次 Gemini 过滤器拦截，agent 未再动作，会话在此中断。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "agent 在 log step 167-173 被模型提供方过滤器拦截而中断（外部因素），视频中 A 一步的失败原因无足够证据判断：不给现象和根因；视频只有 30 s，无状态日志。", + "unmet": { + "rope_through_g1": true, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_t": false, + "rope_through_g3": false + } + }, + "summary_zh": "观察：视频 30.3 s 内绳端约在视频 11 s 起穿过 G1 并留在左侧，绿环 A 未穿过，G2、T、G3 未尝试，成功=0（1/5）。推断：断点为 A 步操作中；agent 在 log step 167-173 被 Gemini 过滤器拦截而中断，属外部因素，故不给现象与根因。缺口：G1 时间不精确、无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "G1 约视频 11 s 起穿过、A 未穿、其余未尝试，与帧一致；log 末尾四次 Gemini 过滤器拦截属外部切断，空现象/根因层并附 gap_zh 符合 FAIL-5。断点 A 步操作中合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:54:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-rope-threading-07-i01-standard--ltydtnq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-07-i01-standard--ltydtnq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "20a8efdda65ba5f1b2859469bb255dd7569c70347422c4489ee8abc0e112c5ec", + "video_sha256": "0978b1ff121039071e7cb5b05329062c8f732e1320e47ac2281f8b895b1c5cd4", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--2hu3erm.json b/phaseR/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--2hu3erm.json new file mode 100644 index 0000000000000000000000000000000000000000..fae2e1ec10e9faf364cd16ad8179c0b83b6be767 --- /dev/null +++ b/phaseR/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--2hu3erm.json @@ -0,0 +1,281 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-rope-threading-08-i01-privileged--2hu3erm", + "taskKey": "roboarc/rope_threading_08", + "dag_sha256": "cc2dfc2dca07aaac91db36d0a53ad9b0a2378e6367bc797a631461839ca8f622", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "all_success": 0, + "deterministic": 1, + "gpu_backend": 1, + "infra_error": 0, + "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 284, + "submitted_actions": 284, + "sim_steps": 334, + "physics_steps": 334, + "sim_time_s": 13.359999999999891, + "final_reward": 0.0, + "replay_wall_s": 825.1, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 50, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 44, + "agent_resets": 2, + "agent_sim_steps": 7092, + "agent_records": 10, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-rope-threading-08-i01-privileged--2hu3erm.mp4", + "duration_s": 13.4, + "fps": 15.0, + "frames": 201, + "sha256": "6e19236ba8ed80446954a96ffec63c65d5fc92993729984879e35bb4fbb7664e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "rope_through_g1": { + "method": "visual", + "intervals": [ + [ + 5.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.0, + "log_step": 279, + "text_zh": "观察：视频 5.3 s 时墙另一侧尚无绳；6.0 s 起右臂夹爪持绳，绳端已越过白色隔墙的孔，在墙左侧露出一小段，直到视频 13.3 s 末帧保持不变。推断：绳端伸过G1约4-6 cm并带正确方向；该判断与 agent 在 log step 279 自述的测量 crossing_sequence=[G1,-1] 一致（自述仅作旁证）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右臂（画面右侧）二指夹爪夹住绳的材料末端，把绳端送过隔墙孔G1并保持。" + } + ] + }, + "rope_through_a": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.3, + "log_step": 279, + "text_zh": "观察：视频 13.3 s 末帧中绳仅有一小段越过G1，其余绳体仍在墙右侧，未见绳穿过该环/孔；agent 自述后续孔未完成（log step 279）。" + } + ] + }, + "rope_through_g2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.3, + "log_step": 279, + "text_zh": "观察：视频 13.3 s 末帧中绳仅有一小段越过G1，其余绳体仍在墙右侧，未见绳穿过该环/孔；agent 自述后续孔未完成（log step 279）。" + } + ] + }, + "rope_through_t": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.3, + "log_step": 279, + "text_zh": "观察：视频 13.3 s 末帧中绳仅有一小段越过G1，其余绳体仍在墙右侧，未见绳穿过该环/孔；agent 自述后续孔未完成（log step 279）。" + } + ] + }, + "rope_through_g3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.3, + "log_step": 279, + "text_zh": "观察：视频 13.3 s 末帧中绳仅有一小段越过G1，其余绳体仍在墙右侧，未见绳穿过该环/孔；agent 自述后续孔未完成（log step 279）。" + } + ] + }, + "rope_through_c": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.3, + "log_step": 279, + "text_zh": "观察：视频 13.3 s 末帧中绳仅有一小段越过G1，其余绳体仍在墙右侧，未见绳穿过该环/孔；agent 自述后续孔未完成（log step 279）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "rope_through_a", + "where": "转场", + "t": 13.3, + "log_step": 279, + "evidence_zh": "观察：视频 6.0-13.3 s 右臂夹爪持绳端停在G1孔处保持不动，无朝A的动作；绳的其余部分仍在墙右侧，未穿A。推断：G1已完成，下一步 A 在评分局里从未启动，故断在 G1→A 的转场。" + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 6.0, + "log_step": 279, + "evidence_zh": "观察：视频 6.0-13.3 s 右臂夹爪保持绳端于G1，无朝A的动作；交付轨迹（284 行）在 G1 之后只静止保持，交付已保存并验证（log step 274-279），不属外因截断。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：视频只显示 G1 之后夹爪静止，看不出为何不继续；agent 自述（log step 279）称受挂钟预算限制，但用尽预算不是根因，故根因层留空。", + "unmet": { + "rope_through_g1": true, + "rope_through_a": false, + "rope_through_g2": false, + "rope_through_t": false, + "rope_through_g3": false, + "rope_through_c": false + } + }, + "summary_zh": "观察：视频 13.4 s 内右臂夹爪夹住绳的材料末端，约 5.8-6.0 s 起绳端穿过隔墙孔G1并保持到结束，G1 达成，A、G2、T、G3、C 均未达成（1/6）。断点在 G1 之后转场：绳穿绿环A 在评分局里从未启动（没尝试）；根因证据不足，见 gap_zh。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "G1 达成时间（约 5.8-6.0 s）与末帧所见一致，其余五节点未达、1/6 正确。问题在断点 A 的标法：交付轨迹在 G1 之后只保持静止，从未开始穿 A，却标成 `操作中` 且现象为空；按 03 文档应补 没尝试。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "G1 约 6 s 达成、其余五节点未达（1/6）与帧一致；断点 A、没尝试、根因留空并附 gap_zh 均符合规则，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:56:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-privileged--2hu3erm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-privileged--2hu3erm/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-privileged--2hu3erm/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-rope-threading-08-i01-privileged--2hu3erm/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "517d17529cecbe2ca556b3a7242a0e0c81154cda848529e6a682dd5d3a3a553b", + "video_sha256": "6e19236ba8ed80446954a96ffec63c65d5fc92993729984879e35bb4fbb7664e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-privileged--3gpqqi8.json b/phaseR/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-privileged--3gpqqi8.json new file mode 100644 index 0000000000000000000000000000000000000000..563170bd1497230b108ed7e69d3da59338c4aa19 --- /dev/null +++ b/phaseR/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-privileged--3gpqqi8.json @@ -0,0 +1,238 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-slotted-post-ring-03-i01-privileged--3gpqqi8", + "taskKey": "roboarc/slotted_post_ring_03", + "dag_sha256": "9cd6608edfcbda0a11d1cb71a3b832dac36a2d6362af3bca9f3fc93416e5b3ce", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 7, + "all_success": 0, + "deterministic": 1, + "gpu_backend": 1, + "infra_error": 0, + "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 6921, + "submitted_actions": 6921, + "sim_steps": 7001, + "physics_steps": 70010, + "sim_time_s": 175.02500000002266, + "final_reward": 0.0, + "replay_wall_s": 9939.3, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 80, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 1, + "agent_resets": 5, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.83, + "peak_memory_gb": 1.298, + "peak_processes": 11, + "peak_disk_gb": 0.87, + "peak_cpus": 1.48, + "peak_pids": 272, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-slotted-post-ring-03-i01-privileged--3gpqqi8.mp4", + "duration_s": 175.134, + "fps": 15.0, + "frames": 2627, + "sha256": "ea1e213a3a742a69081d61cbf7fd3b64e60bd78f0d34d54d9db8fc39335db5d6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "remainder_on_system_side": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0–12 s 绳、珠、绿盘摊在立柱旁原位；初态按文字构造的分隔面成立（S4(a)，从 0 起算）。推断：此后余件只被拖向立柱脚下（远离目标方框，视频 174 s），未见越向目标侧，故视为一直留在系统侧；无分隔面几何数据，微小越界无法核实。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪尝试移动绳、珠（log step 328 珠转移失败），具体接触不清" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 170.0, + "log_step": 335, + "text_zh": "观察：视频 20–175 s 里，机器人抓环抬起、转向、换手，但环始终在立柱/绳附近，从未解脱并进入目标方框；末帧（视频 175 s）环仍悬在立柱旁。agent 自述“环仍缠绕”（log step 335）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂夹爪辅助抓握金属环并抬起转向，后续换到右臂尝试，环未解脱" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "ring_in_goal", + "t": 170.0, + "where": "操作中", + "evidence_zh": "观察：视频 20–175 s 环已抓起并多次转向/换手，但始终与绳缠绕在立柱旁，未解脱入区；agent 自述环仍缠绕（log step 335）。", + "log_step": 335 + }, + "phenomena": [ + { + "t": 170.0, + "log_step": 328, + "evidence_zh": "观察：视频约 72–175 s，环在夹爪中被抬起、转向，但始终与立柱和绳缠在一起（立柱与绳为阻挡），未能脱出，174 s 环仍套在绳旁；未到放置阶段，故不是位姿不准。", + "cat": "运动", + "item": "被挡/碰撞" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，环与绳/立柱缠绕的几何及夹爪受力无法核实；已检查视频与 agent 日志，只能看到环被反复阻挡，看不出是抓取设计、轨迹还是反馈控制所致，故根因留空。余件节点终态按视频推断为留在系统侧，无分隔面几何。", + "unmet": { + "remainder_on_system_side": true, + "ring_in_goal": false + } + }, + "summary_zh": "观察：视频 175 s 内机器人抓环、抬起、转向并换手，但环始终被立柱与绳缠住（被挡/碰撞），未进入目标区，金属环入目标区未达成。余件节点自 0 起视为留在系统侧（推断，无分隔面几何）。无状态日志，根因证据不足。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "ring_in_goal 未达成、断点在该节点基本正确（末帧环仍在夹爪里、靠近立柱与绳）。但 remainder_on_system_side 按 S4(a) 初态成立应从 0 起算，不应整体 unknown；phenomenon「位姿不准」与帧所见（环被抬起但始终与绳/立柱缠绕）不匹配，根因全空。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "ring_in_goal 未达成、断点在该节点、余件节点自0起、现象被挡/碰撞均有帧支撑（环被抬起但始终被绳缠住，174 s 仍在立柱旁）；根因留空并有 gap_zh，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:56:21Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-slotted-post-ring-03-i01-privileged--3gpqqi8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-slotted-post-ring-03-i01-privileged--3gpqqi8/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-slotted-post-ring-03-i01-privileged--3gpqqi8/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-slotted-post-ring-03-i01-privileged--3gpqqi8/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5ef2cdc5b2f0cce11c33b75498ab8767ebc70aae32da38888dc01f6d7d030d85", + "video_sha256": "ea1e213a3a742a69081d61cbf7fd3b64e60bd78f0d34d54d9db8fc39335db5d6", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-privileged--c8jyfyt.json b/phaseR/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-privileged--c8jyfyt.json new file mode 100644 index 0000000000000000000000000000000000000000..f020a1d2fff395d2cdcb66a7f81a856f658b33c0 --- /dev/null +++ b/phaseR/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-privileged--c8jyfyt.json @@ -0,0 +1,265 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-slotted-post-ring-03-i01-privileged--c8jyfyt", + "taskKey": "roboarc/slotted_post_ring_03", + "dag_sha256": "9cd6608edfcbda0a11d1cb71a3b832dac36a2d6362af3bca9f3fc93416e5b3ce", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 0, + "all_success": 0, + "deterministic": 1, + "gpu_backend": 1, + "infra_error": 0, + "simulator_instability": 0, + "instance_ok": 1, + "instance_exact": 1, + "initial_state_generated": 0, + "instance_realized": 0, + "assets_exact": 1, + "runtime_binding_ok": 1, + "n_actions": 392, + "submitted_actions": 392, + "sim_steps": 472, + "physics_steps": 4720, + "sim_time_s": 11.8000000000001, + "final_reward": 0.0, + "replay_wall_s": 246.5, + "replays": 2, + "grader_error": 0, + "video_rendered": 1, + "replay_hold_steps": 80, + "replay_tolerance_needed": 0, + "strict_goal_reached": 0, + "strict_goal_row": 0, + "strict_replay_required": 1, + "success_in_hold_only": 0, + "agent_sessions": 76, + "agent_resets": 75, + "agent_sim_steps": 5714, + "agent_records": 12, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-slotted-post-ring-03-i01-privileged--c8jyfyt.mp4", + "duration_s": 11.867, + "fps": 15.0, + "frames": 178, + "sha256": "761ca85306b9f67c23aac73b8975703e6129de6aa713f09774d9486df4cb7722" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "remainder_on_system_side": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.8, + "log_step": 199, + "text_zh": "观察：视频 0-11.9 s 立柱、绳、珠和端盘均留在原位，只有右臂下探到立柱处；未见余件被带向绿色目标侧。推断：该节点自初态起一直成立（初态仅由文字构造推定）。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：未触碰余件。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.8, + "log_step": 199, + "text_zh": "观察：视频 约3-11.9 s 右臂夹爪下探到立柱上的金属环处并停住，金属环始终套在立柱上，未离开立柱、未进入绿色方框；最后一帧同样如此。log step 199 agent 自述夹爪无法到达环顶抓取。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：右臂夹爪下探至环/立柱附近但未夹住环（候选：接近未夹持）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "target_horizontal_clearance", + "value": null, + "unit": "m", + "threshold": 0.001, + "direction": "higher_better" + }, + { + "name": "target_min_height_above_table", + "value": null, + "unit": "m", + "threshold": -0.001, + "direction": "higher_better" + }, + { + "name": "target_max_height_above_table", + "value": null, + "unit": "m", + "threshold": 0.230257, + "direction": "lower_better" + }, + { + "name": "target_max_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "target_max_angular_speed", + "value": null, + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "joint_confirmation_duration", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ring_in_goal", + "t": 6.0, + "where": "操作中", + "evidence_zh": "观察：视频 约3-11.9 s 右臂夹爪下探到环上方后一直停在立柱处，环未被抓起也未移动。agent 自述（log step 195、199）夹爪碰撞体与桌面保护冲突，夹爪无法下到管顶。", + "log_step": 199 + }, + "phenomena": [ + { + "t": 8.0, + "log_step": 199, + "evidence_zh": "观察：视频 8-11.9 s 右夹爪停在环上方，环仍套在立柱上，未见夹爪夹住环。", + "cat": "接触", + "item": "没建立接触" + } + ], + "root_causes": [ + { + "evidence_zh": "agent 自述（log step 195、199）：夹爪指板的碰撞体延伸到 TCP 之下，桌面保护阻止最后下降，倾斜姿态又够不到环；其试过多种姿态仍未解决（未经视频或状态日志独立核实）。", + "source_zh": "agent 自述", + "alt_feasible": "未知", + "cat": "控制", + "item": "抓取和接触设计" + } + ], + "gap_zh": "无状态日志；agent 自述的碰撞原因未经独立验证，故根因为待核实。", + "unmet": { + "remainder_on_system_side": true, + "ring_in_goal": false + } + }, + "summary_zh": "观察：视频 0-11.9 s 内右臂下探到立柱处的金属环但未能抓取，环始终套在立柱上，未进入目标区；余件未被扰动。断点在“金属环入目标区”的操作中，现象为没建立接触，agent 自述夹爪碰撞体与桌面保护冲突。缺口：无状态日志，余件留系统侧由视频推定。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频显示右臂约3 s 前下探到立柱金属环处后静止，环始终套在立柱上，未入目标区；节点值、断点（ring_in_goal，操作中）、现象（没建立接触）与标注一致。根因取自 agent 自述并已标注未独立核实，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:54:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-slotted-post-ring-03-i01-privileged--c8jyfyt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-slotted-post-ring-03-i01-privileged--c8jyfyt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b54b4c6db420eb32e93f14aad843b9399ef7c4414d27a1a35f3b8c32a203a7f6", + "video_sha256": "761ca85306b9f67c23aac73b8975703e6129de6aa713f09774d9486df4cb7722", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--dzbph8c.json b/phaseR/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--dzbph8c.json new file mode 100644 index 0000000000000000000000000000000000000000..e7efacb868bc9f95f3bbbc025fe33fc6dd65efea --- /dev/null +++ b/phaseR/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--dzbph8c.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "roboarc-slotted-post-ring-04-i01-standard--dzbph8c", + "taskKey": "roboarc/slotted_post_ring_04", + "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "success_pending_review": 0, + "review_events": 0, + "review_max_depth_mm": 0.0, + "forcing_events": 1, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "runtime_binding_ok": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3541, + "live_rows": 3541, + "sim_steps": 3541, + "physics_steps": 35410, + "steps": 1740, + "elapsed_s": 11008.1, + "video_rendered": 1, + "video_pending": 0, + "infra_error": 0, + "sim_error": 0, + "simulator_instability": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "instance_mismatch": 0, + "initial_state_generated": 0, + "instance_realized": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:roboarc-slotted-post-ring-04-i01-standard--dzbph8c.mp4", + "duration_s": 88.6, + "fps": 15.0, + "frames": 1329, + "sha256": "541faf88ad29bd720ae7dddb7f063227c86062d7cddd3c3c5936a2e53328e94b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "system_on_original_side": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 88.4, + "log_step": 254, + "text_zh": "观察：视频 0 s 起立柱、绳链、珠子、端盘都在原谜题一侧；视频 88.4 s 末帧它们仍聚在立柱附近，没有部件被带到目标侧。推断：该节点全程成立；分隔面位置无法在画面上量出，故不十分确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：另一只夹爪在视频约 44 s 前后抓着绳链/端盘配合解离（左臂夹爪位于立柱上方）；不确定具体抓握部位。" + } + ] + }, + "ring_in_goal": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 88.4, + "log_step": 254, + "text_zh": "观察：视频 88.4 s 末帧，蓝色金属环被右夹爪夹着悬在立柱旁，绳段仍缠在其附近，环不在绿色目标区；约 44 s 环已抬离立柱顶部。评分器 success=0；agent 在 log step 254 记录 005d 结束时 episode 仍未结束（剩余 366 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右臂二指夹爪夹住金属环，抬离立柱并向外拖出；底盘固定。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "目标水平边界最小内缩量", + "value": null, + "unit": "mm", + "threshold": 1, + "direction": "higher_better" + }, + { + "name": "目标最低点相对桌面高度", + "value": null, + "unit": "mm", + "threshold": -1, + "direction": "higher_better" + }, + { + "name": "目标最高点相对桌面高度", + "value": null, + "unit": "mm", + "threshold": 226.034, + "direction": "lower_better" + }, + { + "name": "目标刚体最大线速度", + "value": null, + "unit": "mm/s", + "threshold": 1, + "direction": "lower_better" + }, + { + "name": "目标刚体最大角速度", + "value": null, + "unit": "rad/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "非目标组件向目标侧越过分隔面的最大距离", + "value": null, + "unit": "mm", + "threshold": 0, + "direction": "lower_better" + }, + { + "name": "最终条件联合连续确认时间", + "value": null, + "unit": "s", + "threshold": 0.5, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ring_in_goal", + "t": 88.4, + "where": "操作中", + "evidence_zh": "观察：视频 88.4 s 结束时环仍被夹爪持在立柱旁、未到目标区，绳仍在环附近；环从未放入目标区。log step 254 agent 称最后一段 005d 完成后 episode 仍未结束。", + "log_step": 254 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "现象和根因未标：无状态日志；视频虽覆盖全程（0–88.4 s，三视角），但绳与环是否仍套连、分隔面位置、环与目标区的毫米级关系无法从画面确定；agent 的拓扑推演仅为会话证据，不据此定根因。", + "unmet": { + "system_on_original_side": true, + "ring_in_goal": false + } + }, + "summary_zh": "观察：视频 88.6 s 内机器人抬起并拖出金属环，但末帧环仍被夹在立柱旁，未入目标区；评分器 success=0。系统留原侧节点判为一直成立（视觉判断），环入区节点未达成。无状态日志，现象与根因留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值、断点（ring_in_goal，操作中）与空的现象/根因层（带 gap）均与视频和评分器 success=0 一致，未发现节点或断点错误。只有 gap_zh 对视频内容的描述不实，需改。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第一轮修正后的 gap_zh 与证据一致；节点值、断点 ring_in_goal（操作中）与评分器 success=0 相符，空的现象/根因层带 gap 说明，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--dzbph8c/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--dzbph8c/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--dzbph8c/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--dzbph8c/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "43eb7348693b34899c203a84a1259ce037a61de103cf6ea2b6ad837c3aeeb086", + "video_sha256": "541faf88ad29bd720ae7dddb7f063227c86062d7cddd3c3c5936a2e53328e94b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +}