Add 10 trajectories (phaseR, unlabelled counted attempts of seven agents; batch R05; writer Claude Sonnet 5.5)
Browse files- phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--fvwbdr4.json +322 -0
- phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--kmt5tsg.json +315 -0
- phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--vcegmpu.json +393 -0
- phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--xkworej.json +266 -0
- phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--yojv86k.json +269 -0
- phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--mwhsssr.json +314 -0
- phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--pzrzq4z.json +345 -0
- phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--qssyoum.json +295 -0
- phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--sa9deev.json +324 -0
- phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--yic2tjd.json +365 -0
phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--fvwbdr4.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "dexhand-boot-sole-brush-i00-privileged--fvwbdr4",
|
| 5 |
+
"taskKey": "dexhand/boot_sole_brush",
|
| 6 |
+
"dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"deterministic": 1,
|
| 13 |
+
"hand_wuji": 0,
|
| 14 |
+
"infra_error": 0,
|
| 15 |
+
"n_actions": 94,
|
| 16 |
+
"sim_steps": 94,
|
| 17 |
+
"stages_completed": 0,
|
| 18 |
+
"success": 0,
|
| 19 |
+
"resource_enforced": 0,
|
| 20 |
+
"limits_violation_observed": 1,
|
| 21 |
+
"resource_monitor_missing": 0,
|
| 22 |
+
"peak_gpu_memory_gb": 0.0,
|
| 23 |
+
"peak_memory_gb": 11.373,
|
| 24 |
+
"peak_processes": 16,
|
| 25 |
+
"peak_disk_gb": 0.988,
|
| 26 |
+
"peak_cpus": 4.73,
|
| 27 |
+
"peak_pids": 86,
|
| 28 |
+
"resource_memory_kills": 0,
|
| 29 |
+
"resource_pids_kills": 0,
|
| 30 |
+
"resource_disk_kills": 0,
|
| 31 |
+
"resource_gpu_memory_kills": 0,
|
| 32 |
+
"resource_monitor_kills": 0,
|
| 33 |
+
"resource_emergency_kills": 0,
|
| 34 |
+
"resource_limit_exceeded": 0,
|
| 35 |
+
"resource_cpu_throttles": 0,
|
| 36 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 37 |
+
"resource_oom_kills": 0,
|
| 38 |
+
"resource_host_oom_kills": 0,
|
| 39 |
+
"resource_service_oom_kills": 0,
|
| 40 |
+
"over_cpus": 1,
|
| 41 |
+
"over_memory_gb": 1
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"video": {
|
| 45 |
+
"kind": "media",
|
| 46 |
+
"url": "media:dexhand-boot-sole-brush-i00-privileged--fvwbdr4.mp4",
|
| 47 |
+
"duration_s": 3.0,
|
| 48 |
+
"fps": 10.0,
|
| 49 |
+
"frames": 30,
|
| 50 |
+
"sha256": "6415b3ec58dd649b47ae95a9b64c8f28627bd89a5246bc7c5ba10a0cb651f7bf"
|
| 51 |
+
},
|
| 52 |
+
"state": null,
|
| 53 |
+
"progress": {
|
| 54 |
+
"method": "visual",
|
| 55 |
+
"denominator": 7,
|
| 56 |
+
"base": 0,
|
| 57 |
+
"peak": 1,
|
| 58 |
+
"final": 1,
|
| 59 |
+
"nodes": {
|
| 60 |
+
"brush_in_hand": {
|
| 61 |
+
"method": "visual",
|
| 62 |
+
"intervals": [
|
| 63 |
+
[
|
| 64 |
+
1.6,
|
| 65 |
+
null
|
| 66 |
+
]
|
| 67 |
+
],
|
| 68 |
+
"final": true,
|
| 69 |
+
"evidence": [
|
| 70 |
+
{
|
| 71 |
+
"t": 1.6,
|
| 72 |
+
"log_step": null,
|
| 73 |
+
"text_zh": "观察：视频 1.2 s 刷子仍平放台面、手在其上方；视频 1.6 s 起刷子被右手指尖带离台面（影子与刷子分离），1.8 s 仍在手中。推断：拿起在约视频 1.6 s 达成（锁存事件）。agent 自述“唯一能把刷子抬离台面的配置”（log step 170）。"
|
| 74 |
+
}
|
| 75 |
+
],
|
| 76 |
+
"contact_actual": [
|
| 77 |
+
{
|
| 78 |
+
"who": "手指/夹爪",
|
| 79 |
+
"how": "抓握",
|
| 80 |
+
"note_zh": "观察：右手指尖/拇指在视频 1.6–1.8 s 夹住鞋刷一端，把刷子带离台面；约 1.9 s 刷子滑脱落回台面，顶栏显示 FAIL: brush_dropped。"
|
| 81 |
+
}
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"clods_in_tray_1": {
|
| 85 |
+
"method": "visual",
|
| 86 |
+
"intervals": [],
|
| 87 |
+
"final": false,
|
| 88 |
+
"evidence": [
|
| 89 |
+
{
|
| 90 |
+
"t": 2.9,
|
| 91 |
+
"log_step": null,
|
| 92 |
+
"text_zh": "观察：视频全程画面顶栏显示 in tray 0/6、clods brushed 0/6；靴底泥块一直留在鞋底上，收集盘内无泥块。"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"clods_in_tray_2": {
|
| 97 |
+
"method": "visual",
|
| 98 |
+
"intervals": [],
|
| 99 |
+
"final": false,
|
| 100 |
+
"evidence": [
|
| 101 |
+
{
|
| 102 |
+
"t": 2.9,
|
| 103 |
+
"log_step": null,
|
| 104 |
+
"text_zh": "观察：视频全程画面顶栏显示 in tray 0/6、clods brushed 0/6；靴底泥块一直留在鞋底上，收集盘内无泥块。"
|
| 105 |
+
}
|
| 106 |
+
]
|
| 107 |
+
},
|
| 108 |
+
"clods_in_tray_3": {
|
| 109 |
+
"method": "visual",
|
| 110 |
+
"intervals": [],
|
| 111 |
+
"final": false,
|
| 112 |
+
"evidence": [
|
| 113 |
+
{
|
| 114 |
+
"t": 2.9,
|
| 115 |
+
"log_step": null,
|
| 116 |
+
"text_zh": "观察：视频全程画面顶栏显示 in tray 0/6、clods brushed 0/6；靴底泥块一直留在鞋底上，收集盘内无泥块。"
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"clods_in_tray_4": {
|
| 121 |
+
"method": "visual",
|
| 122 |
+
"intervals": [],
|
| 123 |
+
"final": false,
|
| 124 |
+
"evidence": [
|
| 125 |
+
{
|
| 126 |
+
"t": 2.9,
|
| 127 |
+
"log_step": null,
|
| 128 |
+
"text_zh": "观察：视频全程画面顶栏显示 in tray 0/6、clods brushed 0/6；靴底泥块一直留在鞋底上，收集盘内无泥块。"
|
| 129 |
+
}
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
+
"clods_in_tray_5": {
|
| 133 |
+
"method": "visual",
|
| 134 |
+
"intervals": [],
|
| 135 |
+
"final": false,
|
| 136 |
+
"evidence": [
|
| 137 |
+
{
|
| 138 |
+
"t": 2.9,
|
| 139 |
+
"log_step": null,
|
| 140 |
+
"text_zh": "观察：视频全程画面顶栏显示 in tray 0/6、clods brushed 0/6；靴底泥块一直留在鞋底上，收集盘内无泥块。"
|
| 141 |
+
}
|
| 142 |
+
]
|
| 143 |
+
},
|
| 144 |
+
"clods_in_tray_6": {
|
| 145 |
+
"method": "visual",
|
| 146 |
+
"intervals": [],
|
| 147 |
+
"final": false,
|
| 148 |
+
"evidence": [
|
| 149 |
+
{
|
| 150 |
+
"t": 2.9,
|
| 151 |
+
"log_step": null,
|
| 152 |
+
"text_zh": "观察：视频全程画面顶栏显示 in tray 0/6、clods brushed 0/6；靴底泥块一直留在鞋底上，收集盘内无泥块。"
|
| 153 |
+
}
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"constraints": {}
|
| 158 |
+
},
|
| 159 |
+
"native_metrics": [
|
| 160 |
+
{
|
| 161 |
+
"name": "clods_in_tray",
|
| 162 |
+
"value": 0,
|
| 163 |
+
"unit": "count",
|
| 164 |
+
"threshold": 6,
|
| 165 |
+
"direction": "higher_better"
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"name": "clods_brushed",
|
| 169 |
+
"value": 0,
|
| 170 |
+
"unit": "count",
|
| 171 |
+
"threshold": 6,
|
| 172 |
+
"direction": "higher_better"
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"name": "brush_contact_controls",
|
| 176 |
+
"value": null,
|
| 177 |
+
"unit": "control",
|
| 178 |
+
"threshold": 10,
|
| 179 |
+
"direction": "higher_better"
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"name": "hold",
|
| 183 |
+
"value": 0,
|
| 184 |
+
"unit": "control",
|
| 185 |
+
"threshold": 50,
|
| 186 |
+
"direction": "higher_better"
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"name": "max_clod_speed",
|
| 190 |
+
"value": null,
|
| 191 |
+
"unit": "m/s",
|
| 192 |
+
"threshold": 0.05,
|
| 193 |
+
"direction": "lower_better"
|
| 194 |
+
},
|
| 195 |
+
{
|
| 196 |
+
"name": "boot_shift_m",
|
| 197 |
+
"value": null,
|
| 198 |
+
"unit": "m",
|
| 199 |
+
"threshold": 0.03,
|
| 200 |
+
"direction": "lower_better"
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"name": "boot_tilt_rad",
|
| 204 |
+
"value": null,
|
| 205 |
+
"unit": "rad",
|
| 206 |
+
"threshold": 0.35,
|
| 207 |
+
"direction": "lower_better"
|
| 208 |
+
}
|
| 209 |
+
],
|
| 210 |
+
"failure": {
|
| 211 |
+
"breakpoint": {
|
| 212 |
+
"ref": "clods_in_tray_1",
|
| 213 |
+
"t": 1.9,
|
| 214 |
+
"log_step": 170,
|
| 215 |
+
"where": "操作中",
|
| 216 |
+
"evidence_zh": "观察：视频 1.6 s 右手拿起鞋刷，约 1.9 s 刷子从指尖滑脱落回台面，顶栏变为 FAIL: brush_dropped（control 94，视频末尾）；刷子始终未到达靴底，clods brushed 0/6。推断：拿起后的持刷带到靴底这一步没有完成，评分器因刷子掉落终止。"
|
| 217 |
+
},
|
| 218 |
+
"unmet": {
|
| 219 |
+
"clods_in_tray_1": false,
|
| 220 |
+
"clods_in_tray_2": false,
|
| 221 |
+
"clods_in_tray_3": false,
|
| 222 |
+
"clods_in_tray_4": false,
|
| 223 |
+
"clods_in_tray_5": false,
|
| 224 |
+
"clods_in_tray_6": false
|
| 225 |
+
},
|
| 226 |
+
"phenomena": [
|
| 227 |
+
{
|
| 228 |
+
"cat": "接触",
|
| 229 |
+
"item": "没保持住",
|
| 230 |
+
"t": 1.9,
|
| 231 |
+
"log_step": 170,
|
| 232 |
+
"evidence_zh": "观察：视频 1.6–1.8 s 刷子被右手夹起，之后刷子脱手落回台面，顶栏 FAIL: brush_dropped。agent 自述抓握“约 0.3 s 内滑脱”（log step 170）。"
|
| 233 |
+
}
|
| 234 |
+
],
|
| 235 |
+
"root_causes": [
|
| 236 |
+
{
|
| 237 |
+
"cat": "控制",
|
| 238 |
+
"item": "抓取和接触设计",
|
| 239 |
+
"alt_feasible": "未知",
|
| 240 |
+
"evidence_zh": "agent 自述刷子是 13 mm 薄板，只有 17.5×36 mm 端部凸缘可钩，约 1500 个配置里仅一种能抬起且“勉强稳定”（log step 170）；视频显示仅靠指尖端部夹持后滑脱。推断：抓取接触几何不足以承载，未验证是否有更稳的抓法。",
|
| 241 |
+
"source_zh": "agent 自述 / 视频"
|
| 242 |
+
}
|
| 243 |
+
],
|
| 244 |
+
"gap_zh": "无状态日志，节点时间来自视频（10 fps，视频仅 3 s，对应 94 个控制步）；掉落的精确时刻约 1.9 s，不确定。"
|
| 245 |
+
},
|
| 246 |
+
"summary_zh": "观察：右手在视频约 1.6 s 把鞋刷夹离台面（拿起鞋刷达成），随后刷子滑脱，约 1.9 s 起顶栏显示 FAIL: brush_dropped，六块泥均未被刷到、入盘 0/6。断在拿起后持刷扫泥这一步，原因推断为端部指尖夹持的抓握几何不稳（agent 自述）。无状态日志，时间来自视频。",
|
| 247 |
+
"conf": 6,
|
| 248 |
+
"review": {
|
| 249 |
+
"status": "agreed",
|
| 250 |
+
"rounds": 2,
|
| 251 |
+
"reviewers": [
|
| 252 |
+
{
|
| 253 |
+
"engine": "claude",
|
| 254 |
+
"model": "claude-sonnet-5-5",
|
| 255 |
+
"round": 1,
|
| 256 |
+
"verdict": "fix",
|
| 257 |
+
"conf": 7,
|
| 258 |
+
"summary_zh": "拿起（约视频 1.6 s）、未入盘、断点 clods_in_tray_1、没保持住 / 抓取和接触设计 基本成立；但掉落时刻写成约视频 2.2 s，视频里顶栏在 1.9 s 帧已变 FAIL: brush_dropped（1.8 s 帧仍 running、control 90），2.0 s 帧刷子已落回台面。",
|
| 259 |
+
"n_issues": 1,
|
| 260 |
+
"n_major": 0
|
| 261 |
+
},
|
| 262 |
+
{
|
| 263 |
+
"engine": "claude",
|
| 264 |
+
"model": "claude-sonnet-5-5",
|
| 265 |
+
"round": 2,
|
| 266 |
+
"verdict": "agree",
|
| 267 |
+
"conf": 7,
|
| 268 |
+
"summary_zh": "拿起约视频1.6 s、掉落约1.9 s（顶栏FAIL: brush_dropped）、断点clods_in_tray_1、没保持住/抓取和接触设计均与帧一致，未发现需改动的错误。",
|
| 269 |
+
"n_issues": 0,
|
| 270 |
+
"n_major": 0
|
| 271 |
+
}
|
| 272 |
+
],
|
| 273 |
+
"open_zh": []
|
| 274 |
+
},
|
| 275 |
+
"provenance": {
|
| 276 |
+
"prompt": "prompts/03_trajectory.md",
|
| 277 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 278 |
+
"engine": "claude",
|
| 279 |
+
"model": "claude-sonnet-5-5",
|
| 280 |
+
"effort": "high",
|
| 281 |
+
"created": "2026-11-08T22:06:28Z",
|
| 282 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 283 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 284 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 285 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 286 |
+
"calls": [
|
| 287 |
+
{
|
| 288 |
+
"stage": "traj",
|
| 289 |
+
"round": 0,
|
| 290 |
+
"ok": true,
|
| 291 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--fvwbdr4/03_label"
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"stage": "traj_review",
|
| 295 |
+
"round": 1,
|
| 296 |
+
"ok": true,
|
| 297 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--fvwbdr4/04_review_r1"
|
| 298 |
+
},
|
| 299 |
+
{
|
| 300 |
+
"stage": "reconcile",
|
| 301 |
+
"round": 1,
|
| 302 |
+
"ok": true,
|
| 303 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--fvwbdr4/05_reconcile_r1"
|
| 304 |
+
},
|
| 305 |
+
{
|
| 306 |
+
"stage": "traj_review",
|
| 307 |
+
"round": 2,
|
| 308 |
+
"ok": true,
|
| 309 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--fvwbdr4/04_review_r2"
|
| 310 |
+
}
|
| 311 |
+
],
|
| 312 |
+
"review_engine": "claude",
|
| 313 |
+
"review_model": "claude-sonnet-5-5",
|
| 314 |
+
"inputs": {
|
| 315 |
+
"run_json_sha256": "d28f80ce2c72d10e33a5b57f499453053c31317c7df345d93d736e59005ee42a",
|
| 316 |
+
"video_sha256": "6415b3ec58dd649b47ae95a9b64c8f28627bd89a5246bc7c5ba10a0cb651f7bf",
|
| 317 |
+
"states_sha256": null,
|
| 318 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 319 |
+
},
|
| 320 |
+
"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."
|
| 321 |
+
}
|
| 322 |
+
}
|
phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--kmt5tsg.json
ADDED
|
@@ -0,0 +1,315 @@
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|
|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "dexhand-boot-sole-brush-i00-privileged--kmt5tsg",
|
| 5 |
+
"taskKey": "dexhand/boot_sole_brush",
|
| 6 |
+
"dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"deterministic": 1,
|
| 13 |
+
"hand_wuji": 0,
|
| 14 |
+
"infra_error": 0,
|
| 15 |
+
"n_actions": 732,
|
| 16 |
+
"sim_steps": 638,
|
| 17 |
+
"stages_completed": 0,
|
| 18 |
+
"success": 0,
|
| 19 |
+
"resource_enforced": 0,
|
| 20 |
+
"limits_violation_observed": 0,
|
| 21 |
+
"resource_monitor_missing": 0,
|
| 22 |
+
"peak_gpu_memory_gb": 0.0,
|
| 23 |
+
"peak_memory_gb": 2.504,
|
| 24 |
+
"peak_processes": 10,
|
| 25 |
+
"peak_disk_gb": 0.241,
|
| 26 |
+
"peak_cpus": 1.95,
|
| 27 |
+
"peak_pids": 82,
|
| 28 |
+
"resource_memory_kills": 0,
|
| 29 |
+
"resource_pids_kills": 0,
|
| 30 |
+
"resource_disk_kills": 0,
|
| 31 |
+
"resource_gpu_memory_kills": 0,
|
| 32 |
+
"resource_monitor_kills": 0,
|
| 33 |
+
"resource_emergency_kills": 0,
|
| 34 |
+
"resource_limit_exceeded": 0,
|
| 35 |
+
"resource_cpu_throttles": 0,
|
| 36 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 37 |
+
"resource_oom_kills": 0,
|
| 38 |
+
"resource_host_oom_kills": 0,
|
| 39 |
+
"resource_service_oom_kills": 0
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"video": {
|
| 43 |
+
"kind": "media",
|
| 44 |
+
"url": "media:dexhand-boot-sole-brush-i00-privileged--kmt5tsg.mp4",
|
| 45 |
+
"duration_s": 13.9,
|
| 46 |
+
"fps": 10.0,
|
| 47 |
+
"frames": 139,
|
| 48 |
+
"sha256": "8ccfd61c9cdd66345a54f80b80f89c4369ac7d2cc0f521dda0c50bc60b5ac2e0"
|
| 49 |
+
},
|
| 50 |
+
"state": null,
|
| 51 |
+
"progress": {
|
| 52 |
+
"method": "visual",
|
| 53 |
+
"denominator": 7,
|
| 54 |
+
"base": 0,
|
| 55 |
+
"peak": 0,
|
| 56 |
+
"final": 0,
|
| 57 |
+
"nodes": {
|
| 58 |
+
"brush_in_hand": {
|
| 59 |
+
"method": "visual",
|
| 60 |
+
"intervals": [],
|
| 61 |
+
"final": false,
|
| 62 |
+
"evidence": [
|
| 63 |
+
{
|
| 64 |
+
"t": 13.0,
|
| 65 |
+
"log_step": 62,
|
| 66 |
+
"text_zh": "观察：全程画面中橙色鞋刷始终在台面上，只被右手挪动约2 cm，未被拿起；靴底泥块未被扫动，画面计数栏全程显示 in tray 0/6、clods brushed 0/6、stage 0/3。"
|
| 67 |
+
}
|
| 68 |
+
],
|
| 69 |
+
"contact_actual": [
|
| 70 |
+
{
|
| 71 |
+
"who": "手指/夹爪",
|
| 72 |
+
"how": "压/擦",
|
| 73 |
+
"note_zh": "观察：视频 0.5-1.5 s 右手下探刷子并屈指，只把刷子推动约2 cm，没有包夹抓握（log step 59、62 自述抓握失败）；约 2 s 起手空着抬离，刷子仍在台面；3-9 s 手在靴底上方空扫。"
|
| 74 |
+
}
|
| 75 |
+
]
|
| 76 |
+
},
|
| 77 |
+
"clods_in_tray_1": {
|
| 78 |
+
"method": "visual",
|
| 79 |
+
"intervals": [],
|
| 80 |
+
"final": false,
|
| 81 |
+
"evidence": [
|
| 82 |
+
{
|
| 83 |
+
"t": 13.0,
|
| 84 |
+
"log_step": 62,
|
| 85 |
+
"text_zh": "观察：画面计数栏全程 in tray 0/6，靴底泥块未被刷动；前置节点拿起鞋刷未达成。"
|
| 86 |
+
}
|
| 87 |
+
]
|
| 88 |
+
},
|
| 89 |
+
"clods_in_tray_2": {
|
| 90 |
+
"method": "visual",
|
| 91 |
+
"intervals": [],
|
| 92 |
+
"final": false,
|
| 93 |
+
"evidence": [
|
| 94 |
+
{
|
| 95 |
+
"t": 13.0,
|
| 96 |
+
"log_step": 62,
|
| 97 |
+
"text_zh": "观察：画面计数栏全程 in tray 0/6，靴底泥块未被刷动；前置节点拿起鞋刷未达成。"
|
| 98 |
+
}
|
| 99 |
+
]
|
| 100 |
+
},
|
| 101 |
+
"clods_in_tray_3": {
|
| 102 |
+
"method": "visual",
|
| 103 |
+
"intervals": [],
|
| 104 |
+
"final": false,
|
| 105 |
+
"evidence": [
|
| 106 |
+
{
|
| 107 |
+
"t": 13.0,
|
| 108 |
+
"log_step": 62,
|
| 109 |
+
"text_zh": "观察：画面计数栏全程 in tray 0/6，靴底泥块未被刷动；前置节点拿起鞋刷未达成。"
|
| 110 |
+
}
|
| 111 |
+
]
|
| 112 |
+
},
|
| 113 |
+
"clods_in_tray_4": {
|
| 114 |
+
"method": "visual",
|
| 115 |
+
"intervals": [],
|
| 116 |
+
"final": false,
|
| 117 |
+
"evidence": [
|
| 118 |
+
{
|
| 119 |
+
"t": 13.0,
|
| 120 |
+
"log_step": 62,
|
| 121 |
+
"text_zh": "观察：画面计数栏全程 in tray 0/6，靴底泥块未被刷动；前置节点拿起鞋刷未达成。"
|
| 122 |
+
}
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"clods_in_tray_5": {
|
| 126 |
+
"method": "visual",
|
| 127 |
+
"intervals": [],
|
| 128 |
+
"final": false,
|
| 129 |
+
"evidence": [
|
| 130 |
+
{
|
| 131 |
+
"t": 13.0,
|
| 132 |
+
"log_step": 62,
|
| 133 |
+
"text_zh": "观察：画面计数栏全程 in tray 0/6，靴底泥块未被刷动；前置节点拿起鞋刷未达成。"
|
| 134 |
+
}
|
| 135 |
+
]
|
| 136 |
+
},
|
| 137 |
+
"clods_in_tray_6": {
|
| 138 |
+
"method": "visual",
|
| 139 |
+
"intervals": [],
|
| 140 |
+
"final": false,
|
| 141 |
+
"evidence": [
|
| 142 |
+
{
|
| 143 |
+
"t": 13.0,
|
| 144 |
+
"log_step": 62,
|
| 145 |
+
"text_zh": "观察：画面计数栏全程 in tray 0/6，靴底泥块未被刷动；前置节点拿起鞋刷未达成。"
|
| 146 |
+
}
|
| 147 |
+
]
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"constraints": {}
|
| 151 |
+
},
|
| 152 |
+
"native_metrics": [
|
| 153 |
+
{
|
| 154 |
+
"name": "clods_in_tray",
|
| 155 |
+
"value": 0,
|
| 156 |
+
"unit": "count",
|
| 157 |
+
"threshold": 6,
|
| 158 |
+
"direction": "higher_better"
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"name": "clods_brushed",
|
| 162 |
+
"value": 0,
|
| 163 |
+
"unit": "count",
|
| 164 |
+
"threshold": 6,
|
| 165 |
+
"direction": "higher_better"
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"name": "brush_contact_controls",
|
| 169 |
+
"value": null,
|
| 170 |
+
"unit": "control",
|
| 171 |
+
"threshold": 10,
|
| 172 |
+
"direction": "higher_better"
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"name": "hold",
|
| 176 |
+
"value": 0,
|
| 177 |
+
"unit": "control",
|
| 178 |
+
"threshold": 50,
|
| 179 |
+
"direction": "higher_better"
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"name": "max_clod_speed",
|
| 183 |
+
"value": null,
|
| 184 |
+
"unit": "m/s",
|
| 185 |
+
"threshold": 0.05,
|
| 186 |
+
"direction": "lower_better"
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"name": "boot_shift_m",
|
| 190 |
+
"value": null,
|
| 191 |
+
"unit": "m",
|
| 192 |
+
"threshold": 0.03,
|
| 193 |
+
"direction": "lower_better"
|
| 194 |
+
},
|
| 195 |
+
{
|
| 196 |
+
"name": "boot_tilt_rad",
|
| 197 |
+
"value": null,
|
| 198 |
+
"unit": "rad",
|
| 199 |
+
"threshold": 0.35,
|
| 200 |
+
"direction": "lower_better"
|
| 201 |
+
}
|
| 202 |
+
],
|
| 203 |
+
"failure": {
|
| 204 |
+
"breakpoint": {
|
| 205 |
+
"ref": "brush_in_hand",
|
| 206 |
+
"where": "操作中",
|
| 207 |
+
"t": 1.5,
|
| 208 |
+
"evidence_zh": "观察：视频 0.5-2 s 右手屈指抓刷子，约 2 s 起手空着离开，刷子留在台面（仅移位约 2 cm）；其后 3-12 s 手在靴底上方空扫（执行的是预存开环轨迹）；视频末帧画面状态栏显示 FAIL: brush_dropped（control 638）。",
|
| 209 |
+
"log_step": 62
|
| 210 |
+
},
|
| 211 |
+
"phenomena": [
|
| 212 |
+
{
|
| 213 |
+
"cat": "接触",
|
| 214 |
+
"item": "没建立接触",
|
| 215 |
+
"t": 1.5,
|
| 216 |
+
"log_step": 62,
|
| 217 |
+
"evidence_zh": "观察：右手从未包夹住刷子，刷子没有离开台面（视频 0-13.9 s）。agent 最后自述抓握失败、刷子只移位约 2 cm（log step 62）。"
|
| 218 |
+
}
|
| 219 |
+
],
|
| 220 |
+
"root_causes": [
|
| 221 |
+
{
|
| 222 |
+
"cat": "控制",
|
| 223 |
+
"item": "抓取和接触设计",
|
| 224 |
+
"alt_feasible": "未知",
|
| 225 |
+
"evidence_zh": "agent 自述：手掌向下手指朝+y 时指尖撞到托盘侧壁，改为 +x 捏取后仍只拖动刷子约 2 cm 并滑脱（log step 53、59、62）；视频只显示刷子没被拿起。",
|
| 226 |
+
"source_zh": "agent 自述"
|
| 227 |
+
}
|
| 228 |
+
],
|
| 229 |
+
"gap_zh": "无状态日志，手指与刷子的接触细节被机械臂遮挡，根因主要来自 agent 自述；视频中看不清手指具体碰到托盘壁的时刻。",
|
| 230 |
+
"unmet": {
|
| 231 |
+
"clods_in_tray_1": false,
|
| 232 |
+
"clods_in_tray_2": false,
|
| 233 |
+
"clods_in_tray_3": false,
|
| 234 |
+
"clods_in_tray_4": false,
|
| 235 |
+
"clods_in_tray_5": false,
|
| 236 |
+
"clods_in_tray_6": false
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"summary_zh": "观察：图像中刷子始终在台面，in tray 0/6，7 个节点全部未达成。断点为拿起鞋刷（操作中）：右手抓握刷子失败，推断为抓取接触几何设计不当（agent 自述指尖撞托盘壁、捏取滑脱）。无状态日志，根因证据较弱。",
|
| 240 |
+
"conf": 6,
|
| 241 |
+
"review": {
|
| 242 |
+
"status": "agreed",
|
| 243 |
+
"rounds": 2,
|
| 244 |
+
"reviewers": [
|
| 245 |
+
{
|
| 246 |
+
"engine": "claude",
|
| 247 |
+
"model": "claude-sonnet-5-5",
|
| 248 |
+
"round": 1,
|
| 249 |
+
"verdict": "fix",
|
| 250 |
+
"conf": 7,
|
| 251 |
+
"summary_zh": "节点值（全未达成）和断点节点 brush_in_hand 正确；但证据文字把视频 3-10 s 描述为\"手停在刷子上方\"，与画面不符：手在约 0.5-1.5 s 下探刷子，约 2 s 起空手离开，3-9 s 在靴子上方做扫动，刷子一直留在台面。断点 t=3.0 s 偏晚。",
|
| 252 |
+
"n_issues": 2,
|
| 253 |
+
"n_major": 0
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"engine": "claude",
|
| 257 |
+
"model": "claude-sonnet-5-5",
|
| 258 |
+
"round": 2,
|
| 259 |
+
"verdict": "agree",
|
| 260 |
+
"conf": 7,
|
| 261 |
+
"summary_zh": "节点全未达成、断点 brush_in_hand（操作中）、没建立接触 + 抓取和接触设计（标注为 agent 自述、alt_feasible 未知）与视频及 log 一致，上一轮问题已修正。",
|
| 262 |
+
"n_issues": 0,
|
| 263 |
+
"n_major": 0
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"open_zh": []
|
| 267 |
+
},
|
| 268 |
+
"provenance": {
|
| 269 |
+
"prompt": "prompts/03_trajectory.md",
|
| 270 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 271 |
+
"engine": "claude",
|
| 272 |
+
"model": "claude-sonnet-5-5",
|
| 273 |
+
"effort": "high",
|
| 274 |
+
"created": "2026-11-08T22:06:22Z",
|
| 275 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 276 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 277 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 278 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 279 |
+
"calls": [
|
| 280 |
+
{
|
| 281 |
+
"stage": "traj",
|
| 282 |
+
"round": 0,
|
| 283 |
+
"ok": true,
|
| 284 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--kmt5tsg/03_label"
|
| 285 |
+
},
|
| 286 |
+
{
|
| 287 |
+
"stage": "traj_review",
|
| 288 |
+
"round": 1,
|
| 289 |
+
"ok": true,
|
| 290 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--kmt5tsg/04_review_r1"
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"stage": "reconcile",
|
| 294 |
+
"round": 1,
|
| 295 |
+
"ok": true,
|
| 296 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--kmt5tsg/05_reconcile_r1"
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"stage": "traj_review",
|
| 300 |
+
"round": 2,
|
| 301 |
+
"ok": true,
|
| 302 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--kmt5tsg/04_review_r2"
|
| 303 |
+
}
|
| 304 |
+
],
|
| 305 |
+
"review_engine": "claude",
|
| 306 |
+
"review_model": "claude-sonnet-5-5",
|
| 307 |
+
"inputs": {
|
| 308 |
+
"run_json_sha256": "944054704a46fdd7749693c23fab23cc01defd6f9d1d3e06a498ba6831659d81",
|
| 309 |
+
"video_sha256": "8ccfd61c9cdd66345a54f80b80f89c4369ac7d2cc0f521dda0c50bc60b5ac2e0",
|
| 310 |
+
"states_sha256": null,
|
| 311 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 312 |
+
},
|
| 313 |
+
"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."
|
| 314 |
+
}
|
| 315 |
+
}
|
phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--vcegmpu.json
ADDED
|
@@ -0,0 +1,393 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "dexhand-boot-sole-brush-i00-privileged--vcegmpu",
|
| 5 |
+
"taskKey": "dexhand/boot_sole_brush",
|
| 6 |
+
"dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"deterministic": 1,
|
| 13 |
+
"hand_wuji": 0,
|
| 14 |
+
"infra_error": 0,
|
| 15 |
+
"n_actions": 915,
|
| 16 |
+
"sim_steps": 907,
|
| 17 |
+
"stages_completed": 1,
|
| 18 |
+
"success": 0,
|
| 19 |
+
"resource_enforced": 0,
|
| 20 |
+
"limits_violation_observed": 0,
|
| 21 |
+
"resource_monitor_missing": 0,
|
| 22 |
+
"peak_gpu_memory_gb": 0.0,
|
| 23 |
+
"peak_memory_gb": 3.911,
|
| 24 |
+
"peak_processes": 16,
|
| 25 |
+
"peak_disk_gb": 0.242,
|
| 26 |
+
"peak_cpus": 2.0,
|
| 27 |
+
"peak_pids": 95,
|
| 28 |
+
"resource_memory_kills": 0,
|
| 29 |
+
"resource_pids_kills": 0,
|
| 30 |
+
"resource_disk_kills": 0,
|
| 31 |
+
"resource_gpu_memory_kills": 0,
|
| 32 |
+
"resource_monitor_kills": 0,
|
| 33 |
+
"resource_emergency_kills": 0,
|
| 34 |
+
"resource_limit_exceeded": 0,
|
| 35 |
+
"resource_cpu_throttles": 0,
|
| 36 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 37 |
+
"resource_oom_kills": 0,
|
| 38 |
+
"resource_host_oom_kills": 0,
|
| 39 |
+
"resource_service_oom_kills": 0
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"video": {
|
| 43 |
+
"kind": "media",
|
| 44 |
+
"url": "media:dexhand-boot-sole-brush-i00-privileged--vcegmpu.mp4",
|
| 45 |
+
"duration_s": 19.3,
|
| 46 |
+
"fps": 10.0,
|
| 47 |
+
"frames": 193,
|
| 48 |
+
"sha256": "2df59ccb8d5d0ce47afdceb58a595085164fb8e54eee63ff545171ec3ae56b4d"
|
| 49 |
+
},
|
| 50 |
+
"state": null,
|
| 51 |
+
"progress": {
|
| 52 |
+
"method": "visual",
|
| 53 |
+
"denominator": 7,
|
| 54 |
+
"base": 0,
|
| 55 |
+
"peak": 4,
|
| 56 |
+
"final": 4,
|
| 57 |
+
"nodes": {
|
| 58 |
+
"brush_in_hand": {
|
| 59 |
+
"method": "visual",
|
| 60 |
+
"intervals": [
|
| 61 |
+
[
|
| 62 |
+
5.0,
|
| 63 |
+
null
|
| 64 |
+
]
|
| 65 |
+
],
|
| 66 |
+
"final": true,
|
| 67 |
+
"evidence": [
|
| 68 |
+
{
|
| 69 |
+
"t": 5.0,
|
| 70 |
+
"log_step": null,
|
| 71 |
+
"text_zh": "观察：视频 4.0-4.6 s 右手在台面上抓住黄褐色木背鞋刷，约 5.2 s 起手带着刷子抬离台面，之后直到 19.3 s 刷子都在手中（视频 9.5 s 画面角标 stage 1/3，即评分器首阶段刷毛触靴已成立）。起点约 5 s，不确定约 0.5 s。"
|
| 72 |
+
}
|
| 73 |
+
],
|
| 74 |
+
"contact_actual": [
|
| 75 |
+
{
|
| 76 |
+
"who": "手指/夹爪",
|
| 77 |
+
"how": "抓握",
|
| 78 |
+
"note_zh": "右手拇指与四指夹握鞋刷木背并抬离台面（视频约 4.6-5.2 s）；agent 自述掌心向下握持（log step 58）。"
|
| 79 |
+
}
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"clods_in_tray_1": {
|
| 83 |
+
"method": "visual",
|
| 84 |
+
"intervals": [
|
| 85 |
+
[
|
| 86 |
+
10.7,
|
| 87 |
+
null
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"final": true,
|
| 91 |
+
"evidence": [
|
| 92 |
+
{
|
| 93 |
+
"t": 10.7,
|
| 94 |
+
"log_step": null,
|
| 95 |
+
"text_zh": "观察：视频画面顶部角标：10.6 s 为 clods brushed 2/6 但 in tray 0/6，10.8 s 为 in tray 2/6（两块几乎同时入盘）；14.0 s 为 2/6，14.4 s 为 3/6，其后到 19.3 s 保持 3/6。本节点为第1块，时间约 ±0.3 s。"
|
| 96 |
+
}
|
| 97 |
+
],
|
| 98 |
+
"contact_actual": [
|
| 99 |
+
{
|
| 100 |
+
"who": "手持工具",
|
| 101 |
+
"how": "推/扫",
|
| 102 |
+
"note_zh": "右手持鞋刷，用刷毛沿靴底把泥块推出鞋底边缘落入收集盘。"
|
| 103 |
+
}
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
"clods_in_tray_2": {
|
| 107 |
+
"method": "visual",
|
| 108 |
+
"intervals": [
|
| 109 |
+
[
|
| 110 |
+
10.7,
|
| 111 |
+
null
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
"final": true,
|
| 115 |
+
"evidence": [
|
| 116 |
+
{
|
| 117 |
+
"t": 10.7,
|
| 118 |
+
"log_step": null,
|
| 119 |
+
"text_zh": "观察：视频画面顶部角标：10.6 s 为 clods brushed 2/6 但 in tray 0/6，10.8 s 为 in tray 2/6（两块几乎同时入盘）；14.0 s 为 2/6，14.4 s 为 3/6，其后到 19.3 s 保持 3/6。本节点为第2块，时间约 ±0.3 s。"
|
| 120 |
+
}
|
| 121 |
+
],
|
| 122 |
+
"contact_actual": [
|
| 123 |
+
{
|
| 124 |
+
"who": "手持工具",
|
| 125 |
+
"how": "推/扫",
|
| 126 |
+
"note_zh": "右手持鞋刷，用刷毛沿靴底把泥块推出鞋底边缘落入收集盘。"
|
| 127 |
+
}
|
| 128 |
+
]
|
| 129 |
+
},
|
| 130 |
+
"clods_in_tray_3": {
|
| 131 |
+
"method": "visual",
|
| 132 |
+
"intervals": [
|
| 133 |
+
[
|
| 134 |
+
14.3,
|
| 135 |
+
null
|
| 136 |
+
]
|
| 137 |
+
],
|
| 138 |
+
"final": true,
|
| 139 |
+
"evidence": [
|
| 140 |
+
{
|
| 141 |
+
"t": 14.3,
|
| 142 |
+
"log_step": null,
|
| 143 |
+
"text_zh": "观察：视频画面顶部角标计数：视频 10.6 s 为 in tray 0/6，10.8 s 为 2/6（两块几乎同时入盘）；14.0 s 为 2/6，14.4 s 为 3/6，其后到 19.3 s 保持 3/6。本节点为第3块，时间约 ±0.3 s。"
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"contact_actual": [
|
| 147 |
+
{
|
| 148 |
+
"who": "手持工具",
|
| 149 |
+
"how": "推/扫",
|
| 150 |
+
"note_zh": "右手持鞋刷，用刷毛沿靴底把泥块推出鞋底边缘落入收集盘。"
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
},
|
| 154 |
+
"clods_in_tray_4": {
|
| 155 |
+
"method": "visual",
|
| 156 |
+
"intervals": [],
|
| 157 |
+
"final": false,
|
| 158 |
+
"evidence": [
|
| 159 |
+
{
|
| 160 |
+
"t": 19.3,
|
| 161 |
+
"log_step": null,
|
| 162 |
+
"text_zh": "观察：视频 14.5-19.3 s 角标始终为 in tray 3/6、brushed 3/6，其余三块泥仍在鞋底；视频 19.3 s 角标为 FAIL: hand_touched_debris（control 907）。"
|
| 163 |
+
}
|
| 164 |
+
],
|
| 165 |
+
"contact_actual": [
|
| 166 |
+
{
|
| 167 |
+
"who": "手指/夹爪",
|
| 168 |
+
"how": "压/擦",
|
| 169 |
+
"note_zh": "尝试刷第二排泥块（远侧一排）时，右手指尖/拇指低于刷毛而直接碰到泥块，被评分器判右手碰泥（视频 19.3 s 终止；接触对象由角标与 agent 自述 log step 58 推断���。"
|
| 170 |
+
}
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"clods_in_tray_5": {
|
| 174 |
+
"method": "visual",
|
| 175 |
+
"intervals": [],
|
| 176 |
+
"final": false,
|
| 177 |
+
"evidence": [
|
| 178 |
+
{
|
| 179 |
+
"t": 19.3,
|
| 180 |
+
"log_step": null,
|
| 181 |
+
"text_zh": "观察：视频 14.5-19.3 s 角标始终为 in tray 3/6、brushed 3/6，其余三块泥仍在鞋底；视频 19.3 s 角标为 FAIL: hand_touched_debris（control 907）。"
|
| 182 |
+
}
|
| 183 |
+
]
|
| 184 |
+
},
|
| 185 |
+
"clods_in_tray_6": {
|
| 186 |
+
"method": "visual",
|
| 187 |
+
"intervals": [],
|
| 188 |
+
"final": false,
|
| 189 |
+
"evidence": [
|
| 190 |
+
{
|
| 191 |
+
"t": 19.3,
|
| 192 |
+
"log_step": null,
|
| 193 |
+
"text_zh": "观察：视频 14.5-19.3 s 角标始终为 in tray 3/6、brushed 3/6，其余三块泥仍在鞋底；视频 19.3 s 角标为 FAIL: hand_touched_debris（control 907）。"
|
| 194 |
+
}
|
| 195 |
+
]
|
| 196 |
+
}
|
| 197 |
+
},
|
| 198 |
+
"constraints": {}
|
| 199 |
+
},
|
| 200 |
+
"native_metrics": [
|
| 201 |
+
{
|
| 202 |
+
"name": "clods_in_tray",
|
| 203 |
+
"value": 3,
|
| 204 |
+
"unit": "count",
|
| 205 |
+
"threshold": 6,
|
| 206 |
+
"direction": "higher_better"
|
| 207 |
+
},
|
| 208 |
+
{
|
| 209 |
+
"name": "clods_brushed",
|
| 210 |
+
"value": 3,
|
| 211 |
+
"unit": "count",
|
| 212 |
+
"threshold": 6,
|
| 213 |
+
"direction": "higher_better"
|
| 214 |
+
},
|
| 215 |
+
{
|
| 216 |
+
"name": "brush_contact_controls",
|
| 217 |
+
"value": null,
|
| 218 |
+
"unit": "control",
|
| 219 |
+
"threshold": 10,
|
| 220 |
+
"direction": "higher_better"
|
| 221 |
+
},
|
| 222 |
+
{
|
| 223 |
+
"name": "hold",
|
| 224 |
+
"value": 0,
|
| 225 |
+
"unit": "control",
|
| 226 |
+
"threshold": 50,
|
| 227 |
+
"direction": "higher_better"
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"name": "max_clod_speed",
|
| 231 |
+
"value": null,
|
| 232 |
+
"unit": "m/s",
|
| 233 |
+
"threshold": 0.05,
|
| 234 |
+
"direction": "lower_better"
|
| 235 |
+
},
|
| 236 |
+
{
|
| 237 |
+
"name": "boot_shift_m",
|
| 238 |
+
"value": null,
|
| 239 |
+
"unit": "m",
|
| 240 |
+
"threshold": 0.03,
|
| 241 |
+
"direction": "lower_better"
|
| 242 |
+
},
|
| 243 |
+
{
|
| 244 |
+
"name": "boot_tilt_rad",
|
| 245 |
+
"value": null,
|
| 246 |
+
"unit": "rad",
|
| 247 |
+
"threshold": 0.35,
|
| 248 |
+
"direction": "lower_better"
|
| 249 |
+
}
|
| 250 |
+
],
|
| 251 |
+
"failure": {
|
| 252 |
+
"breakpoint": {
|
| 253 |
+
"ref": "clods_in_tray_4",
|
| 254 |
+
"t": 19.3,
|
| 255 |
+
"log_step": 58,
|
| 256 |
+
"where": "操作中",
|
| 257 |
+
"evidence_zh": "观察：视频 10.5 s 与 14.5 s 前后共 3 块泥（近侧一排）被刷毛扫入盘；之后到 19.3 s 机器人在鞋底远侧一排反复尝试，角标停在 3/6，19.3 s 变为 FAIL: hand_touched_debris（评分器：右手直接碰到泥块，立即判负，该事件不单独记录）。agent 最终报告（log step 58）自述远侧一排没解决、只有 3/6 入盘。"
|
| 258 |
+
},
|
| 259 |
+
"phenomena": [
|
| 260 |
+
{
|
| 261 |
+
"cat": "运动",
|
| 262 |
+
"item": "位姿不准",
|
| 263 |
+
"t": 19.3,
|
| 264 |
+
"log_step": 58,
|
| 265 |
+
"evidence_zh": "观察：视频 14.5-19.3 s 刷子在远侧一排泥块处没有把刷毛送到鞋底高度，一块泥也没再入盘，最后手碰到泥。推断：agent 自述（log step 58）在 y≈0.11-0.13 处刷毛比目标高 1.5-3 cm，指尖或拇指比刷毛更低而撞上泥块；这是自述，未由状态日志核实。"
|
| 266 |
+
}
|
| 267 |
+
],
|
| 268 |
+
"root_causes": [
|
| 269 |
+
{
|
| 270 |
+
"cat": "控制",
|
| 271 |
+
"item": "抓取和接触设计",
|
| 272 |
+
"alt_feasible": "未知",
|
| 273 |
+
"evidence_zh": "agent 自述（log step 28, 58）：刷子在掌下仅被指尖捏住、悬在掌心下约 2 cm，指尖/拇指低于刷毛；作者提出握刷子一端可能更好，但未验证。视频 4.6-5.2 s 可见掌心向下的握法。",
|
| 274 |
+
"source_zh": "agent 自述 / 视频"
|
| 275 |
+
}
|
| 276 |
+
],
|
| 277 |
+
"gap_zh": "无状态日志，无法核对刷毛高度和具体是哪一根手指碰泥；碰泥的原因来自 agent 自述，视频分辨率下看不清。brush_contact_controls 等原生指标未在 reward 中报告。",
|
| 278 |
+
"unmet": {
|
| 279 |
+
"clods_in_tray_1": true,
|
| 280 |
+
"clods_in_tray_2": true,
|
| 281 |
+
"clods_in_tray_3": true,
|
| 282 |
+
"clods_in_tray_4": false,
|
| 283 |
+
"clods_in_tray_5": false,
|
| 284 |
+
"clods_in_tray_6": false
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"summary_zh": "观察：右手在视频约 5 s 抓起鞋刷，约 10.7 s 与 14.3 s 前后近侧一排 3 块泥被扫入盘（角标 3/6）；远侧一排 3 块始终没清掉，视频 19.3 s 评分器判 hand_touched_debris 终止。断点为第4块泥入盘（操作中），现象推断为刷毛够不到鞋底高度、指尖低于刷毛而碰泥（来自 agent 自述，未由状态日志核实）。无状态日志，时间依据视频角标，精度约 0.5 s。",
|
| 288 |
+
"conf": 6,
|
| 289 |
+
"review": {
|
| 290 |
+
"status": "agreed",
|
| 291 |
+
"rounds": 3,
|
| 292 |
+
"reviewers": [
|
| 293 |
+
{
|
| 294 |
+
"engine": "claude",
|
| 295 |
+
"model": "claude-sonnet-5-5",
|
| 296 |
+
"round": 1,
|
| 297 |
+
"verdict": "fix",
|
| 298 |
+
"conf": 7,
|
| 299 |
+
"summary_zh": "节点、断点（第4块入盘，操作中）、终止事件与根因大体与视频角标一致；仅 clods_in_tray_1/2 的证据文字把角标读数写错（10.5 s 实为 brushed 2/6 但 in tray 0/6），入盘时刻应约 10.7 s。",
|
| 300 |
+
"n_issues": 1,
|
| 301 |
+
"n_major": 0
|
| 302 |
+
},
|
| 303 |
+
{
|
| 304 |
+
"engine": "claude",
|
| 305 |
+
"model": "claude-sonnet-5-5",
|
| 306 |
+
"round": 2,
|
| 307 |
+
"verdict": "fix",
|
| 308 |
+
"conf": 7,
|
| 309 |
+
"summary_zh": "节点值、断点（第4块入盘，操作中）、hand_touched_debris 终止及根因与角标一致；仅 clods_in_tray_3 的证据文字仍保留上一轮已更正的错误读数。",
|
| 310 |
+
"n_issues": 1,
|
| 311 |
+
"n_major": 0
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"engine": "claude",
|
| 315 |
+
"model": "claude-sonnet-5-5",
|
| 316 |
+
"round": 3,
|
| 317 |
+
"kind": "confirm",
|
| 318 |
+
"verdict": "agree",
|
| 319 |
+
"summary_zh": "I1 已按提议修正：clods_in_tray_3 证据文字现为 10.6 s 0/6、10.8 s 2/6、14.4 s 3/6，与画面角标一致。",
|
| 320 |
+
"n_issues": 0,
|
| 321 |
+
"n_checks": 1
|
| 322 |
+
}
|
| 323 |
+
],
|
| 324 |
+
"open_zh": [],
|
| 325 |
+
"confirm": {
|
| 326 |
+
"verdict": "confirmed",
|
| 327 |
+
"summary_zh": "I1 已按提议修正：clods_in_tray_3 证据文字现为 10.6 s 0/6、10.8 s 2/6、14.4 s 3/6，与画面角标一致。",
|
| 328 |
+
"checks_ok": "1/1",
|
| 329 |
+
"n_factual_errors": 0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"provenance": {
|
| 333 |
+
"prompt": "prompts/03_trajectory.md",
|
| 334 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 335 |
+
"engine": "claude",
|
| 336 |
+
"model": "claude-sonnet-5-5",
|
| 337 |
+
"effort": "high",
|
| 338 |
+
"created": "2026-11-08T22:07:22Z",
|
| 339 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 340 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 341 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 342 |
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"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 343 |
+
"calls": [
|
| 344 |
+
{
|
| 345 |
+
"stage": "traj",
|
| 346 |
+
"round": 0,
|
| 347 |
+
"ok": true,
|
| 348 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--vcegmpu/03_label"
|
| 349 |
+
},
|
| 350 |
+
{
|
| 351 |
+
"stage": "traj_review",
|
| 352 |
+
"round": 1,
|
| 353 |
+
"ok": true,
|
| 354 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--vcegmpu/04_review_r1"
|
| 355 |
+
},
|
| 356 |
+
{
|
| 357 |
+
"stage": "reconcile",
|
| 358 |
+
"round": 1,
|
| 359 |
+
"ok": true,
|
| 360 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--vcegmpu/05_reconcile_r1"
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"stage": "traj_review",
|
| 364 |
+
"round": 2,
|
| 365 |
+
"ok": true,
|
| 366 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--vcegmpu/04_review_r2"
|
| 367 |
+
},
|
| 368 |
+
{
|
| 369 |
+
"stage": "reconcile",
|
| 370 |
+
"round": 2,
|
| 371 |
+
"ok": true,
|
| 372 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--vcegmpu/05_reconcile_r2"
|
| 373 |
+
},
|
| 374 |
+
{
|
| 375 |
+
"stage": "confirm",
|
| 376 |
+
"round": 3,
|
| 377 |
+
"ok": true,
|
| 378 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--vcegmpu/06_confirm_r3"
|
| 379 |
+
}
|
| 380 |
+
],
|
| 381 |
+
"confirm_prompt": "prompts/06_confirm.md",
|
| 382 |
+
"confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
|
| 383 |
+
"review_engine": "claude",
|
| 384 |
+
"review_model": "claude-sonnet-5-5",
|
| 385 |
+
"inputs": {
|
| 386 |
+
"run_json_sha256": "2a051c15211645c8a255027ccee66412b00cd08839e2149508b63be3ebbfcae1",
|
| 387 |
+
"video_sha256": "2df59ccb8d5d0ce47afdceb58a595085164fb8e54eee63ff545171ec3ae56b4d",
|
| 388 |
+
"states_sha256": null,
|
| 389 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 390 |
+
},
|
| 391 |
+
"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."
|
| 392 |
+
}
|
| 393 |
+
}
|
phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--xkworej.json
ADDED
|
@@ -0,0 +1,266 @@
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "dexhand-boot-sole-brush-i00-privileged--xkworej",
|
| 5 |
+
"taskKey": "dexhand/boot_sole_brush",
|
| 6 |
+
"dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"deterministic": 1,
|
| 13 |
+
"hand_wuji": 0,
|
| 14 |
+
"infra_error": 0,
|
| 15 |
+
"n_actions": 10,
|
| 16 |
+
"sim_steps": 10,
|
| 17 |
+
"stages_completed": 0,
|
| 18 |
+
"success": 0,
|
| 19 |
+
"resource_enforced": 0,
|
| 20 |
+
"limits_violation_observed": 0,
|
| 21 |
+
"resource_monitor_missing": 0,
|
| 22 |
+
"peak_gpu_memory_gb": 0.0,
|
| 23 |
+
"peak_memory_gb": 3.332,
|
| 24 |
+
"peak_processes": 9,
|
| 25 |
+
"peak_disk_gb": 0.278,
|
| 26 |
+
"peak_cpus": 2.08,
|
| 27 |
+
"peak_pids": 113,
|
| 28 |
+
"resource_memory_kills": 0,
|
| 29 |
+
"resource_pids_kills": 0,
|
| 30 |
+
"resource_disk_kills": 0,
|
| 31 |
+
"resource_gpu_memory_kills": 0,
|
| 32 |
+
"resource_monitor_kills": 0,
|
| 33 |
+
"resource_emergency_kills": 0,
|
| 34 |
+
"resource_limit_exceeded": 0,
|
| 35 |
+
"resource_cpu_throttles": 0,
|
| 36 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 37 |
+
"resource_oom_kills": 0,
|
| 38 |
+
"resource_host_oom_kills": 0,
|
| 39 |
+
"resource_service_oom_kills": 0
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"video": {
|
| 43 |
+
"kind": "media",
|
| 44 |
+
"url": "media:dexhand-boot-sole-brush-i00-privileged--xkworej.mp4",
|
| 45 |
+
"duration_s": 1.3,
|
| 46 |
+
"fps": 10.0,
|
| 47 |
+
"frames": 13,
|
| 48 |
+
"sha256": "fe29377b7d2a97c097db57caac44ed5e79169d196b15988a7c35da9bab6f78e2"
|
| 49 |
+
},
|
| 50 |
+
"state": null,
|
| 51 |
+
"progress": {
|
| 52 |
+
"method": "visual",
|
| 53 |
+
"denominator": 7,
|
| 54 |
+
"base": 0,
|
| 55 |
+
"peak": 0,
|
| 56 |
+
"final": 0,
|
| 57 |
+
"nodes": {
|
| 58 |
+
"brush_in_hand": {
|
| 59 |
+
"method": "visual",
|
| 60 |
+
"intervals": [],
|
| 61 |
+
"final": false,
|
| 62 |
+
"evidence": [
|
| 63 |
+
{
|
| 64 |
+
"t": 1.2,
|
| 65 |
+
"log_step": 558,
|
| 66 |
+
"text_zh": "观察：视频 0–1.3 s（13 帧），右手始终停在鞋刷旁上方，木背鞋刷一直在台面原位，未被抓起；顶部状态栏 control 只到 10。"
|
| 67 |
+
}
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"clods_in_tray_1": {
|
| 71 |
+
"method": "visual",
|
| 72 |
+
"intervals": [],
|
| 73 |
+
"final": false,
|
| 74 |
+
"evidence": [
|
| 75 |
+
{
|
| 76 |
+
"t": 1.2,
|
| 77 |
+
"log_step": 558,
|
| 78 |
+
"text_zh": "观察：视频 0–1.3 s 状态栏全程 “clods brushed 0/6 | in tray 0/6”，泥块仍在朝上的靴底上，收集盘为空。"
|
| 79 |
+
}
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"clods_in_tray_2": {
|
| 83 |
+
"method": "visual",
|
| 84 |
+
"intervals": [],
|
| 85 |
+
"final": false,
|
| 86 |
+
"evidence": [
|
| 87 |
+
{
|
| 88 |
+
"t": 1.2,
|
| 89 |
+
"log_step": 558,
|
| 90 |
+
"text_zh": "观察：视频 0–1.3 s 状态栏全程 “clods brushed 0/6 | in tray 0/6”，泥块仍在朝上的靴底上，收集盘为空。"
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"clods_in_tray_3": {
|
| 95 |
+
"method": "visual",
|
| 96 |
+
"intervals": [],
|
| 97 |
+
"final": false,
|
| 98 |
+
"evidence": [
|
| 99 |
+
{
|
| 100 |
+
"t": 1.2,
|
| 101 |
+
"log_step": 558,
|
| 102 |
+
"text_zh": "观察：视频 0–1.3 s 状态栏全程 “clods brushed 0/6 | in tray 0/6”，泥块仍在朝上的靴底上，收集盘为空。"
|
| 103 |
+
}
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
"clods_in_tray_4": {
|
| 107 |
+
"method": "visual",
|
| 108 |
+
"intervals": [],
|
| 109 |
+
"final": false,
|
| 110 |
+
"evidence": [
|
| 111 |
+
{
|
| 112 |
+
"t": 1.2,
|
| 113 |
+
"log_step": 558,
|
| 114 |
+
"text_zh": "观察：视频 0–1.3 s 状态栏全程 “clods brushed 0/6 | in tray 0/6”，泥块仍在朝上的靴底上，收集盘为空。"
|
| 115 |
+
}
|
| 116 |
+
]
|
| 117 |
+
},
|
| 118 |
+
"clods_in_tray_5": {
|
| 119 |
+
"method": "visual",
|
| 120 |
+
"intervals": [],
|
| 121 |
+
"final": false,
|
| 122 |
+
"evidence": [
|
| 123 |
+
{
|
| 124 |
+
"t": 1.2,
|
| 125 |
+
"log_step": 558,
|
| 126 |
+
"text_zh": "观察：视频 0–1.3 s 状态栏全程 “clods brushed 0/6 | in tray 0/6”，泥块仍在朝上的靴底上，收集盘为空。"
|
| 127 |
+
}
|
| 128 |
+
]
|
| 129 |
+
},
|
| 130 |
+
"clods_in_tray_6": {
|
| 131 |
+
"method": "visual",
|
| 132 |
+
"intervals": [],
|
| 133 |
+
"final": false,
|
| 134 |
+
"evidence": [
|
| 135 |
+
{
|
| 136 |
+
"t": 1.2,
|
| 137 |
+
"log_step": 558,
|
| 138 |
+
"text_zh": "观察：视频 0–1.3 s 状态栏全程 “clods brushed 0/6 | in tray 0/6”，泥块仍在朝上的靴底上，收集盘为空。"
|
| 139 |
+
}
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"constraints": {}
|
| 144 |
+
},
|
| 145 |
+
"native_metrics": [
|
| 146 |
+
{
|
| 147 |
+
"name": "clods_in_tray",
|
| 148 |
+
"value": 0,
|
| 149 |
+
"unit": "count",
|
| 150 |
+
"threshold": 6,
|
| 151 |
+
"direction": "higher_better"
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"failure": {
|
| 155 |
+
"breakpoint": {
|
| 156 |
+
"ref": "brush_in_hand",
|
| 157 |
+
"t": 0.0,
|
| 158 |
+
"where": "首步前",
|
| 159 |
+
"evidence_zh": "观察：视频 0–1.3 s 仅 10 个控制步（run.json n_actions=10，log step 557 显示交付的 actions 形状 (10,58)），右手没有靠近并抓起鞋刷，鞋刷全程留在台面。交付的轨迹没有开始拿起鞋刷这一步。",
|
| 160 |
+
"log_step": 557
|
| 161 |
+
},
|
| 162 |
+
"phenomena": [
|
| 163 |
+
{
|
| 164 |
+
"t": 1.2,
|
| 165 |
+
"log_step": 557,
|
| 166 |
+
"evidence_zh": "观察：交付轨迹只有 10 个控制步，视频 0–1.3 s 机器人几乎不动，拿起鞋刷的步骤没有开始。",
|
| 167 |
+
"cat": "没尝试",
|
| 168 |
+
"item": "没尝试"
|
| 169 |
+
}
|
| 170 |
+
],
|
| 171 |
+
"root_causes": [
|
| 172 |
+
{
|
| 173 |
+
"cat": "交付",
|
| 174 |
+
"item": "交付操作出错",
|
| 175 |
+
"evidence_zh": "观察：log step 533（agent 时钟 t=3379 s）agent 用 np.tile(hold_action,(10,1)) 存入 10 步“baseline deliverable”；step 541/546 改写的 run_solution.py（容器内临时文件） 在 step 547-556 后没有覆盖��step 556 ls 显示 trajectory.npz 仍为 734 B、与 gen.py 同时间 10:33，step 557 actions 形状 (10,58)；step 558 却自述“Deliverables Verified”。交付的是占位基线而非真实解法（agent 时钟，未换算为视频时间）。",
|
| 176 |
+
"log_step": 533,
|
| 177 |
+
"source_zh": "log step 533、556、557、558（agent 日志，agent 时钟）"
|
| 178 |
+
}
|
| 179 |
+
],
|
| 180 |
+
"unmet": {
|
| 181 |
+
"clods_in_tray_1": false,
|
| 182 |
+
"clods_in_tray_2": false,
|
| 183 |
+
"clods_in_tray_3": false,
|
| 184 |
+
"clods_in_tray_4": false,
|
| 185 |
+
"clods_in_tray_5": false,
|
| 186 |
+
"clods_in_tray_6": false
|
| 187 |
+
},
|
| 188 |
+
"gap_zh": ""
|
| 189 |
+
},
|
| 190 |
+
"summary_zh": "观察：交付轨迹仅 10 个控制步（视频 1.3 s），鞋刷始终在台面，0/6 泥块入盘，7 个节点均未达成。断点在“拿起鞋刷”（首步前），现象为没尝试；根因为交付操作出错：log step 533 存入 10 步 hold 占位基线，之后真实脚本未存盘成功（step 556-557 文件仍为 (10,58)），step 558 仍自述已验证交付。",
|
| 191 |
+
"conf": 8,
|
| 192 |
+
"review": {
|
| 193 |
+
"status": "agreed",
|
| 194 |
+
"rounds": 2,
|
| 195 |
+
"reviewers": [
|
| 196 |
+
{
|
| 197 |
+
"engine": "claude",
|
| 198 |
+
"model": "claude-sonnet-5-5",
|
| 199 |
+
"round": 1,
|
| 200 |
+
"verdict": "fix",
|
| 201 |
+
"conf": 8,
|
| 202 |
+
"summary_zh": "节点、断点、现象与视频一致（0–1.3 s 手不动、鞋刷在原位、0/6）。但根因层留空是错的：log 有明确证据表明 agent 交付的是自己存的 10 步 hold 占位基线，真实脚本之后没有存盘成功，却声称已验证交付，应补根因 交付 · 交付操作出错。",
|
| 203 |
+
"n_issues": 1,
|
| 204 |
+
"n_major": 1
|
| 205 |
+
},
|
| 206 |
+
{
|
| 207 |
+
"engine": "claude",
|
| 208 |
+
"model": "claude-sonnet-5-5",
|
| 209 |
+
"round": 2,
|
| 210 |
+
"verdict": "agree",
|
| 211 |
+
"conf": 8,
|
| 212 |
+
"summary_zh": "节点全未达成、断点（拿起鞋刷，首步前，没尝试）、根因（交付·交付操作出错）均与视频和 log 一致；视频仅 10 个控制步，鞋刷原位，0/6。",
|
| 213 |
+
"n_issues": 0,
|
| 214 |
+
"n_major": 0
|
| 215 |
+
}
|
| 216 |
+
],
|
| 217 |
+
"open_zh": []
|
| 218 |
+
},
|
| 219 |
+
"provenance": {
|
| 220 |
+
"prompt": "prompts/03_trajectory.md",
|
| 221 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 222 |
+
"engine": "claude",
|
| 223 |
+
"model": "claude-sonnet-5-5",
|
| 224 |
+
"effort": "high",
|
| 225 |
+
"created": "2026-11-08T22:06:35Z",
|
| 226 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 227 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 228 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 229 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 230 |
+
"calls": [
|
| 231 |
+
{
|
| 232 |
+
"stage": "traj",
|
| 233 |
+
"round": 0,
|
| 234 |
+
"ok": true,
|
| 235 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--xkworej/03_label"
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"stage": "traj_review",
|
| 239 |
+
"round": 1,
|
| 240 |
+
"ok": true,
|
| 241 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--xkworej/04_review_r1"
|
| 242 |
+
},
|
| 243 |
+
{
|
| 244 |
+
"stage": "reconcile",
|
| 245 |
+
"round": 1,
|
| 246 |
+
"ok": true,
|
| 247 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--xkworej/05_reconcile_r1"
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"stage": "traj_review",
|
| 251 |
+
"round": 2,
|
| 252 |
+
"ok": true,
|
| 253 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--xkworej/04_review_r2"
|
| 254 |
+
}
|
| 255 |
+
],
|
| 256 |
+
"review_engine": "claude",
|
| 257 |
+
"review_model": "claude-sonnet-5-5",
|
| 258 |
+
"inputs": {
|
| 259 |
+
"run_json_sha256": "5234c4782c2ff44b10ad0643beee31fdcba57d0a21bcd6857229ec36f3ba351d",
|
| 260 |
+
"video_sha256": "fe29377b7d2a97c097db57caac44ed5e79169d196b15988a7c35da9bab6f78e2",
|
| 261 |
+
"states_sha256": null,
|
| 262 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 263 |
+
},
|
| 264 |
+
"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."
|
| 265 |
+
}
|
| 266 |
+
}
|
phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--yojv86k.json
ADDED
|
@@ -0,0 +1,269 @@
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "dexhand-boot-sole-brush-i00-privileged--yojv86k",
|
| 5 |
+
"taskKey": "dexhand/boot_sole_brush",
|
| 6 |
+
"dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"deterministic": 0,
|
| 13 |
+
"infra_error": 0,
|
| 14 |
+
"missing_trajectory": 1,
|
| 15 |
+
"n_actions": 0,
|
| 16 |
+
"sim_steps": 0,
|
| 17 |
+
"success": 0,
|
| 18 |
+
"resource_enforced": 0,
|
| 19 |
+
"limits_violation_observed": 1,
|
| 20 |
+
"resource_monitor_missing": 0,
|
| 21 |
+
"peak_gpu_memory_gb": 0.0,
|
| 22 |
+
"peak_memory_gb": 2.735,
|
| 23 |
+
"peak_processes": 11,
|
| 24 |
+
"peak_disk_gb": 0.26,
|
| 25 |
+
"peak_cpus": 2.14,
|
| 26 |
+
"peak_pids": 114,
|
| 27 |
+
"resource_memory_kills": 0,
|
| 28 |
+
"resource_pids_kills": 0,
|
| 29 |
+
"resource_disk_kills": 0,
|
| 30 |
+
"resource_gpu_memory_kills": 0,
|
| 31 |
+
"resource_monitor_kills": 0,
|
| 32 |
+
"resource_emergency_kills": 0,
|
| 33 |
+
"resource_limit_exceeded": 0,
|
| 34 |
+
"resource_cpu_throttles": 0,
|
| 35 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 36 |
+
"resource_oom_kills": 0,
|
| 37 |
+
"resource_host_oom_kills": 0,
|
| 38 |
+
"resource_service_oom_kills": 0,
|
| 39 |
+
"over_cpus": 1
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"video": {
|
| 43 |
+
"kind": "none",
|
| 44 |
+
"url": null,
|
| 45 |
+
"duration_s": null,
|
| 46 |
+
"fps": null,
|
| 47 |
+
"frames": null,
|
| 48 |
+
"sha256": null
|
| 49 |
+
},
|
| 50 |
+
"state": null,
|
| 51 |
+
"progress": {
|
| 52 |
+
"method": "log",
|
| 53 |
+
"denominator": 7,
|
| 54 |
+
"base": null,
|
| 55 |
+
"peak": null,
|
| 56 |
+
"final": 0,
|
| 57 |
+
"nodes": {
|
| 58 |
+
"brush_in_hand": {
|
| 59 |
+
"method": "log",
|
| 60 |
+
"intervals": null,
|
| 61 |
+
"final": false,
|
| 62 |
+
"evidence": [
|
| 63 |
+
{
|
| 64 |
+
"t": null,
|
| 65 |
+
"log_step": null,
|
| 66 |
+
"text_zh": "观察：评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，说明没有可回放的轨迹被交付，评分回放中机器人未执行任何动作；无视频，无状态日志。推断：该节点未达成（由评分器字段推出，非逐帧观察）。"
|
| 67 |
+
}
|
| 68 |
+
],
|
| 69 |
+
"contact_actual": [
|
| 70 |
+
{
|
| 71 |
+
"who": "不适用",
|
| 72 |
+
"how": "不适用",
|
| 73 |
+
"note_zh": "未交付轨迹，评分回合中无任何接触。"
|
| 74 |
+
}
|
| 75 |
+
]
|
| 76 |
+
},
|
| 77 |
+
"clods_in_tray_1": {
|
| 78 |
+
"method": "log",
|
| 79 |
+
"intervals": null,
|
| 80 |
+
"final": false,
|
| 81 |
+
"evidence": [
|
| 82 |
+
{
|
| 83 |
+
"t": null,
|
| 84 |
+
"log_step": null,
|
| 85 |
+
"text_zh": "观察：评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，说明没有可回放的轨迹被交付，评分回放中机器人未执行任何动作；无视频，无状态日志。推断：该节点未达成（由评分器字段推出，非逐帧观察）。"
|
| 86 |
+
}
|
| 87 |
+
],
|
| 88 |
+
"contact_actual": [
|
| 89 |
+
{
|
| 90 |
+
"who": "不适用",
|
| 91 |
+
"how": "不适用",
|
| 92 |
+
"note_zh": "未交付轨迹，评分回合中无任何接触。"
|
| 93 |
+
}
|
| 94 |
+
]
|
| 95 |
+
},
|
| 96 |
+
"clods_in_tray_2": {
|
| 97 |
+
"method": "log",
|
| 98 |
+
"intervals": null,
|
| 99 |
+
"final": false,
|
| 100 |
+
"evidence": [
|
| 101 |
+
{
|
| 102 |
+
"t": null,
|
| 103 |
+
"log_step": null,
|
| 104 |
+
"text_zh": "观察：评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，说明没有可回放的轨迹被交付，评分回放中机器人未执行任何动作；无视频，无状态日志。推断：该节点未达成（由评分器字段推出，非逐帧观察）。"
|
| 105 |
+
}
|
| 106 |
+
],
|
| 107 |
+
"contact_actual": [
|
| 108 |
+
{
|
| 109 |
+
"who": "不适用",
|
| 110 |
+
"how": "不适用",
|
| 111 |
+
"note_zh": "未交付轨迹，评分回合中无任何接触。"
|
| 112 |
+
}
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"clods_in_tray_3": {
|
| 116 |
+
"method": "log",
|
| 117 |
+
"intervals": null,
|
| 118 |
+
"final": false,
|
| 119 |
+
"evidence": [
|
| 120 |
+
{
|
| 121 |
+
"t": null,
|
| 122 |
+
"log_step": null,
|
| 123 |
+
"text_zh": "观察：评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，说明没有可回放的轨迹被交付，评分回放中机器人未执行任何动作；无视频，无状态日志。推断：该节点未达成（由评分器字段推出，非逐帧观察）。"
|
| 124 |
+
}
|
| 125 |
+
],
|
| 126 |
+
"contact_actual": [
|
| 127 |
+
{
|
| 128 |
+
"who": "不适用",
|
| 129 |
+
"how": "不适用",
|
| 130 |
+
"note_zh": "未交付轨迹，评分回合中无任何接触。"
|
| 131 |
+
}
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"clods_in_tray_4": {
|
| 135 |
+
"method": "log",
|
| 136 |
+
"intervals": null,
|
| 137 |
+
"final": false,
|
| 138 |
+
"evidence": [
|
| 139 |
+
{
|
| 140 |
+
"t": null,
|
| 141 |
+
"log_step": null,
|
| 142 |
+
"text_zh": "观察：评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，说明没有可回放的轨迹被交付，评分回放中机器人未执行任何动作；无视频，无状态日志。推断：该节点未达成（由评分器字段推出，非逐帧观察）。"
|
| 143 |
+
}
|
| 144 |
+
],
|
| 145 |
+
"contact_actual": [
|
| 146 |
+
{
|
| 147 |
+
"who": "不适用",
|
| 148 |
+
"how": "不适用",
|
| 149 |
+
"note_zh": "未交付轨迹，评分回合中无任何接触。"
|
| 150 |
+
}
|
| 151 |
+
]
|
| 152 |
+
},
|
| 153 |
+
"clods_in_tray_5": {
|
| 154 |
+
"method": "log",
|
| 155 |
+
"intervals": null,
|
| 156 |
+
"final": false,
|
| 157 |
+
"evidence": [
|
| 158 |
+
{
|
| 159 |
+
"t": null,
|
| 160 |
+
"log_step": null,
|
| 161 |
+
"text_zh": "观察：评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，说明没有可回放的轨迹被交付，评分回放中机器人未执行任何动作；无视频，无状态日志。推断：该节点未达成（由评���器字段推出，非逐帧观察）。"
|
| 162 |
+
}
|
| 163 |
+
],
|
| 164 |
+
"contact_actual": [
|
| 165 |
+
{
|
| 166 |
+
"who": "不适用",
|
| 167 |
+
"how": "不适用",
|
| 168 |
+
"note_zh": "未交付轨迹，评分回合中无任何接触。"
|
| 169 |
+
}
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"clods_in_tray_6": {
|
| 173 |
+
"method": "log",
|
| 174 |
+
"intervals": null,
|
| 175 |
+
"final": false,
|
| 176 |
+
"evidence": [
|
| 177 |
+
{
|
| 178 |
+
"t": null,
|
| 179 |
+
"log_step": null,
|
| 180 |
+
"text_zh": "观察：评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0，说明没有可回放的轨迹被交付，评分回放中机器人未执行任何动作；无视频，无状态日志。推断：该节点未达成（由评分器字段推出，非逐帧观察）。"
|
| 181 |
+
}
|
| 182 |
+
],
|
| 183 |
+
"contact_actual": [
|
| 184 |
+
{
|
| 185 |
+
"who": "不适用",
|
| 186 |
+
"how": "不适用",
|
| 187 |
+
"note_zh": "未交付轨迹，评分回合中无任何接触。"
|
| 188 |
+
}
|
| 189 |
+
]
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"constraints": {}
|
| 193 |
+
},
|
| 194 |
+
"native_metrics": [],
|
| 195 |
+
"failure": {
|
| 196 |
+
"breakpoint": {
|
| 197 |
+
"ref": "brush_in_hand",
|
| 198 |
+
"t": null,
|
| 199 |
+
"log_step": 139,
|
| 200 |
+
"where": "首步前",
|
| 201 |
+
"evidence_zh": "观察：reward 中 missing_trajectory=1、n_actions=0；agent 在 sandbox 里只做仿真试验（log step 138 曾试存轨迹，同一步输出 FAILED at step 806: hand_touched_debris），最后一步 139 仍在后台跑扫刷测试，agent 工作 3604 s 用尽，未交付任何可回放轨迹，因此评分回合从未开始第一步。"
|
| 202 |
+
},
|
| 203 |
+
"unmet": {
|
| 204 |
+
"clods_in_tray_1": false,
|
| 205 |
+
"clods_in_tray_2": false,
|
| 206 |
+
"clods_in_tray_3": false,
|
| 207 |
+
"clods_in_tray_4": false,
|
| 208 |
+
"clods_in_tray_5": false,
|
| 209 |
+
"clods_in_tray_6": false
|
| 210 |
+
},
|
| 211 |
+
"phenomena": [],
|
| 212 |
+
"root_causes": [],
|
| 213 |
+
"gap_zh": "无视频、无状态日志（inputs/ 无 replay.mp4 / states.jsonl）；agent 因自身原因未交付轨迹，会话内的仿真试验只是会话证据，不能作为现象或根因（D23），故现象与根因层留空。"
|
| 214 |
+
},
|
| 215 |
+
"summary_zh": "观察：agent 在 sandbox 内用约 3604 s（agent 时间）反复试验抓刷与扫泥，会话中曾在仿真里把 4-5 块泥扫入盘，但评分器记录 missing_trajectory=1、n_actions=0，没有交付轨迹，因此 7 个节点均按评分器字段判为未达成。断点为首步前（拿起鞋刷，未开始）；无视频与状态日志，现象与根因按 D23 留空。",
|
| 216 |
+
"conf": 6,
|
| 217 |
+
"review": {
|
| 218 |
+
"status": "agreed",
|
| 219 |
+
"rounds": 1,
|
| 220 |
+
"reviewers": [
|
| 221 |
+
{
|
| 222 |
+
"engine": "claude",
|
| 223 |
+
"model": "claude-sonnet-5-5",
|
| 224 |
+
"round": 1,
|
| 225 |
+
"verdict": "agree",
|
| 226 |
+
"conf": 7,
|
| 227 |
+
"summary_zh": "无视频、无状态日志；评分器字段 missing_trajectory=1、n_actions=0 支持全部节点未达成；按 D23 现象与根因留空并写 gap_zh，断点首步前合理，未把会话试验当作现象，时间未换算。",
|
| 228 |
+
"n_issues": 0,
|
| 229 |
+
"n_major": 0
|
| 230 |
+
}
|
| 231 |
+
],
|
| 232 |
+
"open_zh": []
|
| 233 |
+
},
|
| 234 |
+
"provenance": {
|
| 235 |
+
"prompt": "prompts/03_trajectory.md",
|
| 236 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 237 |
+
"engine": "claude",
|
| 238 |
+
"model": "claude-sonnet-5-5",
|
| 239 |
+
"effort": "high",
|
| 240 |
+
"created": "2026-11-08T22:04:26Z",
|
| 241 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 242 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 243 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 244 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 245 |
+
"calls": [
|
| 246 |
+
{
|
| 247 |
+
"stage": "traj",
|
| 248 |
+
"round": 0,
|
| 249 |
+
"ok": true,
|
| 250 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--yojv86k/03_label"
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"stage": "traj_review",
|
| 254 |
+
"round": 1,
|
| 255 |
+
"ok": true,
|
| 256 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-privileged--yojv86k/04_review_r1"
|
| 257 |
+
}
|
| 258 |
+
],
|
| 259 |
+
"review_engine": "claude",
|
| 260 |
+
"review_model": "claude-sonnet-5-5",
|
| 261 |
+
"inputs": {
|
| 262 |
+
"run_json_sha256": "fedda427303f61972b0a646444b1ff1212c18b521101b7d70292fb716e288979",
|
| 263 |
+
"video_sha256": null,
|
| 264 |
+
"states_sha256": null,
|
| 265 |
+
"video_choice": "HF replay.mp4 status 404; no local video"
|
| 266 |
+
},
|
| 267 |
+
"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."
|
| 268 |
+
}
|
| 269 |
+
}
|
phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--mwhsssr.json
ADDED
|
@@ -0,0 +1,314 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "dexhand-boot-sole-brush-i00-standard--mwhsssr",
|
| 5 |
+
"taskKey": "dexhand/boot_sole_brush",
|
| 6 |
+
"dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"calls": 190,
|
| 13 |
+
"control_steps_total": 4278,
|
| 14 |
+
"elapsed_s": 3609.361,
|
| 15 |
+
"finalized": 1,
|
| 16 |
+
"gave_up": 0,
|
| 17 |
+
"graded_by_live": 1,
|
| 18 |
+
"grader_error": 0,
|
| 19 |
+
"hand_wuji": 0,
|
| 20 |
+
"infra_error": 0,
|
| 21 |
+
"instance_mismatch": 0,
|
| 22 |
+
"live_success": 0,
|
| 23 |
+
"missing_log": 0,
|
| 24 |
+
"n_actions": 620,
|
| 25 |
+
"no_verdict": 0,
|
| 26 |
+
"replays": 0,
|
| 27 |
+
"reset_budget": 20,
|
| 28 |
+
"resets": 16,
|
| 29 |
+
"resume_state_mismatch": 0,
|
| 30 |
+
"resumes": 0,
|
| 31 |
+
"sim_error": 0,
|
| 32 |
+
"sim_startups": 1,
|
| 33 |
+
"sim_steps": 620,
|
| 34 |
+
"success": 0,
|
| 35 |
+
"video_rendered": 1,
|
| 36 |
+
"resource_enforced": 0,
|
| 37 |
+
"limits_violation_observed": 0,
|
| 38 |
+
"resource_monitor_missing": 0,
|
| 39 |
+
"peak_gpu_memory_gb": 0,
|
| 40 |
+
"peak_memory_gb": 0.527,
|
| 41 |
+
"peak_processes": 11,
|
| 42 |
+
"peak_disk_gb": 0.296,
|
| 43 |
+
"peak_cpus": 1.76,
|
| 44 |
+
"peak_pids": 137,
|
| 45 |
+
"resource_memory_kills": 0,
|
| 46 |
+
"resource_pids_kills": 0,
|
| 47 |
+
"resource_disk_kills": 0,
|
| 48 |
+
"resource_gpu_memory_kills": 0,
|
| 49 |
+
"resource_monitor_kills": 0,
|
| 50 |
+
"resource_emergency_kills": 0,
|
| 51 |
+
"resource_limit_exceeded": 0,
|
| 52 |
+
"resource_cpu_throttles": 0,
|
| 53 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 54 |
+
"resource_oom_kills": 0,
|
| 55 |
+
"resource_host_oom_kills": 0,
|
| 56 |
+
"resource_service_oom_kills": 0
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
"video": {
|
| 60 |
+
"kind": "media",
|
| 61 |
+
"url": "media:dexhand-boot-sole-brush-i00-standard--mwhsssr.mp4",
|
| 62 |
+
"duration_s": 13.6,
|
| 63 |
+
"fps": 5.0,
|
| 64 |
+
"frames": 68,
|
| 65 |
+
"sha256": "8ebec3b88f6594dc300a3882864b0d7131ec1f067ff8e278deb2f5717aa13241"
|
| 66 |
+
},
|
| 67 |
+
"state": null,
|
| 68 |
+
"progress": {
|
| 69 |
+
"method": "visual",
|
| 70 |
+
"denominator": 7,
|
| 71 |
+
"base": 0,
|
| 72 |
+
"peak": 1,
|
| 73 |
+
"final": 1,
|
| 74 |
+
"nodes": {
|
| 75 |
+
"brush_in_hand": {
|
| 76 |
+
"method": "visual",
|
| 77 |
+
"intervals": [
|
| 78 |
+
[
|
| 79 |
+
2.9,
|
| 80 |
+
null
|
| 81 |
+
]
|
| 82 |
+
],
|
| 83 |
+
"final": true,
|
| 84 |
+
"evidence": [
|
| 85 |
+
{
|
| 86 |
+
"t": 3.0,
|
| 87 |
+
"log_step": null,
|
| 88 |
+
"text_zh": "观察：视频 3.0 s（control 150）右手手指握住木背鞋刷并已离开台面；其后至视频 13.6 s 刷子一直在手中。"
|
| 89 |
+
}
|
| 90 |
+
],
|
| 91 |
+
"contact_actual": [
|
| 92 |
+
{
|
| 93 |
+
"who": "手指/夹爪",
|
| 94 |
+
"how": "抓握",
|
| 95 |
+
"note_zh": "右手手指夹握鞋刷木背并拿离台面（视频 2.9-3.0 s）。"
|
| 96 |
+
}
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"clods_in_tray_1": {
|
| 100 |
+
"method": "visual",
|
| 101 |
+
"intervals": [],
|
| 102 |
+
"final": false,
|
| 103 |
+
"evidence": [
|
| 104 |
+
{
|
| 105 |
+
"t": 13.4,
|
| 106 |
+
"log_step": null,
|
| 107 |
+
"text_zh": "观察：视频全程顶部计数 clods brushed 0/6、in tray 0/6，末帧（视频 13.4 s，control 620）鞋底泥块仍在鞋底上，盘中无泥块。"
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"contact_actual": [
|
| 111 |
+
{
|
| 112 |
+
"who": "手持工具",
|
| 113 |
+
"how": "推/扫",
|
| 114 |
+
"note_zh": "观察：视频约 7-13.6 s 右手持刷停在鞋尖/鞋底附近，刷毛与鞋底有接近或轻触，但没有任何泥块被刷落（brushed 0/6）。"
|
| 115 |
+
}
|
| 116 |
+
]
|
| 117 |
+
},
|
| 118 |
+
"clods_in_tray_2": {
|
| 119 |
+
"method": "visual",
|
| 120 |
+
"intervals": [],
|
| 121 |
+
"final": false,
|
| 122 |
+
"evidence": [
|
| 123 |
+
{
|
| 124 |
+
"t": 13.4,
|
| 125 |
+
"log_step": null,
|
| 126 |
+
"text_zh": "观察：视频全程顶部计数 clods brushed 0/6、in tray 0/6，末帧（视频 13.4 s，control 620）鞋底泥块仍在鞋底上，盘中无泥块。"
|
| 127 |
+
}
|
| 128 |
+
]
|
| 129 |
+
},
|
| 130 |
+
"clods_in_tray_3": {
|
| 131 |
+
"method": "visual",
|
| 132 |
+
"intervals": [],
|
| 133 |
+
"final": false,
|
| 134 |
+
"evidence": [
|
| 135 |
+
{
|
| 136 |
+
"t": 13.4,
|
| 137 |
+
"log_step": null,
|
| 138 |
+
"text_zh": "观察：视频全程顶部计数 clods brushed 0/6、in tray 0/6，末帧（视频 13.4 s，control 620）鞋底泥块仍在鞋底上，盘中无泥块。"
|
| 139 |
+
}
|
| 140 |
+
]
|
| 141 |
+
},
|
| 142 |
+
"clods_in_tray_4": {
|
| 143 |
+
"method": "visual",
|
| 144 |
+
"intervals": [],
|
| 145 |
+
"final": false,
|
| 146 |
+
"evidence": [
|
| 147 |
+
{
|
| 148 |
+
"t": 13.4,
|
| 149 |
+
"log_step": null,
|
| 150 |
+
"text_zh": "观察：视频全程顶部计数 clods brushed 0/6、in tray 0/6，末帧（视频 13.4 s，control 620）鞋底泥块仍在鞋底上，盘中无泥块。"
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
},
|
| 154 |
+
"clods_in_tray_5": {
|
| 155 |
+
"method": "visual",
|
| 156 |
+
"intervals": [],
|
| 157 |
+
"final": false,
|
| 158 |
+
"evidence": [
|
| 159 |
+
{
|
| 160 |
+
"t": 13.4,
|
| 161 |
+
"log_step": null,
|
| 162 |
+
"text_zh": "观察：视频全程顶部计数 clods brushed 0/6、in tray 0/6，末帧（视频 13.4 s，control 620）鞋底泥块仍在鞋底上，盘中无泥块。"
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
},
|
| 166 |
+
"clods_in_tray_6": {
|
| 167 |
+
"method": "visual",
|
| 168 |
+
"intervals": [],
|
| 169 |
+
"final": false,
|
| 170 |
+
"evidence": [
|
| 171 |
+
{
|
| 172 |
+
"t": 13.4,
|
| 173 |
+
"log_step": null,
|
| 174 |
+
"text_zh": "观察：视频全程顶部计数 clods brushed 0/6、in tray 0/6，末帧（视频 13.4 s，control 620）鞋底泥块仍在鞋底上，盘中无泥块。"
|
| 175 |
+
}
|
| 176 |
+
]
|
| 177 |
+
}
|
| 178 |
+
},
|
| 179 |
+
"constraints": {}
|
| 180 |
+
},
|
| 181 |
+
"native_metrics": [
|
| 182 |
+
{
|
| 183 |
+
"name": "clods_in_tray",
|
| 184 |
+
"value": 0,
|
| 185 |
+
"unit": "count",
|
| 186 |
+
"threshold": 6,
|
| 187 |
+
"direction": "higher_better"
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"name": "clods_brushed",
|
| 191 |
+
"value": 0,
|
| 192 |
+
"unit": "count",
|
| 193 |
+
"threshold": 6,
|
| 194 |
+
"direction": "higher_better"
|
| 195 |
+
},
|
| 196 |
+
{
|
| 197 |
+
"name": "brush_contact_controls",
|
| 198 |
+
"value": null,
|
| 199 |
+
"unit": "control",
|
| 200 |
+
"threshold": 10,
|
| 201 |
+
"direction": "higher_better"
|
| 202 |
+
},
|
| 203 |
+
{
|
| 204 |
+
"name": "hold",
|
| 205 |
+
"value": 0,
|
| 206 |
+
"unit": "control",
|
| 207 |
+
"threshold": 50,
|
| 208 |
+
"direction": "higher_better"
|
| 209 |
+
},
|
| 210 |
+
{
|
| 211 |
+
"name": "max_clod_speed",
|
| 212 |
+
"value": null,
|
| 213 |
+
"unit": "m/s",
|
| 214 |
+
"threshold": 0.05,
|
| 215 |
+
"direction": "lower_better"
|
| 216 |
+
},
|
| 217 |
+
{
|
| 218 |
+
"name": "boot_shift_m",
|
| 219 |
+
"value": null,
|
| 220 |
+
"unit": "m",
|
| 221 |
+
"threshold": 0.03,
|
| 222 |
+
"direction": "lower_better"
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"name": "boot_tilt_rad",
|
| 226 |
+
"value": null,
|
| 227 |
+
"unit": "rad",
|
| 228 |
+
"threshold": 0.35,
|
| 229 |
+
"direction": "lower_better"
|
| 230 |
+
}
|
| 231 |
+
],
|
| 232 |
+
"failure": {
|
| 233 |
+
"breakpoint": {
|
| 234 |
+
"ref": "clods_in_tray_1",
|
| 235 |
+
"t": 7.0,
|
| 236 |
+
"where": "操作中",
|
| 237 |
+
"evidence_zh": "观察：视频 3.0 s 起右手持刷，约 7 s 起手臂抬高停在鞋底上方，至视频 13.6 s 屏幕计数 clods brushed 0/6、in tray 0/6，无泥块被刷落；第1块泥入盘从未完成。",
|
| 238 |
+
"log_step": null
|
| 239 |
+
},
|
| 240 |
+
"phenomena": [
|
| 241 |
+
{
|
| 242 |
+
"cat": "接触",
|
| 243 |
+
"t": 13.4,
|
| 244 |
+
"log_step": null,
|
| 245 |
+
"evidence_zh": "观察：视频 7-13.6 s 刷子在鞋底附近，但 clods brushed 始终 0/6，刷毛没有扫到任何泥块（推断：有效的刷毛-泥块接触未建立；手臂姿态高、刷毛朝向可能不对，视频无法确证）。",
|
| 246 |
+
"item": "没建立接触"
|
| 247 |
+
}
|
| 248 |
+
],
|
| 249 |
+
"root_causes": [],
|
| 250 |
+
"gap_zh": "无状态日志，刷毛与泥块的具体接触几何看不清；agent 会话以大量 IK 试错为主（log step 454 time_left 55.9 s，最后一次 Episode 17 扫刷），没有足以确定根因的证据，故根因留空。",
|
| 251 |
+
"unmet": {
|
| 252 |
+
"clods_in_tray_1": false,
|
| 253 |
+
"clods_in_tray_2": false,
|
| 254 |
+
"clods_in_tray_3": false,
|
| 255 |
+
"clods_in_tray_4": false,
|
| 256 |
+
"clods_in_tray_5": false,
|
| 257 |
+
"clods_in_tray_6": false
|
| 258 |
+
}
|
| 259 |
+
},
|
| 260 |
+
"summary_zh": "观察：右手在视频 3.0 s 拿起鞋刷（达成），但至视频 13.6 s 计数始终 clods brushed 0/6、in tray 0/6，六块泥均未入盘。断点在第1块泥入盘（操作中），现象为刷毛未与泥块建立有效接触；根因证据不足。无状态日志。",
|
| 261 |
+
"conf": 6,
|
| 262 |
+
"review": {
|
| 263 |
+
"status": "agreed",
|
| 264 |
+
"rounds": 1,
|
| 265 |
+
"reviewers": [
|
| 266 |
+
{
|
| 267 |
+
"engine": "claude",
|
| 268 |
+
"model": "claude-sonnet-5-5",
|
| 269 |
+
"round": 1,
|
| 270 |
+
"verdict": "agree",
|
| 271 |
+
"conf": 6,
|
| 272 |
+
"summary_zh": "视频 3.0 s 右手持刷离台、其后一直在手中；7-13.6 s 刷子停在鞋底高处且计数始终 0/6，断点 clods_in_tray_1、现象没建立接触、根因留空并给出 gap_zh，均与帧一致，未发现需改动的错误。",
|
| 273 |
+
"n_issues": 0,
|
| 274 |
+
"n_major": 0
|
| 275 |
+
}
|
| 276 |
+
],
|
| 277 |
+
"open_zh": []
|
| 278 |
+
},
|
| 279 |
+
"provenance": {
|
| 280 |
+
"prompt": "prompts/03_trajectory.md",
|
| 281 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 282 |
+
"engine": "claude",
|
| 283 |
+
"model": "claude-sonnet-5-5",
|
| 284 |
+
"effort": "high",
|
| 285 |
+
"created": "2026-11-08T22:05:24Z",
|
| 286 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 287 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 288 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 289 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 290 |
+
"calls": [
|
| 291 |
+
{
|
| 292 |
+
"stage": "traj",
|
| 293 |
+
"round": 0,
|
| 294 |
+
"ok": true,
|
| 295 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--mwhsssr/03_label"
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"stage": "traj_review",
|
| 299 |
+
"round": 1,
|
| 300 |
+
"ok": true,
|
| 301 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--mwhsssr/04_review_r1"
|
| 302 |
+
}
|
| 303 |
+
],
|
| 304 |
+
"review_engine": "claude",
|
| 305 |
+
"review_model": "claude-sonnet-5-5",
|
| 306 |
+
"inputs": {
|
| 307 |
+
"run_json_sha256": "bea12d8b8c7e41cb5205f86badf3d59779424a81e50e2732534f574fecc3b543",
|
| 308 |
+
"video_sha256": "8ebec3b88f6594dc300a3882864b0d7131ec1f067ff8e278deb2f5717aa13241",
|
| 309 |
+
"states_sha256": null,
|
| 310 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 311 |
+
},
|
| 312 |
+
"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."
|
| 313 |
+
}
|
| 314 |
+
}
|
phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--pzrzq4z.json
ADDED
|
@@ -0,0 +1,345 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "dexhand-boot-sole-brush-i00-standard--pzrzq4z",
|
| 5 |
+
"taskKey": "dexhand/boot_sole_brush",
|
| 6 |
+
"dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"calls": 463,
|
| 13 |
+
"control_steps_total": 3775,
|
| 14 |
+
"elapsed_s": 3441.265,
|
| 15 |
+
"finalized": 1,
|
| 16 |
+
"gave_up": 0,
|
| 17 |
+
"graded_by_live": 1,
|
| 18 |
+
"grader_error": 0,
|
| 19 |
+
"hand_wuji": 0,
|
| 20 |
+
"infra_error": 0,
|
| 21 |
+
"instance_mismatch": 0,
|
| 22 |
+
"live_success": 0,
|
| 23 |
+
"missing_log": 0,
|
| 24 |
+
"n_actions": 517,
|
| 25 |
+
"no_verdict": 0,
|
| 26 |
+
"replays": 0,
|
| 27 |
+
"reset_budget": 20,
|
| 28 |
+
"resets": 9,
|
| 29 |
+
"resume_state_mismatch": 0,
|
| 30 |
+
"resumes": 0,
|
| 31 |
+
"sim_error": 0,
|
| 32 |
+
"sim_startups": 1,
|
| 33 |
+
"sim_steps": 517,
|
| 34 |
+
"success": 0,
|
| 35 |
+
"video_rendered": 1,
|
| 36 |
+
"resource_enforced": 0,
|
| 37 |
+
"limits_violation_observed": 1,
|
| 38 |
+
"resource_monitor_missing": 0,
|
| 39 |
+
"peak_gpu_memory_gb": 0,
|
| 40 |
+
"peak_memory_gb": 45.328,
|
| 41 |
+
"peak_processes": 12,
|
| 42 |
+
"peak_disk_gb": 0.264,
|
| 43 |
+
"peak_cpus": 12.93,
|
| 44 |
+
"peak_pids": 117,
|
| 45 |
+
"resource_memory_kills": 0,
|
| 46 |
+
"resource_pids_kills": 0,
|
| 47 |
+
"resource_disk_kills": 0,
|
| 48 |
+
"resource_gpu_memory_kills": 0,
|
| 49 |
+
"resource_monitor_kills": 0,
|
| 50 |
+
"resource_emergency_kills": 0,
|
| 51 |
+
"resource_limit_exceeded": 0,
|
| 52 |
+
"resource_cpu_throttles": 0,
|
| 53 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 54 |
+
"resource_oom_kills": 0,
|
| 55 |
+
"resource_host_oom_kills": 0,
|
| 56 |
+
"resource_service_oom_kills": 0,
|
| 57 |
+
"over_cpus": 1,
|
| 58 |
+
"over_memory_gb": 1
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"video": {
|
| 62 |
+
"kind": "media",
|
| 63 |
+
"url": "media:dexhand-boot-sole-brush-i00-standard--pzrzq4z.mp4",
|
| 64 |
+
"duration_s": 11.6,
|
| 65 |
+
"fps": 5.0,
|
| 66 |
+
"frames": 58,
|
| 67 |
+
"sha256": "eff8bea9a24ce5bd485b4197ad0d594df32675a4e30e06a2b0c7d25281aa808b"
|
| 68 |
+
},
|
| 69 |
+
"state": null,
|
| 70 |
+
"progress": {
|
| 71 |
+
"method": "visual",
|
| 72 |
+
"denominator": 7,
|
| 73 |
+
"base": 0,
|
| 74 |
+
"peak": 1,
|
| 75 |
+
"final": 1,
|
| 76 |
+
"nodes": {
|
| 77 |
+
"brush_in_hand": {
|
| 78 |
+
"method": "visual",
|
| 79 |
+
"intervals": [
|
| 80 |
+
[
|
| 81 |
+
3.0,
|
| 82 |
+
null
|
| 83 |
+
]
|
| 84 |
+
],
|
| 85 |
+
"final": true,
|
| 86 |
+
"evidence": [
|
| 87 |
+
{
|
| 88 |
+
"t": 3.0,
|
| 89 |
+
"log_step": null,
|
| 90 |
+
"text_zh": "观察：视频 2.6-3.4 s 右手握住木背鞋刷离开台面并抬向靴子（画面顶栏 stage 1/3 于 3.0-4.6 s 之间出现，control 230 ≈ 视频 4.6 s 时已为 stage 1/3）；此后到视频 10.4 s 结束刷子一直在手中。"
|
| 91 |
+
}
|
| 92 |
+
],
|
| 93 |
+
"contact_actual": [
|
| 94 |
+
{
|
| 95 |
+
"who": "手指/夹爪",
|
| 96 |
+
"how": "抓握",
|
| 97 |
+
"note_zh": "观察：右手 Sharpa 手侧捏鞋刷木背并抬离台面（视频约 2.6-3.4 s）"
|
| 98 |
+
}
|
| 99 |
+
]
|
| 100 |
+
},
|
| 101 |
+
"clods_in_tray_1": {
|
| 102 |
+
"method": "visual",
|
| 103 |
+
"intervals": [],
|
| 104 |
+
"final": false,
|
| 105 |
+
"evidence": [
|
| 106 |
+
{
|
| 107 |
+
"t": 10.4,
|
| 108 |
+
"log_step": null,
|
| 109 |
+
"text_zh": "观察：视频全程顶栏 'in tray 0/6'，盘中没有泥块；仅 'clods brushed 1/6'（约视频 3.0-4.6 s 之间起）。"
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"contact_actual": [
|
| 113 |
+
{
|
| 114 |
+
"who": "手持工具",
|
| 115 |
+
"how": "推/扫",
|
| 116 |
+
"note_zh": "右手持刷，刷毛在靴底/靴帮处刷（观察：约视频 4-10 s 刷子贴靴子上部）；仅1块被刷毛接触，无泥入盘"
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"clods_in_tray_2": {
|
| 121 |
+
"method": "visual",
|
| 122 |
+
"intervals": [],
|
| 123 |
+
"final": false,
|
| 124 |
+
"evidence": [
|
| 125 |
+
{
|
| 126 |
+
"t": 10.4,
|
| 127 |
+
"log_step": null,
|
| 128 |
+
"text_zh": "观察：视频全程顶栏 'in tray 0/6'，盘中没有泥块；仅 'clods brushed 1/6'（约视频 3.0-4.6 s 之间起）。"
|
| 129 |
+
}
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
+
"clods_in_tray_3": {
|
| 133 |
+
"method": "visual",
|
| 134 |
+
"intervals": [],
|
| 135 |
+
"final": false,
|
| 136 |
+
"evidence": [
|
| 137 |
+
{
|
| 138 |
+
"t": 10.4,
|
| 139 |
+
"log_step": null,
|
| 140 |
+
"text_zh": "观察：视频全程顶栏 'in tray 0/6'，盘中没有泥块；仅 'clods brushed 1/6'（约视频 3.0-4.6 s 之间起）。"
|
| 141 |
+
}
|
| 142 |
+
]
|
| 143 |
+
},
|
| 144 |
+
"clods_in_tray_4": {
|
| 145 |
+
"method": "visual",
|
| 146 |
+
"intervals": [],
|
| 147 |
+
"final": false,
|
| 148 |
+
"evidence": [
|
| 149 |
+
{
|
| 150 |
+
"t": 10.4,
|
| 151 |
+
"log_step": null,
|
| 152 |
+
"text_zh": "观察：视频全程顶栏 'in tray 0/6'，盘中没有泥块；仅 'clods brushed 1/6'（约视频 3.0-4.6 s 之间起）。"
|
| 153 |
+
}
|
| 154 |
+
]
|
| 155 |
+
},
|
| 156 |
+
"clods_in_tray_5": {
|
| 157 |
+
"method": "visual",
|
| 158 |
+
"intervals": [],
|
| 159 |
+
"final": false,
|
| 160 |
+
"evidence": [
|
| 161 |
+
{
|
| 162 |
+
"t": 10.4,
|
| 163 |
+
"log_step": null,
|
| 164 |
+
"text_zh": "观察：视频全程顶栏 'in tray 0/6'，盘中没有泥块；仅 'clods brushed 1/6'（约视频 3.0-4.6 s 之间起）。"
|
| 165 |
+
}
|
| 166 |
+
]
|
| 167 |
+
},
|
| 168 |
+
"clods_in_tray_6": {
|
| 169 |
+
"method": "visual",
|
| 170 |
+
"intervals": [],
|
| 171 |
+
"final": false,
|
| 172 |
+
"evidence": [
|
| 173 |
+
{
|
| 174 |
+
"t": 10.4,
|
| 175 |
+
"log_step": null,
|
| 176 |
+
"text_zh": "观察：视频全程顶栏 'in tray 0/6'，盘中没有泥块；仅 'clods brushed 1/6'（约视频 3.0-4.6 s 之间起）。"
|
| 177 |
+
}
|
| 178 |
+
]
|
| 179 |
+
}
|
| 180 |
+
},
|
| 181 |
+
"constraints": {}
|
| 182 |
+
},
|
| 183 |
+
"native_metrics": [
|
| 184 |
+
{
|
| 185 |
+
"name": "clods_in_tray",
|
| 186 |
+
"value": 0,
|
| 187 |
+
"unit": "count",
|
| 188 |
+
"threshold": 6,
|
| 189 |
+
"direction": "higher_better"
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"name": "clods_brushed",
|
| 193 |
+
"value": 1,
|
| 194 |
+
"unit": "count",
|
| 195 |
+
"threshold": 6,
|
| 196 |
+
"direction": "higher_better"
|
| 197 |
+
},
|
| 198 |
+
{
|
| 199 |
+
"name": "brush_contact_controls",
|
| 200 |
+
"value": null,
|
| 201 |
+
"unit": "control",
|
| 202 |
+
"threshold": 10,
|
| 203 |
+
"direction": "higher_better"
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"name": "hold",
|
| 207 |
+
"value": 0,
|
| 208 |
+
"unit": "control",
|
| 209 |
+
"threshold": 50,
|
| 210 |
+
"direction": "higher_better"
|
| 211 |
+
},
|
| 212 |
+
{
|
| 213 |
+
"name": "max_clod_speed",
|
| 214 |
+
"value": null,
|
| 215 |
+
"unit": "m/s",
|
| 216 |
+
"threshold": 0.05,
|
| 217 |
+
"direction": "lower_better"
|
| 218 |
+
},
|
| 219 |
+
{
|
| 220 |
+
"name": "boot_shift_m",
|
| 221 |
+
"value": null,
|
| 222 |
+
"unit": "m",
|
| 223 |
+
"threshold": 0.03,
|
| 224 |
+
"direction": "lower_better"
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"name": "boot_tilt_rad",
|
| 228 |
+
"value": null,
|
| 229 |
+
"unit": "rad",
|
| 230 |
+
"threshold": 0.35,
|
| 231 |
+
"direction": "lower_better"
|
| 232 |
+
}
|
| 233 |
+
],
|
| 234 |
+
"failure": {
|
| 235 |
+
"breakpoint": {
|
| 236 |
+
"ref": "clods_in_tray_1",
|
| 237 |
+
"where": "操作中",
|
| 238 |
+
"t": 4.5,
|
| 239 |
+
"log_step": null,
|
| 240 |
+
"evidence_zh": "观察：视频 4-10.4 s 刷子贴在靴子上部/踝部，顶栏仍为 in tray 0/6；视频 10.4 s（control 517）顶栏变为 FAIL: hand_touched_debris，回合结束。agent 最终报告（log step 164）称刷子卡在靴帮上。"
|
| 241 |
+
},
|
| 242 |
+
"phenomena": [
|
| 243 |
+
{
|
| 244 |
+
"cat": "运动",
|
| 245 |
+
"item": "位姿不准",
|
| 246 |
+
"t": 6.0,
|
| 247 |
+
"log_step": null,
|
| 248 |
+
"evidence_zh": "观察：视频约 5-10 s 刷子停在靴子上缘而非朝上的靴底，泥块未被扫入盘，最后手触到泥块被判失败。"
|
| 249 |
+
}
|
| 250 |
+
],
|
| 251 |
+
"root_causes": [
|
| 252 |
+
{
|
| 253 |
+
"cat": "控制",
|
| 254 |
+
"item": "控制",
|
| 255 |
+
"evidence_zh": "推断：agent 自述靴底平面模型错误、刷子卡在靴帮上（log step 161-164）；视频显示刷子贴靴帮，未直接证明是感知还是控制问题，保持 控制 层级。",
|
| 256 |
+
"source_zh": "agent 自述 + 视频"
|
| 257 |
+
}
|
| 258 |
+
],
|
| 259 |
+
"gap_zh": "无状态日志；手触泥块的具体帧不能从视频定位；未能证明刷毛接触计数等指标，相应指标记 null。",
|
| 260 |
+
"unmet": {
|
| 261 |
+
"clods_in_tray_1": false,
|
| 262 |
+
"clods_in_tray_2": false,
|
| 263 |
+
"clods_in_tray_3": false,
|
| 264 |
+
"clods_in_tray_4": false,
|
| 265 |
+
"clods_in_tray_5": false,
|
| 266 |
+
"clods_in_tray_6": false
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
"summary_zh": "观察：右手在视频约 3 s 拿起鞋刷（1/7 节点），随后仅刷到 1 块泥，盘中始终 0/6，视频 10.4 s 因 hand_touched_debris 失败。断点在第1块泥入盘的操作中：刷子贴在靴帮而非靴底。推断根因为控制层面的接触几何/位置偏差，证据主要来自 agent 自述与视频，无状态日志。",
|
| 270 |
+
"conf": 5,
|
| 271 |
+
"review": {
|
| 272 |
+
"status": "agreed",
|
| 273 |
+
"rounds": 2,
|
| 274 |
+
"reviewers": [
|
| 275 |
+
{
|
| 276 |
+
"engine": "claude",
|
| 277 |
+
"model": "claude-sonnet-5-5",
|
| 278 |
+
"round": 1,
|
| 279 |
+
"verdict": "fix",
|
| 280 |
+
"conf": 6,
|
| 281 |
+
"summary_zh": "总体标签（拿起鞋刷 3.0 s 起成立、六块泥均未入盘、断点在 clods_in_tray_1 操作中、位姿不准 + 控制）与视频一致；仅有两处小问题：刷泥节点的 contact_actual.who 应为手持工具，顶栏 stage 1/3 / clods brushed 1/6 出现时间写成约 4 s，实为 control 230 ≈ 视频 4.6 s。",
|
| 282 |
+
"n_issues": 2,
|
| 283 |
+
"n_major": 0
|
| 284 |
+
},
|
| 285 |
+
{
|
| 286 |
+
"engine": "claude",
|
| 287 |
+
"model": "claude-sonnet-5-5",
|
| 288 |
+
"round": 2,
|
| 289 |
+
"verdict": "agree",
|
| 290 |
+
"conf": 6,
|
| 291 |
+
"summary_zh": "节点（拿起鞋刷约视频 3 s 达成，其余六块泥未入盘）、断点（第1块泥入盘·操作中）、位姿不准现象与视频和 log 一致；根因停在“控制”并写明为推断，证据（agent 自述靴底模型错误、视频刷子贴靴帮）相符，未发现需要改内容的错误。",
|
| 292 |
+
"n_issues": 0,
|
| 293 |
+
"n_major": 0
|
| 294 |
+
}
|
| 295 |
+
],
|
| 296 |
+
"open_zh": []
|
| 297 |
+
},
|
| 298 |
+
"provenance": {
|
| 299 |
+
"prompt": "prompts/03_trajectory.md",
|
| 300 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 301 |
+
"engine": "claude",
|
| 302 |
+
"model": "claude-sonnet-5-5",
|
| 303 |
+
"effort": "high",
|
| 304 |
+
"created": "2026-11-08T22:07:21Z",
|
| 305 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 306 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 307 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 308 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 309 |
+
"calls": [
|
| 310 |
+
{
|
| 311 |
+
"stage": "traj",
|
| 312 |
+
"round": 0,
|
| 313 |
+
"ok": true,
|
| 314 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--pzrzq4z/03_label"
|
| 315 |
+
},
|
| 316 |
+
{
|
| 317 |
+
"stage": "traj_review",
|
| 318 |
+
"round": 1,
|
| 319 |
+
"ok": true,
|
| 320 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--pzrzq4z/04_review_r1"
|
| 321 |
+
},
|
| 322 |
+
{
|
| 323 |
+
"stage": "reconcile",
|
| 324 |
+
"round": 1,
|
| 325 |
+
"ok": true,
|
| 326 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--pzrzq4z/05_reconcile_r1"
|
| 327 |
+
},
|
| 328 |
+
{
|
| 329 |
+
"stage": "traj_review",
|
| 330 |
+
"round": 2,
|
| 331 |
+
"ok": true,
|
| 332 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--pzrzq4z/04_review_r2"
|
| 333 |
+
}
|
| 334 |
+
],
|
| 335 |
+
"review_engine": "claude",
|
| 336 |
+
"review_model": "claude-sonnet-5-5",
|
| 337 |
+
"inputs": {
|
| 338 |
+
"run_json_sha256": "c8fe39d471757875dac23977bfe388b892bad1ce058953f2f17f96ee124b1c1f",
|
| 339 |
+
"video_sha256": "eff8bea9a24ce5bd485b4197ad0d594df32675a4e30e06a2b0c7d25281aa808b",
|
| 340 |
+
"states_sha256": null,
|
| 341 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 342 |
+
},
|
| 343 |
+
"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."
|
| 344 |
+
}
|
| 345 |
+
}
|
phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--qssyoum.json
ADDED
|
@@ -0,0 +1,295 @@
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|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "dexhand-boot-sole-brush-i00-standard--qssyoum",
|
| 5 |
+
"taskKey": "dexhand/boot_sole_brush",
|
| 6 |
+
"dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"calls": 11,
|
| 13 |
+
"control_steps_total": 1085,
|
| 14 |
+
"elapsed_s": 3603.748,
|
| 15 |
+
"finalized": 1,
|
| 16 |
+
"gave_up": 0,
|
| 17 |
+
"graded_by_live": 1,
|
| 18 |
+
"grader_error": 0,
|
| 19 |
+
"hand_wuji": 0,
|
| 20 |
+
"infra_error": 0,
|
| 21 |
+
"instance_mismatch": 0,
|
| 22 |
+
"live_success": 0,
|
| 23 |
+
"missing_log": 0,
|
| 24 |
+
"n_actions": 440,
|
| 25 |
+
"no_verdict": 0,
|
| 26 |
+
"replays": 0,
|
| 27 |
+
"reset_budget": 20,
|
| 28 |
+
"resets": 3,
|
| 29 |
+
"resume_state_mismatch": 0,
|
| 30 |
+
"resumes": 0,
|
| 31 |
+
"sim_error": 0,
|
| 32 |
+
"sim_startups": 1,
|
| 33 |
+
"sim_steps": 440,
|
| 34 |
+
"success": 0,
|
| 35 |
+
"video_rendered": 1,
|
| 36 |
+
"resource_enforced": 0,
|
| 37 |
+
"limits_violation_observed": 1,
|
| 38 |
+
"resource_monitor_missing": 0,
|
| 39 |
+
"peak_gpu_memory_gb": 0,
|
| 40 |
+
"peak_memory_gb": 0.548,
|
| 41 |
+
"peak_processes": 9,
|
| 42 |
+
"peak_disk_gb": 0.221,
|
| 43 |
+
"peak_cpus": 2.46,
|
| 44 |
+
"peak_pids": 109,
|
| 45 |
+
"resource_memory_kills": 0,
|
| 46 |
+
"resource_pids_kills": 0,
|
| 47 |
+
"resource_disk_kills": 0,
|
| 48 |
+
"resource_gpu_memory_kills": 0,
|
| 49 |
+
"resource_monitor_kills": 0,
|
| 50 |
+
"resource_emergency_kills": 0,
|
| 51 |
+
"resource_limit_exceeded": 0,
|
| 52 |
+
"resource_cpu_throttles": 0,
|
| 53 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 54 |
+
"resource_oom_kills": 0,
|
| 55 |
+
"resource_host_oom_kills": 0,
|
| 56 |
+
"resource_service_oom_kills": 0,
|
| 57 |
+
"over_cpus": 1
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
"video": {
|
| 61 |
+
"kind": "media",
|
| 62 |
+
"url": "media:dexhand-boot-sole-brush-i00-standard--qssyoum.mp4",
|
| 63 |
+
"duration_s": 10.0,
|
| 64 |
+
"fps": 5.0,
|
| 65 |
+
"frames": 50,
|
| 66 |
+
"sha256": "17dbb7866055109fa5ddb80a0f98a1bfc31508be737fb057cad05cb4125a797d"
|
| 67 |
+
},
|
| 68 |
+
"state": null,
|
| 69 |
+
"progress": {
|
| 70 |
+
"method": "visual",
|
| 71 |
+
"denominator": 7,
|
| 72 |
+
"base": 0,
|
| 73 |
+
"peak": 1,
|
| 74 |
+
"final": 1,
|
| 75 |
+
"nodes": {
|
| 76 |
+
"brush_in_hand": {
|
| 77 |
+
"method": "visual",
|
| 78 |
+
"intervals": [
|
| 79 |
+
[
|
| 80 |
+
6.4,
|
| 81 |
+
null
|
| 82 |
+
]
|
| 83 |
+
],
|
| 84 |
+
"final": true,
|
| 85 |
+
"evidence": [
|
| 86 |
+
{
|
| 87 |
+
"t": 6.4,
|
| 88 |
+
"log_step": null,
|
| 89 |
+
"text_zh": "观察：视频 5.6-6.0 s 右手握着鞋刷仍贴近台面；视频 6.4 s（画面控制步 320）起手带刷子抬离台面并抬到靴底上方，此后到视频末刷子一直在手中。"
|
| 90 |
+
}
|
| 91 |
+
],
|
| 92 |
+
"contact_actual": [
|
| 93 |
+
{
|
| 94 |
+
"who": "手指/夹爪",
|
| 95 |
+
"how": "抓握",
|
| 96 |
+
"note_zh": "右侧 Sharpa 手握住鞋刷木背并抬离台面（视频 6.4 s）。"
|
| 97 |
+
}
|
| 98 |
+
]
|
| 99 |
+
},
|
| 100 |
+
"clods_in_tray_1": {
|
| 101 |
+
"method": "visual",
|
| 102 |
+
"intervals": [],
|
| 103 |
+
"final": false,
|
| 104 |
+
"evidence": [
|
| 105 |
+
{
|
| 106 |
+
"t": 8.8,
|
| 107 |
+
"log_step": null,
|
| 108 |
+
"text_zh": "观察：视频顶部计数全程为 in tray 0/6，8.0 s 起 stage 1/3、8.4 s 起 clods brushed 1/6，但无泥块入盘；8.8 s 起显示 FAIL: hand_touched_debris，之后画面不变。"
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"contact_actual": [
|
| 112 |
+
{
|
| 113 |
+
"who": "手持工具",
|
| 114 |
+
"how": "推/扫",
|
| 115 |
+
"note_zh": "观察：右手持刷，视频 7.6-8.4 s 刷毛触到靴底泥块（brushed 1/6），但泥块未入盘；同时手/前臂贴近靴底。"
|
| 116 |
+
}
|
| 117 |
+
]
|
| 118 |
+
},
|
| 119 |
+
"clods_in_tray_2": {
|
| 120 |
+
"method": "visual",
|
| 121 |
+
"intervals": [],
|
| 122 |
+
"final": false,
|
| 123 |
+
"evidence": [
|
| 124 |
+
{
|
| 125 |
+
"t": 8.8,
|
| 126 |
+
"log_step": null,
|
| 127 |
+
"text_zh": "观察：视频顶部计数全程为 in tray 0/6，8.0 s 起 stage 1/3、8.4 s 起 clods brushed 1/6，但无泥块入盘；8.8 s 起显示 FAIL: hand_touched_debris，之后画面不变。"
|
| 128 |
+
}
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"clods_in_tray_3": {
|
| 132 |
+
"method": "visual",
|
| 133 |
+
"intervals": [],
|
| 134 |
+
"final": false,
|
| 135 |
+
"evidence": [
|
| 136 |
+
{
|
| 137 |
+
"t": 8.8,
|
| 138 |
+
"log_step": null,
|
| 139 |
+
"text_zh": "观察：视频顶部计数全程为 in tray 0/6，8.0 s 起 stage 1/3、8.4 s 起 clods brushed 1/6，但无泥块入盘；8.8 s 起显示 FAIL: hand_touched_debris，之后画面不变。"
|
| 140 |
+
}
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
"clods_in_tray_4": {
|
| 144 |
+
"method": "visual",
|
| 145 |
+
"intervals": [],
|
| 146 |
+
"final": false,
|
| 147 |
+
"evidence": [
|
| 148 |
+
{
|
| 149 |
+
"t": 8.8,
|
| 150 |
+
"log_step": null,
|
| 151 |
+
"text_zh": "观察：视频顶部计数全程为 in tray 0/6，8.0 s 起 stage 1/3、8.4 s 起 clods brushed 1/6，但无泥块入盘；8.8 s 起显示 FAIL: hand_touched_debris，之后画面不变。"
|
| 152 |
+
}
|
| 153 |
+
]
|
| 154 |
+
},
|
| 155 |
+
"clods_in_tray_5": {
|
| 156 |
+
"method": "visual",
|
| 157 |
+
"intervals": [],
|
| 158 |
+
"final": false,
|
| 159 |
+
"evidence": [
|
| 160 |
+
{
|
| 161 |
+
"t": 8.8,
|
| 162 |
+
"log_step": null,
|
| 163 |
+
"text_zh": "观察：视频顶部计数全程为 in tray 0/6，8.0 s 起 stage 1/3、8.4 s 起 clods brushed 1/6，但无泥块入盘；8.8 s 起显示 FAIL: hand_touched_debris，之后画面不变。"
|
| 164 |
+
}
|
| 165 |
+
]
|
| 166 |
+
},
|
| 167 |
+
"clods_in_tray_6": {
|
| 168 |
+
"method": "visual",
|
| 169 |
+
"intervals": [],
|
| 170 |
+
"final": false,
|
| 171 |
+
"evidence": [
|
| 172 |
+
{
|
| 173 |
+
"t": 8.8,
|
| 174 |
+
"log_step": null,
|
| 175 |
+
"text_zh": "观察：视频顶部计数全程为 in tray 0/6，8.0 s 起 stage 1/3、8.4 s 起 clods brushed 1/6，但无泥块入盘���8.8 s 起显示 FAIL: hand_touched_debris，之后画面不变。"
|
| 176 |
+
}
|
| 177 |
+
]
|
| 178 |
+
}
|
| 179 |
+
},
|
| 180 |
+
"constraints": {}
|
| 181 |
+
},
|
| 182 |
+
"native_metrics": [
|
| 183 |
+
{
|
| 184 |
+
"name": "clods_in_tray",
|
| 185 |
+
"value": 0,
|
| 186 |
+
"unit": "count",
|
| 187 |
+
"threshold": 6,
|
| 188 |
+
"direction": "higher_better"
|
| 189 |
+
}
|
| 190 |
+
],
|
| 191 |
+
"failure": {
|
| 192 |
+
"breakpoint": {
|
| 193 |
+
"ref": "clods_in_tray_1",
|
| 194 |
+
"t": 8.4,
|
| 195 |
+
"log_step": null,
|
| 196 |
+
"where": "操作中",
|
| 197 |
+
"evidence_zh": "观察：视频 8.0-8.4 s 机器人持刷在靴底处刷到 1/6 块泥；视频 8.8 s 画面状态变为 FAIL: hand_touched_debris（评分器：手碰到泥块），入盘数始终 0/6。"
|
| 198 |
+
},
|
| 199 |
+
"phenomena": [
|
| 200 |
+
{
|
| 201 |
+
"cat": "约束",
|
| 202 |
+
"item": "违反约束",
|
| 203 |
+
"t": 8.8,
|
| 204 |
+
"log_step": null,
|
| 205 |
+
"evidence_zh": "观察：视频 8.4 s（控制步 420）状态 running、clods brushed 1/6；8.8 s（控制步 440）起顶部显示 FAIL: hand_touched_debris（评分器：手碰到泥块，违反'泥块从未被右手直接碰触'约束），入盘 0/6，之后画面不变。"
|
| 206 |
+
}
|
| 207 |
+
],
|
| 208 |
+
"root_causes": [],
|
| 209 |
+
"gap_zh": "视频仅 10 s 且无状态日志，看不清手与泥块的具体接触点和成因，故不给根因；agent 日志只是会话内测试（其 log step 142-143 曾检查前臂离靴底间隙），不能作为本次图像的证据。",
|
| 210 |
+
"unmet": {
|
| 211 |
+
"clods_in_tray_1": false,
|
| 212 |
+
"clods_in_tray_2": false,
|
| 213 |
+
"clods_in_tray_3": false,
|
| 214 |
+
"clods_in_tray_4": false,
|
| 215 |
+
"clods_in_tray_5": false,
|
| 216 |
+
"clods_in_tray_6": false
|
| 217 |
+
}
|
| 218 |
+
},
|
| 219 |
+
"summary_zh": "观察：视频 6.4 s 右手拿起鞋刷（拿起鞋刷达成），视频 8.4 s 刷到 1/6 块泥，但 8.8 s 评分器报 hand_touched_debris（违反约束）使本次结束，入盘 0/6，6 个入盘节点均未达成。断点在第1块泥入盘（操作中）；根因因无状态日志、视频过短而留空。",
|
| 220 |
+
"conf": 6,
|
| 221 |
+
"review": {
|
| 222 |
+
"status": "agreed",
|
| 223 |
+
"rounds": 2,
|
| 224 |
+
"reviewers": [
|
| 225 |
+
{
|
| 226 |
+
"engine": "claude",
|
| 227 |
+
"model": "claude-sonnet-5-5",
|
| 228 |
+
"round": 1,
|
| 229 |
+
"verdict": "fix",
|
| 230 |
+
"conf": 7,
|
| 231 |
+
"summary_zh": "节点（拿起鞋刷 6.4 s 达成、六个入盘节点未达成）、终值、断点 clods_in_tray_1/操作中 均与视频一致；但现象层留空不当：画面顶部评分器状态 FAIL: hand_touched_debris（服务对本次评分回合的读数）是被观察到的违反约束，应给出现象 违反约束；根因可继续留空并在 gap_zh 说明。",
|
| 232 |
+
"n_issues": 1,
|
| 233 |
+
"n_major": 1
|
| 234 |
+
},
|
| 235 |
+
{
|
| 236 |
+
"engine": "claude",
|
| 237 |
+
"model": "claude-sonnet-5-5",
|
| 238 |
+
"round": 2,
|
| 239 |
+
"verdict": "agree",
|
| 240 |
+
"conf": 7,
|
| 241 |
+
"summary_zh": "标签与视频一致：6.4 s 拿起鞋刷，8.4 s 刷到 1/6，8.8 s 评分器 FAIL: hand_touched_debris，入盘 0/6；断点在 clods_in_tray_1、现象为违反约束，根因留空并有 gap_zh，合理。",
|
| 242 |
+
"n_issues": 0,
|
| 243 |
+
"n_major": 0
|
| 244 |
+
}
|
| 245 |
+
],
|
| 246 |
+
"open_zh": []
|
| 247 |
+
},
|
| 248 |
+
"provenance": {
|
| 249 |
+
"prompt": "prompts/03_trajectory.md",
|
| 250 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 251 |
+
"engine": "claude",
|
| 252 |
+
"model": "claude-sonnet-5-5",
|
| 253 |
+
"effort": "high",
|
| 254 |
+
"created": "2026-11-08T22:06:44Z",
|
| 255 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 256 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 257 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 258 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 259 |
+
"calls": [
|
| 260 |
+
{
|
| 261 |
+
"stage": "traj",
|
| 262 |
+
"round": 0,
|
| 263 |
+
"ok": true,
|
| 264 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--qssyoum/03_label"
|
| 265 |
+
},
|
| 266 |
+
{
|
| 267 |
+
"stage": "traj_review",
|
| 268 |
+
"round": 1,
|
| 269 |
+
"ok": true,
|
| 270 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--qssyoum/04_review_r1"
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"stage": "reconcile",
|
| 274 |
+
"round": 1,
|
| 275 |
+
"ok": true,
|
| 276 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--qssyoum/05_reconcile_r1"
|
| 277 |
+
},
|
| 278 |
+
{
|
| 279 |
+
"stage": "traj_review",
|
| 280 |
+
"round": 2,
|
| 281 |
+
"ok": true,
|
| 282 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--qssyoum/04_review_r2"
|
| 283 |
+
}
|
| 284 |
+
],
|
| 285 |
+
"review_engine": "claude",
|
| 286 |
+
"review_model": "claude-sonnet-5-5",
|
| 287 |
+
"inputs": {
|
| 288 |
+
"run_json_sha256": "d76573b6c26a711c04154904fa96c234aac7395f7ccee77f74041932a5cdc293",
|
| 289 |
+
"video_sha256": "17dbb7866055109fa5ddb80a0f98a1bfc31508be737fb057cad05cb4125a797d",
|
| 290 |
+
"states_sha256": null,
|
| 291 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 292 |
+
},
|
| 293 |
+
"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."
|
| 294 |
+
}
|
| 295 |
+
}
|
phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--sa9deev.json
ADDED
|
@@ -0,0 +1,324 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "dexhand-boot-sole-brush-i00-standard--sa9deev",
|
| 5 |
+
"taskKey": "dexhand/boot_sole_brush",
|
| 6 |
+
"dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"calls": 594,
|
| 13 |
+
"control_steps_total": 5522,
|
| 14 |
+
"elapsed_s": 3397.071,
|
| 15 |
+
"finalized": 1,
|
| 16 |
+
"gave_up": 0,
|
| 17 |
+
"graded_by_live": 1,
|
| 18 |
+
"grader_error": 0,
|
| 19 |
+
"hand_wuji": 0,
|
| 20 |
+
"infra_error": 0,
|
| 21 |
+
"instance_mismatch": 0,
|
| 22 |
+
"live_success": 0,
|
| 23 |
+
"missing_log": 0,
|
| 24 |
+
"n_actions": 1836,
|
| 25 |
+
"no_verdict": 0,
|
| 26 |
+
"replays": 0,
|
| 27 |
+
"reset_budget": 20,
|
| 28 |
+
"resets": 9,
|
| 29 |
+
"resume_state_mismatch": 0,
|
| 30 |
+
"resumes": 0,
|
| 31 |
+
"sim_error": 0,
|
| 32 |
+
"sim_startups": 1,
|
| 33 |
+
"sim_steps": 1836,
|
| 34 |
+
"success": 0,
|
| 35 |
+
"video_rendered": 1,
|
| 36 |
+
"resource_enforced": 0,
|
| 37 |
+
"limits_violation_observed": 0,
|
| 38 |
+
"resource_monitor_missing": 0,
|
| 39 |
+
"peak_gpu_memory_gb": 0,
|
| 40 |
+
"peak_memory_gb": 0.409,
|
| 41 |
+
"peak_processes": 10,
|
| 42 |
+
"peak_disk_gb": 0.998,
|
| 43 |
+
"peak_cpus": 1.77,
|
| 44 |
+
"peak_pids": 52,
|
| 45 |
+
"resource_memory_kills": 0,
|
| 46 |
+
"resource_pids_kills": 0,
|
| 47 |
+
"resource_disk_kills": 0,
|
| 48 |
+
"resource_gpu_memory_kills": 0,
|
| 49 |
+
"resource_monitor_kills": 0,
|
| 50 |
+
"resource_emergency_kills": 0,
|
| 51 |
+
"resource_limit_exceeded": 0,
|
| 52 |
+
"resource_cpu_throttles": 0,
|
| 53 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 54 |
+
"resource_oom_kills": 0,
|
| 55 |
+
"resource_host_oom_kills": 0,
|
| 56 |
+
"resource_service_oom_kills": 0
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
"video": {
|
| 60 |
+
"kind": "media",
|
| 61 |
+
"url": "media:dexhand-boot-sole-brush-i00-standard--sa9deev.mp4",
|
| 62 |
+
"duration_s": 38.0,
|
| 63 |
+
"fps": 5.0,
|
| 64 |
+
"frames": 190,
|
| 65 |
+
"sha256": "793e070ee3d3dfab70ad088bbb70f97ccbe8cffa451e9319ee7195e524fc831d"
|
| 66 |
+
},
|
| 67 |
+
"state": null,
|
| 68 |
+
"progress": {
|
| 69 |
+
"method": "visual",
|
| 70 |
+
"denominator": 7,
|
| 71 |
+
"base": 0,
|
| 72 |
+
"peak": 0,
|
| 73 |
+
"final": 0,
|
| 74 |
+
"nodes": {
|
| 75 |
+
"brush_in_hand": {
|
| 76 |
+
"method": "visual",
|
| 77 |
+
"intervals": [],
|
| 78 |
+
"final": false,
|
| 79 |
+
"evidence": [
|
| 80 |
+
{
|
| 81 |
+
"t": 2.5,
|
| 82 |
+
"log_step": null,
|
| 83 |
+
"text_zh": "观察：视频 0-3 s 右手到达刷子上方/旁边做抓取动作（1 s、2 s 帧刷毛在指尖下），未夹住刷子；3 s 起手退开并保持张开，刷子仍在台面原位（3-14 s 帧）；4-10 s 手转向靴底上方；视频 37.8 s 手上无刷子，指尖停在靴底处。推断：抓取未夹住刷子，刷子从未被握住拿离台面，节点未达成（刷子在后段被机械臂遮挡）。"
|
| 84 |
+
}
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"clods_in_tray_1": {
|
| 88 |
+
"method": "visual",
|
| 89 |
+
"intervals": [],
|
| 90 |
+
"final": false,
|
| 91 |
+
"evidence": [
|
| 92 |
+
{
|
| 93 |
+
"t": 37.8,
|
| 94 |
+
"log_step": null,
|
| 95 |
+
"text_zh": "观察：视频顶栏全程 stage 0/3、clods brushed 0/6、in tray 0/6；视频 37.8 s 盘内无泥块，靴底泥块仍在原处，顶栏显示 FAIL: hand_touched_debris（control 1836）。"
|
| 96 |
+
}
|
| 97 |
+
],
|
| 98 |
+
"contact_actual": [
|
| 99 |
+
{
|
| 100 |
+
"who": "手指/夹爪",
|
| 101 |
+
"how": "压/擦",
|
| 102 |
+
"note_zh": "观察：视频 20-38 s 右手食指/指尖空手停在靴底泥块处，视频 38 s 触碰泥块（顶栏 hand_touched_debris）；非刷毛接触。"
|
| 103 |
+
}
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
"clods_in_tray_2": {
|
| 107 |
+
"method": "visual",
|
| 108 |
+
"intervals": [],
|
| 109 |
+
"final": false,
|
| 110 |
+
"evidence": [
|
| 111 |
+
{
|
| 112 |
+
"t": 37.8,
|
| 113 |
+
"log_step": null,
|
| 114 |
+
"text_zh": "观察：视频顶栏全程 stage 0/3、clods brushed 0/6、in tray 0/6；视频 37.8 s 盘内无泥块，靴底泥块仍在原处，顶栏显示 FAIL: hand_touched_debris（control 1836）。"
|
| 115 |
+
}
|
| 116 |
+
]
|
| 117 |
+
},
|
| 118 |
+
"clods_in_tray_3": {
|
| 119 |
+
"method": "visual",
|
| 120 |
+
"intervals": [],
|
| 121 |
+
"final": false,
|
| 122 |
+
"evidence": [
|
| 123 |
+
{
|
| 124 |
+
"t": 37.8,
|
| 125 |
+
"log_step": null,
|
| 126 |
+
"text_zh": "观察：视频顶栏全程 stage 0/3、clods brushed 0/6、in tray 0/6；视频 37.8 s 盘内无泥块，靴底泥块仍在原处，顶栏显示 FAIL: hand_touched_debris（control 1836）。"
|
| 127 |
+
}
|
| 128 |
+
]
|
| 129 |
+
},
|
| 130 |
+
"clods_in_tray_4": {
|
| 131 |
+
"method": "visual",
|
| 132 |
+
"intervals": [],
|
| 133 |
+
"final": false,
|
| 134 |
+
"evidence": [
|
| 135 |
+
{
|
| 136 |
+
"t": 37.8,
|
| 137 |
+
"log_step": null,
|
| 138 |
+
"text_zh": "观察：视频顶栏全程 stage 0/3、clods brushed 0/6、in tray 0/6；视频 37.8 s 盘内无泥块，靴底泥块仍在原处，顶栏显示 FAIL: hand_touched_debris（control 1836）。"
|
| 139 |
+
}
|
| 140 |
+
]
|
| 141 |
+
},
|
| 142 |
+
"clods_in_tray_5": {
|
| 143 |
+
"method": "visual",
|
| 144 |
+
"intervals": [],
|
| 145 |
+
"final": false,
|
| 146 |
+
"evidence": [
|
| 147 |
+
{
|
| 148 |
+
"t": 37.8,
|
| 149 |
+
"log_step": null,
|
| 150 |
+
"text_zh": "观察：视频顶栏全程 stage 0/3、clods brushed 0/6、in tray 0/6；视频 37.8 s 盘内无泥块，靴底泥块仍在原处，顶栏显示 FAIL: hand_touched_debris（control 1836）。"
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
},
|
| 154 |
+
"clods_in_tray_6": {
|
| 155 |
+
"method": "visual",
|
| 156 |
+
"intervals": [],
|
| 157 |
+
"final": false,
|
| 158 |
+
"evidence": [
|
| 159 |
+
{
|
| 160 |
+
"t": 37.8,
|
| 161 |
+
"log_step": null,
|
| 162 |
+
"text_zh": "观察：视频顶栏全程 stage 0/3、clods brushed 0/6、in tray 0/6；视频 37.8 s 盘内无泥块，靴底泥块��在原处，顶栏显示 FAIL: hand_touched_debris（control 1836）。"
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"constraints": {}
|
| 168 |
+
},
|
| 169 |
+
"native_metrics": [
|
| 170 |
+
{
|
| 171 |
+
"name": "clods_in_tray",
|
| 172 |
+
"value": 0,
|
| 173 |
+
"unit": "count",
|
| 174 |
+
"threshold": 6,
|
| 175 |
+
"direction": "higher_better"
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"name": "clods_brushed",
|
| 179 |
+
"value": 0,
|
| 180 |
+
"unit": "count",
|
| 181 |
+
"threshold": 6,
|
| 182 |
+
"direction": "higher_better"
|
| 183 |
+
},
|
| 184 |
+
{
|
| 185 |
+
"name": "brush_contact_controls",
|
| 186 |
+
"value": 0,
|
| 187 |
+
"unit": "control",
|
| 188 |
+
"threshold": 10,
|
| 189 |
+
"direction": "higher_better"
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"name": "hold",
|
| 193 |
+
"value": 0,
|
| 194 |
+
"unit": "control",
|
| 195 |
+
"threshold": 50,
|
| 196 |
+
"direction": "higher_better"
|
| 197 |
+
},
|
| 198 |
+
{
|
| 199 |
+
"name": "max_clod_speed",
|
| 200 |
+
"value": null,
|
| 201 |
+
"unit": "m/s",
|
| 202 |
+
"threshold": 0.05,
|
| 203 |
+
"direction": "lower_better"
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"name": "boot_shift_m",
|
| 207 |
+
"value": null,
|
| 208 |
+
"unit": "m",
|
| 209 |
+
"threshold": 0.03,
|
| 210 |
+
"direction": "lower_better"
|
| 211 |
+
},
|
| 212 |
+
{
|
| 213 |
+
"name": "boot_tilt_rad",
|
| 214 |
+
"value": null,
|
| 215 |
+
"unit": "rad",
|
| 216 |
+
"threshold": 0.35,
|
| 217 |
+
"direction": "lower_better"
|
| 218 |
+
}
|
| 219 |
+
],
|
| 220 |
+
"failure": {
|
| 221 |
+
"breakpoint": {
|
| 222 |
+
"ref": "brush_in_hand",
|
| 223 |
+
"t": 2.5,
|
| 224 |
+
"log_step": null,
|
| 225 |
+
"where": "操作中",
|
| 226 |
+
"evidence_zh": "观察：视频 0-3 s 右手在刷子处做抓取尝试未夹住，3 s 起退开，4-10 s 飞向靴底，刷子留在台面；之后空手在靴底附近停留至视频 37.8 s，顶栏 stage 0/3，以 FAIL: hand_touched_debris 结束。推断：抓取未夹住刷子，拿起刷子这一步从未完成。"
|
| 227 |
+
},
|
| 228 |
+
"phenomena": [
|
| 229 |
+
{
|
| 230 |
+
"cat": "接触",
|
| 231 |
+
"item": "没建立接触",
|
| 232 |
+
"t": 2.5,
|
| 233 |
+
"log_step": null,
|
| 234 |
+
"evidence_zh": "观察：视频 0-3 s 手到刷子处抓取未夹住，4-38 s 手从未握住刷子，刷子留在台面。"
|
| 235 |
+
}
|
| 236 |
+
],
|
| 237 |
+
"root_causes": [],
|
| 238 |
+
"gap_zh": "根因证据不足以区分。记录事实：评分 episode 10 的抓取点 GX 在 log step 224 由 0.700 改为 0.710 后一次性运行，脚本开环执行 approach/insert/close，不核对刷子是否被夹住就继续抬臂扫掠（step 225 全程未收敛），视频中刷子留在台面；agent 自述的成功抓握来自较早 episode（ep 8/9），不是评分 episode；刷子在视频后段被机械臂遮挡；无状态日志。",
|
| 239 |
+
"unmet": {
|
| 240 |
+
"clods_in_tray_1": false,
|
| 241 |
+
"clods_in_tray_2": false,
|
| 242 |
+
"clods_in_tray_3": false,
|
| 243 |
+
"clods_in_tray_4": false,
|
| 244 |
+
"clods_in_tray_5": false,
|
| 245 |
+
"clods_in_tray_6": false
|
| 246 |
+
}
|
| 247 |
+
},
|
| 248 |
+
"summary_zh": "观察：交付轨迹（评分 episode 10）中右手在视频 0-3 s 到刷子处抓取未夹住，之后 4-38 s 空手移到靴底附近，刷子留在台面，顶栏全程 0/6 入盘，视频末（37.8 s）以 hand_touched_debris 失败。7 个节点均未达成，断在拿起鞋刷。该 episode 抓取点由 step 224 改参且脚本不核对抓取结果；agent 自述的成功抓握来自较早 episode。无状态日志，根因未定。",
|
| 249 |
+
"conf": 6,
|
| 250 |
+
"review": {
|
| 251 |
+
"status": "agreed",
|
| 252 |
+
"rounds": 2,
|
| 253 |
+
"reviewers": [
|
| 254 |
+
{
|
| 255 |
+
"engine": "claude",
|
| 256 |
+
"model": "claude-sonnet-5-5",
|
| 257 |
+
"round": 1,
|
| 258 |
+
"verdict": "fix",
|
| 259 |
+
"conf": 6,
|
| 260 |
+
"summary_zh": "七个节点未达成、断点 brush_in_hand 正确；但证据与断点时间把抓刷尝试描述错了：视频 0-3 s 右手其实先到刷子上方/旁边（抓取尝试，未抱住、未拿起），3 s 起撤离，4-10 s 才飞向靴底；断点 t=8 s 对应的是已离开刷子之后。gap_zh 把‘agent 自述抓握成功’当成与交付视频矛盾，但该自述来自前几个 episode（ep 8/9，GX=0.700），评分 episode 10 的脚本改成了 GX=0.710（log step 224）。",
|
| 261 |
+
"n_issues": 3,
|
| 262 |
+
"n_major": 1
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"engine": "claude",
|
| 266 |
+
"model": "claude-sonnet-5-5",
|
| 267 |
+
"round": 2,
|
| 268 |
+
"verdict": "agree",
|
| 269 |
+
"conf": 7,
|
| 270 |
+
"summary_zh": "七个节点未达成、断点 brush_in_hand（操作中，视频约 2.5 s）与现象「没建立接触」与帧一致：刷子始终留在台面，顶栏 stage 0/3、0/6 入盘，末尾 hand_touched_debris。无状态日志，根因留空并有 gap_zh，合理。",
|
| 271 |
+
"n_issues": 0,
|
| 272 |
+
"n_major": 0
|
| 273 |
+
}
|
| 274 |
+
],
|
| 275 |
+
"open_zh": []
|
| 276 |
+
},
|
| 277 |
+
"provenance": {
|
| 278 |
+
"prompt": "prompts/03_trajectory.md",
|
| 279 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 280 |
+
"engine": "claude",
|
| 281 |
+
"model": "claude-sonnet-5-5",
|
| 282 |
+
"effort": "high",
|
| 283 |
+
"created": "2026-11-08T22:06:59Z",
|
| 284 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 285 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 286 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 287 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 288 |
+
"calls": [
|
| 289 |
+
{
|
| 290 |
+
"stage": "traj",
|
| 291 |
+
"round": 0,
|
| 292 |
+
"ok": true,
|
| 293 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--sa9deev/03_label"
|
| 294 |
+
},
|
| 295 |
+
{
|
| 296 |
+
"stage": "traj_review",
|
| 297 |
+
"round": 1,
|
| 298 |
+
"ok": true,
|
| 299 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--sa9deev/04_review_r1"
|
| 300 |
+
},
|
| 301 |
+
{
|
| 302 |
+
"stage": "reconcile",
|
| 303 |
+
"round": 1,
|
| 304 |
+
"ok": true,
|
| 305 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--sa9deev/05_reconcile_r1"
|
| 306 |
+
},
|
| 307 |
+
{
|
| 308 |
+
"stage": "traj_review",
|
| 309 |
+
"round": 2,
|
| 310 |
+
"ok": true,
|
| 311 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--sa9deev/04_review_r2"
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"review_engine": "claude",
|
| 315 |
+
"review_model": "claude-sonnet-5-5",
|
| 316 |
+
"inputs": {
|
| 317 |
+
"run_json_sha256": "00387ed932d25582548eca27f8a777ce1325d0ac5918e7bb9d9fc5db98a69206",
|
| 318 |
+
"video_sha256": "793e070ee3d3dfab70ad088bbb70f97ccbe8cffa451e9319ee7195e524fc831d",
|
| 319 |
+
"states_sha256": null,
|
| 320 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 321 |
+
},
|
| 322 |
+
"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."
|
| 323 |
+
}
|
| 324 |
+
}
|
phaseR/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--yic2tjd.json
ADDED
|
@@ -0,0 +1,365 @@
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "efe-trajectory-labels/1",
|
| 3 |
+
"taxonomy": "v2",
|
| 4 |
+
"runId": "dexhand-boot-sole-brush-i00-standard--yic2tjd",
|
| 5 |
+
"taskKey": "dexhand/boot_sole_brush",
|
| 6 |
+
"dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
|
| 7 |
+
"outcome": {
|
| 8 |
+
"success": 0,
|
| 9 |
+
"reward": 0.0,
|
| 10 |
+
"source": "catalog",
|
| 11 |
+
"raw": {
|
| 12 |
+
"calls": 746,
|
| 13 |
+
"control_steps_total": 22400,
|
| 14 |
+
"elapsed_s": 3203.995,
|
| 15 |
+
"finalized": 1,
|
| 16 |
+
"gave_up": 0,
|
| 17 |
+
"graded_by_live": 1,
|
| 18 |
+
"grader_error": 0,
|
| 19 |
+
"hand_wuji": 0,
|
| 20 |
+
"infra_error": 0,
|
| 21 |
+
"instance_mismatch": 0,
|
| 22 |
+
"live_success": 0,
|
| 23 |
+
"missing_log": 0,
|
| 24 |
+
"n_actions": 1938,
|
| 25 |
+
"no_verdict": 0,
|
| 26 |
+
"replays": 0,
|
| 27 |
+
"reset_budget": 20,
|
| 28 |
+
"resets": 17,
|
| 29 |
+
"resume_state_mismatch": 0,
|
| 30 |
+
"resumes": 0,
|
| 31 |
+
"sim_error": 0,
|
| 32 |
+
"sim_startups": 1,
|
| 33 |
+
"sim_steps": 1938,
|
| 34 |
+
"success": 0,
|
| 35 |
+
"video_rendered": 1,
|
| 36 |
+
"resource_enforced": 0,
|
| 37 |
+
"limits_violation_observed": 1,
|
| 38 |
+
"resource_monitor_missing": 0,
|
| 39 |
+
"peak_gpu_memory_gb": 0,
|
| 40 |
+
"peak_memory_gb": 0.451,
|
| 41 |
+
"peak_processes": 15,
|
| 42 |
+
"peak_disk_gb": 0.342,
|
| 43 |
+
"peak_cpus": 2.14,
|
| 44 |
+
"peak_pids": 88,
|
| 45 |
+
"resource_memory_kills": 0,
|
| 46 |
+
"resource_pids_kills": 0,
|
| 47 |
+
"resource_disk_kills": 0,
|
| 48 |
+
"resource_gpu_memory_kills": 0,
|
| 49 |
+
"resource_monitor_kills": 0,
|
| 50 |
+
"resource_emergency_kills": 0,
|
| 51 |
+
"resource_limit_exceeded": 0,
|
| 52 |
+
"resource_cpu_throttles": 0,
|
| 53 |
+
"resource_cpu_throttled_sec": 0.0,
|
| 54 |
+
"resource_oom_kills": 0,
|
| 55 |
+
"resource_host_oom_kills": 0,
|
| 56 |
+
"resource_service_oom_kills": 0,
|
| 57 |
+
"over_cpus": 1
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
"video": {
|
| 61 |
+
"kind": "media",
|
| 62 |
+
"url": "media:dexhand-boot-sole-brush-i00-standard--yic2tjd.mp4",
|
| 63 |
+
"duration_s": 40.0,
|
| 64 |
+
"fps": 5.0,
|
| 65 |
+
"frames": 200,
|
| 66 |
+
"sha256": "2cfddaf83bbfed47cc3abb81880a7c6b690fe97f067cb659399126f998b389a8"
|
| 67 |
+
},
|
| 68 |
+
"state": null,
|
| 69 |
+
"progress": {
|
| 70 |
+
"method": "visual",
|
| 71 |
+
"denominator": 7,
|
| 72 |
+
"base": 0,
|
| 73 |
+
"peak": 4,
|
| 74 |
+
"final": 4,
|
| 75 |
+
"nodes": {
|
| 76 |
+
"brush_in_hand": {
|
| 77 |
+
"method": "visual",
|
| 78 |
+
"intervals": [
|
| 79 |
+
[
|
| 80 |
+
9.0,
|
| 81 |
+
null
|
| 82 |
+
]
|
| 83 |
+
],
|
| 84 |
+
"final": true,
|
| 85 |
+
"evidence": [
|
| 86 |
+
{
|
| 87 |
+
"t": 9.0,
|
| 88 |
+
"log_step": null,
|
| 89 |
+
"text_zh": "观察：视频 9.0 s 右手握着鞋刷离开台面，之后持刷直至视频结束（38.8 s 顶栏 FAIL: brush_dropped，但帧中看不到刷子脱手）；画面顶栏 stage 1/3 在视频约 21 s 出现。"
|
| 90 |
+
}
|
| 91 |
+
],
|
| 92 |
+
"contact_actual": [
|
| 93 |
+
{
|
| 94 |
+
"who": "手指/夹爪",
|
| 95 |
+
"how": "抓握",
|
| 96 |
+
"note_zh": "右手指捏住刷背并抬离台面"
|
| 97 |
+
}
|
| 98 |
+
]
|
| 99 |
+
},
|
| 100 |
+
"clods_in_tray_1": {
|
| 101 |
+
"method": "visual",
|
| 102 |
+
"intervals": [
|
| 103 |
+
[
|
| 104 |
+
22.5,
|
| 105 |
+
null
|
| 106 |
+
]
|
| 107 |
+
],
|
| 108 |
+
"final": true,
|
| 109 |
+
"evidence": [
|
| 110 |
+
{
|
| 111 |
+
"t": 22.5,
|
| 112 |
+
"log_step": null,
|
| 113 |
+
"text_zh": "观察：视频顶栏 in tray 在 22 s 为 0/6，23 s 为 2/6（时间点取约 22.5 s，不确定约 ±0.5 s）；直到视频结束仍为 ≥2。"
|
| 114 |
+
}
|
| 115 |
+
],
|
| 116 |
+
"contact_actual": [
|
| 117 |
+
{
|
| 118 |
+
"who": "手持工具",
|
| 119 |
+
"how": "推/扫",
|
| 120 |
+
"note_zh": "右手持鞋刷用刷毛沿鞋底扫推泥块"
|
| 121 |
+
}
|
| 122 |
+
]
|
| 123 |
+
},
|
| 124 |
+
"clods_in_tray_2": {
|
| 125 |
+
"method": "visual",
|
| 126 |
+
"intervals": [
|
| 127 |
+
[
|
| 128 |
+
22.5,
|
| 129 |
+
null
|
| 130 |
+
]
|
| 131 |
+
],
|
| 132 |
+
"final": true,
|
| 133 |
+
"evidence": [
|
| 134 |
+
{
|
| 135 |
+
"t": 22.5,
|
| 136 |
+
"log_step": null,
|
| 137 |
+
"text_zh": "观察：视频顶栏 in tray 22 s 0/6 → 23 s 2/6，两块同时入盘。"
|
| 138 |
+
}
|
| 139 |
+
],
|
| 140 |
+
"contact_actual": [
|
| 141 |
+
{
|
| 142 |
+
"who": "手持工具",
|
| 143 |
+
"how": "推/扫",
|
| 144 |
+
"note_zh": "刷毛扫推泥块"
|
| 145 |
+
}
|
| 146 |
+
]
|
| 147 |
+
},
|
| 148 |
+
"clods_in_tray_3": {
|
| 149 |
+
"method": "visual",
|
| 150 |
+
"intervals": [
|
| 151 |
+
[
|
| 152 |
+
31.5,
|
| 153 |
+
null
|
| 154 |
+
]
|
| 155 |
+
],
|
| 156 |
+
"final": true,
|
| 157 |
+
"evidence": [
|
| 158 |
+
{
|
| 159 |
+
"t": 31.5,
|
| 160 |
+
"log_step": null,
|
| 161 |
+
"text_zh": "观察：视频顶栏 in tray 31 s 为 2/6，32 s 为 3/6（约 31.5 s）；至视频结束保持 3/6。"
|
| 162 |
+
}
|
| 163 |
+
],
|
| 164 |
+
"contact_actual": [
|
| 165 |
+
{
|
| 166 |
+
"who": "手持工具",
|
| 167 |
+
"how": "推/扫",
|
| 168 |
+
"note_zh": "刷毛扫推泥块"
|
| 169 |
+
}
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"clods_in_tray_4": {
|
| 173 |
+
"method": "visual",
|
| 174 |
+
"intervals": [],
|
| 175 |
+
"final": false,
|
| 176 |
+
"evidence": [
|
| 177 |
+
{
|
| 178 |
+
"t": 38.0,
|
| 179 |
+
"log_step": null,
|
| 180 |
+
"text_zh": "观察：视频 32 s 至结束（控制步 1938，顶栏 FAIL: brush_dropped）in tray 始终 3/6，其余泥块仍在鞋底。"
|
| 181 |
+
}
|
| 182 |
+
],
|
| 183 |
+
"contact_actual": [
|
| 184 |
+
{
|
| 185 |
+
"who": "手持工具",
|
| 186 |
+
"how": "推/扫",
|
| 187 |
+
"note_zh": "刷毛反复扫过鞋底，但剩余泥块未离开鞋底"
|
| 188 |
+
}
|
| 189 |
+
]
|
| 190 |
+
},
|
| 191 |
+
"clods_in_tray_5": {
|
| 192 |
+
"method": "visual",
|
| 193 |
+
"intervals": [],
|
| 194 |
+
"final": false,
|
| 195 |
+
"evidence": [
|
| 196 |
+
{
|
| 197 |
+
"t": 38.0,
|
| 198 |
+
"log_step": null,
|
| 199 |
+
"text_zh": "观察：视频 32 s 至结束（控制步 1938，顶栏 FAIL: brush_dropped）in tray 始终 3/6，其余泥块仍在鞋底。"
|
| 200 |
+
}
|
| 201 |
+
]
|
| 202 |
+
},
|
| 203 |
+
"clods_in_tray_6": {
|
| 204 |
+
"method": "visual",
|
| 205 |
+
"intervals": [],
|
| 206 |
+
"final": false,
|
| 207 |
+
"evidence": [
|
| 208 |
+
{
|
| 209 |
+
"t": 38.0,
|
| 210 |
+
"log_step": null,
|
| 211 |
+
"text_zh": "观察：视频 32 s 至结束（控制步 1938，顶栏 FAIL: brush_dropped）in tray 始终 3/6，其余泥块仍在鞋底。"
|
| 212 |
+
}
|
| 213 |
+
]
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"constraints": {}
|
| 217 |
+
},
|
| 218 |
+
"native_metrics": [
|
| 219 |
+
{
|
| 220 |
+
"name": "clods_in_tray",
|
| 221 |
+
"value": 3,
|
| 222 |
+
"unit": "count",
|
| 223 |
+
"threshold": 6,
|
| 224 |
+
"direction": "higher_better"
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"name": "clods_brushed",
|
| 228 |
+
"value": 6,
|
| 229 |
+
"unit": "count",
|
| 230 |
+
"threshold": 6,
|
| 231 |
+
"direction": "higher_better"
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"name": "brush_contact_controls",
|
| 235 |
+
"value": null,
|
| 236 |
+
"unit": "control",
|
| 237 |
+
"threshold": 10,
|
| 238 |
+
"direction": "higher_better"
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"name": "hold",
|
| 242 |
+
"value": 0,
|
| 243 |
+
"unit": "control",
|
| 244 |
+
"threshold": 50,
|
| 245 |
+
"direction": "higher_better"
|
| 246 |
+
},
|
| 247 |
+
{
|
| 248 |
+
"name": "max_clod_speed",
|
| 249 |
+
"value": null,
|
| 250 |
+
"unit": "m/s",
|
| 251 |
+
"threshold": 0.05,
|
| 252 |
+
"direction": "lower_better"
|
| 253 |
+
},
|
| 254 |
+
{
|
| 255 |
+
"name": "boot_shift_m",
|
| 256 |
+
"value": null,
|
| 257 |
+
"unit": "m",
|
| 258 |
+
"threshold": 0.03,
|
| 259 |
+
"direction": "lower_better"
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"name": "boot_tilt_rad",
|
| 263 |
+
"value": null,
|
| 264 |
+
"unit": "rad",
|
| 265 |
+
"threshold": 0.35,
|
| 266 |
+
"direction": "lower_better"
|
| 267 |
+
}
|
| 268 |
+
],
|
| 269 |
+
"failure": {
|
| 270 |
+
"breakpoint": {
|
| 271 |
+
"ref": "clods_in_tray_4",
|
| 272 |
+
"t": 32.0,
|
| 273 |
+
"log_step": null,
|
| 274 |
+
"where": "操作中",
|
| 275 |
+
"evidence_zh": "观察：视频 32 s 起 in tray 停在 3/6；顶栏显示 clods brushed 6/6 但仍有 3 块留在鞋底；视频 38.8 s（控制步 1938）顶栏变 FAIL: brush_dropped，评分器终止本集。"
|
| 276 |
+
},
|
| 277 |
+
"phenomena": [],
|
| 278 |
+
"root_causes": [],
|
| 279 |
+
"gap_zh": "视频只显示 32–38.8 s in tray 停在 3/6（brushed 6/6），剩余泥块位置与刷毛接触在该分辨率下不可见；agent 自述（刷毛够不到足跟沟槽、握法）来自 episode 15–17 会话测试，且其自称 episode 18 失败原因未知，不作为现象/根因；无状态日志。评分器以 brush_dropped 终止（不单独标事件）。",
|
| 280 |
+
"unmet": {
|
| 281 |
+
"clods_in_tray_1": true,
|
| 282 |
+
"clods_in_tray_2": true,
|
| 283 |
+
"clods_in_tray_3": true,
|
| 284 |
+
"clods_in_tray_4": false,
|
| 285 |
+
"clods_in_tray_5": false,
|
| 286 |
+
"clods_in_tray_6": false
|
| 287 |
+
}
|
| 288 |
+
},
|
| 289 |
+
"summary_zh": "观察：右手在视频 9.0 s 拿起鞋刷，约 22.5 s 两块泥入盘，约 31.5 s 第3块入盘，之后停在 3/6，视频 38.8 s 顶栏显示 FAIL: brush_dropped。断点为第4块泥入盘（操作中）；现象与根因无可采信证据，未下判断（见 gap_zh）。无状态日志，节点时间来自视频顶栏计数。",
|
| 290 |
+
"conf": 6,
|
| 291 |
+
"review": {
|
| 292 |
+
"status": "agreed",
|
| 293 |
+
"rounds": 2,
|
| 294 |
+
"reviewers": [
|
| 295 |
+
{
|
| 296 |
+
"engine": "claude",
|
| 297 |
+
"model": "claude-sonnet-5-5",
|
| 298 |
+
"round": 1,
|
| 299 |
+
"verdict": "fix",
|
| 300 |
+
"conf": 6,
|
| 301 |
+
"summary_zh": "节点时间与断点（clods_in_tray_4，视频约32 s起 in tray 停在3/6，38.8 s FAIL: brush_dropped）与视频顶栏一致；但现象“位姿不准”与根因“抓取和接触设计”完全来自 agent 最终自述，其中“剩余泥块在足跟沟槽、刷毛面够不到”是 episode 15–17 的会话测试结论，被当作已评分 episode 18 的事实；agent 自己也说 episode 18 的失败原因未知，且视频/日志无法证实。",
|
| 302 |
+
"n_issues": 3,
|
| 303 |
+
"n_major": 2
|
| 304 |
+
},
|
| 305 |
+
{
|
| 306 |
+
"engine": "claude",
|
| 307 |
+
"model": "claude-sonnet-5-5",
|
| 308 |
+
"round": 2,
|
| 309 |
+
"verdict": "agree",
|
| 310 |
+
"conf": 6,
|
| 311 |
+
"summary_zh": "节点时间（拿刷约9 s、22.5 s两块入盘、约31.5 s第3块）与顶栏计数一致；断点clods_in_tray_4、现象/根因留空并给出gap_zh均合理，agent自述来自会话测试不采信。",
|
| 312 |
+
"n_issues": 0,
|
| 313 |
+
"n_major": 0
|
| 314 |
+
}
|
| 315 |
+
],
|
| 316 |
+
"open_zh": []
|
| 317 |
+
},
|
| 318 |
+
"provenance": {
|
| 319 |
+
"prompt": "prompts/03_trajectory.md",
|
| 320 |
+
"prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
|
| 321 |
+
"engine": "claude",
|
| 322 |
+
"model": "claude-sonnet-5-5",
|
| 323 |
+
"effort": "high",
|
| 324 |
+
"created": "2026-11-08T22:07:12Z",
|
| 325 |
+
"review_prompt": "prompts/04_trajectory_review.md",
|
| 326 |
+
"review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
|
| 327 |
+
"reconcile_prompt": "prompts/05_reconcile.md",
|
| 328 |
+
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
|
| 329 |
+
"calls": [
|
| 330 |
+
{
|
| 331 |
+
"stage": "traj",
|
| 332 |
+
"round": 0,
|
| 333 |
+
"ok": true,
|
| 334 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--yic2tjd/03_label"
|
| 335 |
+
},
|
| 336 |
+
{
|
| 337 |
+
"stage": "traj_review",
|
| 338 |
+
"round": 1,
|
| 339 |
+
"ok": true,
|
| 340 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--yic2tjd/04_review_r1"
|
| 341 |
+
},
|
| 342 |
+
{
|
| 343 |
+
"stage": "reconcile",
|
| 344 |
+
"round": 1,
|
| 345 |
+
"ok": true,
|
| 346 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--yic2tjd/05_reconcile_r1"
|
| 347 |
+
},
|
| 348 |
+
{
|
| 349 |
+
"stage": "traj_review",
|
| 350 |
+
"round": 2,
|
| 351 |
+
"ok": true,
|
| 352 |
+
"space": "work/runs/dexhand-boot-sole-brush-i00-standard--yic2tjd/04_review_r2"
|
| 353 |
+
}
|
| 354 |
+
],
|
| 355 |
+
"review_engine": "claude",
|
| 356 |
+
"review_model": "claude-sonnet-5-5",
|
| 357 |
+
"inputs": {
|
| 358 |
+
"run_json_sha256": "d923c268a66a0c890c77ab0a7edc123933f5f785d00ca354c6bfdd8b3bf4d96a",
|
| 359 |
+
"video_sha256": "2cfddaf83bbfed47cc3abb81880a7c6b690fe97f067cb659399126f998b389a8",
|
| 360 |
+
"states_sha256": null,
|
| 361 |
+
"video_choice": "HF replay.mp4 status 404; local graded video"
|
| 362 |
+
},
|
| 363 |
+
"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."
|
| 364 |
+
}
|
| 365 |
+
}
|